diff --git a/src/logic/unload_to_finda.cpp b/src/logic/unload_to_finda.cpp
index aaf3c1c..4a37e38 100644
--- a/src/logic/unload_to_finda.cpp
+++ b/src/logic/unload_to_finda.cpp
@@ -23,14 +23,19 @@ void UnloadToFinda::Reset(uint8_t maxTries) {
 bool UnloadToFinda::Step() {
     switch (state) {
     case EngagingIdler:
+        if (mg::globals.FilamentLoaded()) {
+            state = UnloadingToFinda;
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::Mode::blink0);
+        } else {
+            state = Failed;
+        }
+        return false;
+    case UnloadingToFinda:
         if (mi::idler.Engaged()) {
             state = WaitingForFINDA;
             int unloadSteps = mps::BowdenLength::get() + 1100;
             const int second_point = unloadSteps - 1300;
-            mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
-            mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
-            mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
-            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::green, ml::blink0);
+            mm::motion.PlanMove<mm::Pulley>(-config::DefaultBowdenLength -config::FeedToFINDA -config::FilamentMinLoadedToMMU, config::pulleyFeedrate); // @@TODO constants
         }
         return false;
     case WaitingForFINDA:
@@ -38,6 +43,7 @@ bool UnloadToFinda::Step() {
             // detected end of filament
             state = OK;
             mm::motion.AbortPlannedMoves(); // stop rotating the pulley
+            ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::Mode::off);
         } else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
             // we reached the end of move queue, but the FINDA didn't switch off
             // two possible causes - grinded filament or malfunctioning FINDA