diff --git a/ansible/roles/microservices/files/robocar/car/configmap.yaml b/ansible/roles/microservices/files/robocar/car/configmap.yaml
new file mode 100644
index 0000000..0234752
--- /dev/null
+++ b/ansible/roles/microservices/files/robocar/car/configmap.yaml
@@ -0,0 +1,13 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-pca9685
+data:
+  ################
+  # STEERING PWM #
+  ################
+  STEERING_LEFT_PWM: "1092"
+  STEERING_RIGHT_PWM: "1986"
+  STEERING_CENTER_PWM: "1583"
+
diff --git a/ansible/roles/microservices/files/robocar/car/deployments.yaml b/ansible/roles/microservices/files/robocar/car/deployments.yaml
index f7f15bd..062e282 100644
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@@ -26,7 +26,7 @@ spec:
           - "-video-device=0"
           - "-video-width=$(CAMERA_WIDTH)"
           - "-video-height=$(CAMERA_HEIGHT)"
-          - "-debug=false"
+          - "-log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 44 # Set 44/video group to access to video device
@@ -103,18 +103,19 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: cyrilix/robocar-pca9685:v0.3.0
+          image: docker.io/cyrilix/robocar-pca9685
           args:
-          - "-mqtt-retain=false"
-          - "-throttle-channel=1"
-          - "-steering-channel=0"
-          - "-throttle-zero-pwm=378"
-          - "-throttle-min-pwm=250"
-          - "-throttle-max-pwm=500"
-          - "-steering-left-pwm=490"
-          - "-steering-right-pwm=265"
-          - "-update-pwm-frequency=10"
-          - "-debug=false"
+          - "--mqtt-retain=false"
+          - "--throttle-channel=1"
+          - "--steering-channel=0"
+          - "--throttle-zero-pwm=378"
+          - "--throttle-min-pwm=250"
+          - "--throttle-max-pwm=500"
+          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
+          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+          - "--update-pwm-frequency=10"
+          - "--log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 998 # Set 998/i2c group to access to i2c device
@@ -152,6 +153,21 @@ spec:
                   name: robocar
             - name: MQTT_QOS
               value: "0"
+            - name: STEERING_LEFT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_LEFT_PWM
+            - name: STEERING_RIGHT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_RIGHT_PWM
+            - name: STEERING_CENTER_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_CENTER_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:
diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
index 7067015..bbed7f6 100644
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@@ -7,10 +7,11 @@ namespace: robocar
 resources:
   - ../common
   - deployments.yaml
+  - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-camera
-    newTag: v0.2.0
+    newTag: v0.3.0
 
   - name: docker.io/cyrilix/robocar-pca9685
-    newTag: v0.3.0
+    newTag: v0.4.0-1-gc42086a
\ No newline at end of file
diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml
index e006ac7..44e06de 100644
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@@ -41,6 +41,18 @@ data:
   ############
   THROTTLE_MIN: "0.3"
   THROTTLE_MAX: "0.4"
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-steering-pwm
+data:
+  ################
+  # STEERING PWM #
+  ################
+  STEERING_LEFT_PWM: "1002"
+  STEERING_RIGHT_PWM: "1985"
+  STEERING_CENTER_PWM: "1491"
 
 ---
 apiVersion: v1
diff --git a/ansible/roles/microservices/files/robocar/common/deployments.yaml b/ansible/roles/microservices/files/robocar/common/deployments.yaml
index 5d900f8..db8c3b6 100644
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@@ -25,7 +25,10 @@ spec:
             - "-device=/dev/ttyAMA1"
             - "-baud=115200"
             - "-mqtt-retain=false"
-            - "-debug=true"
+            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
+            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+            - "-log=info"
           volumeMounts:
             - mountPath: "/dev/ttyAMA1"
               name: serial
@@ -73,6 +76,21 @@ spec:
                   name: robocar
             - name: MQTT_QOS
               value: "0"
+            - name: STEERING_LEFT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_LEFT_PWM
+            - name: STEERING_RIGHT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_RIGHT_PWM
+            - name: STEERING_CENTER_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_CENTER_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:
@@ -294,7 +312,7 @@ spec:
           image: docker.io/cyrilix/robocar-steering
           args:
           - "-mqtt-retain=false"
-          - "-debug=false"
+          - "-log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 1234
diff --git a/ansible/roles/microservices/files/robocar/common/kustomization.yaml b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
index 1089ffa..06b0837 100644
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@@ -10,25 +10,25 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.4.0
+    newTag: v0.5.0-2-g9b5e9c2
 
   - name: docker.io/cyrilix/robocar-led
-    newTag: v0.4.0
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.3.0
+    newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.3.0
+    newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-record
-    newTag: v0.4.0
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.1.0
+    newTag: v0.2.0
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.4.0
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-road
-    newTag: v0.1.0-4-g70f46bd
\ No newline at end of file
+    newTag: v0.1.0-5-gdc6e465
diff --git a/ansible/roles/microservices/files/robocar/common/services.yaml b/ansible/roles/microservices/files/robocar/common/services.yaml
index da50fda..1acbba1 100644
--- a/ansible/roles/microservices/files/robocar/common/services.yaml
+++ b/ansible/roles/microservices/files/robocar/common/services.yaml
@@ -11,3 +11,4 @@ spec:
     - port: 1883
       name: mqtt
       protocol: TCP
+  ipFamilyPolicy: SingleStack
diff --git a/ansible/roles/microservices/files/robocar/simulator/deployments.yaml b/ansible/roles/microservices/files/robocar/simulator/deployments.yaml
index 534bd8c..1e53c55 100644
--- a/ansible/roles/microservices/files/robocar/simulator/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/simulator/deployments.yaml
@@ -28,7 +28,7 @@ spec:
           - "-car-color=100,0,255"
           - "-camera-img-h=$(CAMERA_HEIGHT)"
           - "-camera-img-w=$(CAMERA_WIDTH)"
-          - "-debug=false"
+          - "-log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 1234
diff --git a/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml b/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
index a279241..6d30307 100644
--- a/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
@@ -11,4 +11,4 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-simulator
-    newTag: v0.3.0
+    newTag: v0.4.0