diff --git a/firmware/CHANGELOG.md b/firmware/CHANGELOG.md
index ad6b42fd31..3fb310c468 100644
--- a/firmware/CHANGELOG.md
+++ b/firmware/CHANGELOG.md
@@ -26,6 +26,8 @@ Release template (copy/paste this for new release):
 All notable user-facing or behavior-altering changes will be documented in this file.
 
 ## Month 202x Release - "Release Name"
+### Fixed
+ - Minor change of Miata NA trigger shape #2855   
 
 ## June 2021 Release "Garbage Man Day"
 
diff --git a/firmware/controllers/trigger/decoders/trigger_mazda.cpp b/firmware/controllers/trigger/decoders/trigger_mazda.cpp
index 994c2abe57..59c11c66f3 100644
--- a/firmware/controllers/trigger/decoders/trigger_mazda.cpp
+++ b/firmware/controllers/trigger/decoders/trigger_mazda.cpp
@@ -25,7 +25,7 @@
 
 void initializeMazdaMiataNaShape(TriggerWaveform *s) {
 	s->initialize(FOUR_STROKE_CAM_SENSOR);
-	s->setTriggerSynchronizationGap2(1.4930 * 0.6f, 1.4930 * 1.3f);
+	s->setTriggerSynchronizationGap2(1.4930 * 0.6f, 1.4930 * 1.4f);
 	s->useRiseEdge = false;
 
 	s->bothFrontsRequired = true;
diff --git a/unit_tests/tests/trigger/test_real_cranking_miata_NA.cpp b/unit_tests/tests/trigger/test_real_cranking_miata_NA.cpp
index fee449e4d2..96c74e175c 100644
--- a/unit_tests/tests/trigger/test_real_cranking_miata_NA.cpp
+++ b/unit_tests/tests/trigger/test_real_cranking_miata_NA.cpp
@@ -98,20 +98,26 @@ TEST(cranking, realCrankingFromFile) {
 		reader.readLine(&eth);
 	}
 
-	ASSERT_EQ( 0, GET_RPM())<< reader.lineIndex;
+	ASSERT_EQ( 0, GET_RPM())<< reader.lineIndex << " @ 0";
 	ASSERT_EQ( 0, eth.recentWarnings()->getCount())<< "warningCounter#got synch";
 
 	reader.readLine(&eth);
-	ASSERT_EQ( 32, GET_RPM())<< reader.lineIndex;
+	ASSERT_EQ( 32, GET_RPM())<< reader.lineIndex << " @ 1";
 
 	for (int i = 0; i < 30; i++) {
 		reader.readLine(&eth);
 	}
 	ASSERT_EQ( 223, GET_RPM())<< reader.lineIndex;
 
+
+	for (int i = 0; i < 30; i++) {
+		reader.readLine(&eth);
+	}
+	ASSERT_EQ( 344, GET_RPM())<< reader.lineIndex << " @ 2";
+
 	while (reader.haveMore()) {
 		reader.processLine(&eth);
 	}
-	ASSERT_EQ( 1, eth.recentWarnings()->getCount())<< "warningCounter#realCranking";
-	ASSERT_EQ( 775, GET_RPM())<< reader.lineIndex;
+	ASSERT_EQ( 0, eth.recentWarnings()->getCount())<< "warningCounter#realCranking";
+	ASSERT_EQ( 499, GET_RPM())<< reader.lineIndex;
 }
diff --git a/unit_tests/tests/trigger/test_real_cranking_miata_na6.cpp b/unit_tests/tests/trigger/test_real_cranking_miata_na6.cpp
index ffdd41b06b..5fb7c460b9 100644
--- a/unit_tests/tests/trigger/test_real_cranking_miata_na6.cpp
+++ b/unit_tests/tests/trigger/test_real_cranking_miata_na6.cpp
@@ -107,6 +107,7 @@ TEST(cranking, hardcodedRealCranking) {
 	/* 67 */ EVENT(/* timestamp*/2.308357, /*index*/0, /*value*/false);
 	/* 68 */ EVENT(/* timestamp*/2.33551175, /*index*/0, /*value*/true);
 	/* 69 */ EVENT(/* timestamp*/2.3601205, /*index*/1, /*value*/true);
+	ASSERT_EQ( 1,  unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#realCranking";
 	/* 70 */ EVENT(/* timestamp*/2.382952, /*index*/0, /*value*/false);
 	/* 71 */ EVENT(/* timestamp*/2.41535525, /*index*/0, /*value*/true);
 	/* 74 */ EVENT(/* timestamp*/2.45321725, /*index*/1, /*value*/true);
@@ -117,6 +118,7 @@ TEST(cranking, hardcodedRealCranking) {
 	/* 81 */ EVENT(/* timestamp*/2.533664, /*index*/0, /*value*/true);
 	/* 84 */ EVENT(/* timestamp*/2.56564675, /*index*/1, /*value*/true);
 	/* 85 */ EVENT(/* timestamp*/2.57087425, /*index*/0, /*value*/false);
+	ASSERT_EQ( 2,  unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#realCranking";
 	/* 86 */ EVENT(/* timestamp*/2.59612075, /*index*/0, /*value*/true);
 	/* 89 */ EVENT(/* timestamp*/2.61853375, /*index*/1, /*value*/true);
 	/* 90 */ EVENT(/* timestamp*/2.6365195, /*index*/0, /*value*/false);
@@ -140,9 +142,7 @@ TEST(cranking, hardcodedRealCranking) {
 	/* 120 */ EVENT(/* timestamp*/2.89112225, /*index*/0, /*value*/false);
 	/* 123 */ EVENT(/* timestamp*/2.9089625, /*index*/0, /*value*/true);
 
-	ASSERT_EQ( 1,  unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#realCranking";
 	/* 124 */ EVENT(/* timestamp*/2.93429275, /*index*/1, /*value*/true);
-	ASSERT_EQ( 2,  unitTestWarningCodeState.recentWarnings.getCount()) << "warningCounter#realCranking";
 
 	/* 125 */ EVENT(/* timestamp*/2.93850475, /*index*/0, /*value*/false);
 	/* 128 */ EVENT(/* timestamp*/2.958108, /*index*/0, /*value*/true);