diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index 8b5c7eb..e662f30 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -300,10 +300,19 @@
     return std::nullopt;
   }
 
-  const double u = problems_[current_controller_]->U(0);
+  double u;
+  size_t solution_horizon = 0;
+  if (current_controller_ == 0u) {
+    while (solution_horizon < problems_[current_controller_]->horizon() &&
+           problems_[current_controller_]->U(solution_horizon) < 0.01) {
+      ++solution_horizon;
+    }
+  } else {
+    u = problems_[current_controller_]->U(0);
+  }
 
-  if (current_controller_ + 1u < problems_.size()) {
-    problems_[current_controller_ + 1]->WarmStart(
+  if (current_controller_ + 1u + solution_horizon < problems_.size()) {
+    problems_[current_controller_ + solution_horizon + 1]->WarmStart(
         *problems_[current_controller_]);
   }
   ++current_controller_;
@@ -360,8 +369,9 @@
           Eigen::Vector2d(latched_shot_position, latched_shot_velocity));
 
       const bool solved = catapult_mpc_.Solve();
-
-      if (solved || catapult_mpc_.started()) {
+      current_horizon_ = catapult_mpc_.current_horizon();
+      const bool started = catapult_mpc_.started();
+      if (solved || started) {
         std::optional<double> solution = catapult_mpc_.Next();
 
         if (!solution.has_value()) {
@@ -419,6 +429,7 @@
     // Select the controller designed for when we have no ball.
     catapult_.set_controller_index(1);
 
+    current_horizon_ = 0u;
     const double output_voltage = catapult_.UpdateController(catapult_disabled);
     if (catapult_voltage != nullptr) {
       *catapult_voltage = output_voltage;
diff --git a/y2022/control_loops/superstructure/catapult/catapult.h b/y2022/control_loops/superstructure/catapult/catapult.h
index 6a2c834..12c0116 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.h
+++ b/y2022/control_loops/superstructure/catapult/catapult.h
@@ -159,6 +159,15 @@
   // Returns the time in seconds it last took Solve to run.
   double solve_time() const { return solve_time_; }
 
+  // Returns the horizon of the current controller.
+  size_t current_horizon() const {
+    if (current_controller_ >= problems_.size()) {
+      return 0u;
+    } else {
+      return problems_[current_controller_]->horizon();
+    }
+  }
+
   // Returns the controller value if there is a controller to run, or nullopt if
   // we finished the last controller.  Advances the controller pointer to the
   // next controller and warms up the next controller.
@@ -182,7 +191,7 @@
 class Catapult {
  public:
   Catapult(const constants::Values &values)
-      : catapult_(values.catapult.subsystem_params), catapult_mpc_(35) {}
+      : catapult_(values.catapult.subsystem_params), catapult_mpc_(30) {}
 
   using PotAndAbsoluteEncoderSubsystem =
       ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
@@ -198,6 +207,8 @@
   bool estopped() const { return catapult_.estopped(); }
   double solve_time() const { return catapult_mpc_.solve_time(); }
 
+  uint8_t mpc_horizon() const { return current_horizon_; }
+
   bool mpc_active() const { return !use_profile_; }
 
   // Returns the number of shots taken.
@@ -230,6 +241,7 @@
   bool use_profile_ = true;
 
   int shot_count_ = 0;
+  uint8_t current_horizon_ = 0u;
 };
 
 }  // namespace catapult
diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
index cfa360d..6c66340 100644
--- a/y2022/control_loops/superstructure/catapult_plotter.ts
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -26,7 +26,9 @@
 
   positionPlot.addMessageLine(goal, ['catapult', 'return_position', 'unsafe_goal']).setColor(BLUE).setPointSize(1.0);
   positionPlot.addMessageLine(goal, ['catapult', 'fire']).setColor(WHITE).setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['mpc_active']).setColor(WHITE).setPointSize(3.0);
+  positionPlot.addMessageLine(status, ['mpc_horizon'])
+      .setColor(WHITE)
+      .setPointSize(3.0);
   positionPlot.addMessageLine(status, ['catapult', 'goal_position']).setColor(RED).setPointSize(4.0);
   positionPlot.addMessageLine(status, ['catapult', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
   positionPlot.addMessageLine(status, ['catapult', 'position']).setColor(GREEN).setPointSize(4.0);
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 1168b88..15201f7 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -488,7 +488,7 @@
   status_builder.add_catapult(catapult_status_offset);
   status_builder.add_solve_time(catapult_.solve_time());
   status_builder.add_shot_count(catapult_.shot_count());
-  status_builder.add_mpc_active(catapult_.mpc_active());
+  status_builder.add_mpc_horizon(catapult_.mpc_horizon());
   if (catapult_goal != nullptr) {
     status_builder.add_shot_position(catapult_goal->shot_position());
     status_builder.add_shot_velocity(catapult_goal->shot_velocity());
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index 389c01a..08edbf0 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -197,7 +197,7 @@
                 superstructure_status_fetcher_->intake_back());
             turret_.Simulate(superstructure_output_fetcher_->turret_voltage(),
                              superstructure_status_fetcher_->turret());
-            if (superstructure_status_fetcher_->mpc_active()) {
+            if (superstructure_status_fetcher_->mpc_horizon()) {
               catapult_.set_controller_index(0);
             } else {
               catapult_.set_controller_index(1);
@@ -1136,7 +1136,7 @@
   RunFor(chrono::seconds(5));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
-  EXPECT_FALSE(superstructure_status_fetcher_->mpc_active());
+  EXPECT_EQ(superstructure_status_fetcher_->mpc_horizon(), 0u);
   EXPECT_FLOAT_EQ(superstructure_status_fetcher_->catapult()->position(),
                   constants::Values::kCatapultRange().lower);
 
@@ -1188,7 +1188,7 @@
   RunFor(chrono::milliseconds(200));
 
   ASSERT_TRUE(superstructure_status_fetcher_.Fetch());
-  EXPECT_TRUE(superstructure_status_fetcher_->mpc_active());
+  EXPECT_NE(superstructure_status_fetcher_->mpc_horizon(), 0u);
   EXPECT_EQ(superstructure_status_fetcher_->shot_count(), 0);
 
   EXPECT_GT(superstructure_status_fetcher_->catapult()->position(),
diff --git a/y2022/control_loops/superstructure/superstructure_status.fbs b/y2022/control_loops/superstructure/superstructure_status.fbs
index 92f3dbd..a1817a7 100644
--- a/y2022/control_loops/superstructure/superstructure_status.fbs
+++ b/y2022/control_loops/superstructure/superstructure_status.fbs
@@ -72,7 +72,7 @@
   catapult:frc971.control_loops.PotAndAbsoluteEncoderProfiledJointStatus (id: 6);
 
   solve_time:double (id: 7);
-  mpc_active:bool (id: 8);
+  mpc_horizon:uint8 (id: 8);
   shot_position:double (id: 16);
   shot_velocity:double (id: 17);