When baby pioges are ready to fly?

I found this baby piogens, it still has the yellowish hair on his feathers. First he was not able to walk, now after a week he is walking but limping. He is alos fly a bit. He flys to the top of my kitchen counter tops. When is her ready to leave our home. How should I let him go. I keep puting him in the balcony and he tries his best to come back to the kitchen where I kept him when he was sick. Although I have taken his box to the balcony he still wants to come to the kitchen. Please let me know how and when should I let him go free.