diff --git a/src/ConfigManager.cpp b/src/ConfigManager.cpp
index f769762..3d5b8c1 100644
--- a/src/ConfigManager.cpp
+++ b/src/ConfigManager.cpp
@@ -28,7 +28,7 @@ std::string ConfigManager::configName;
  * to changes but may be less effective at eliminating noise. The optimal window
  * size should be chosen based on the specific application and expected noise characteristics.
  */
-int ConfigManager::MEDIAN_FILTER_WINDOW_SIZE = 5;
+int ConfigManager::MEDIAN_FILTER_WINDOW_SIZE = 4;
 
 /**
  * @brief Flag for enabling/disabling velocity filtering.
diff --git a/src/MAVLinkManager.cpp b/src/MAVLinkManager.cpp
index bebd3d4..a208be7 100644
--- a/src/MAVLinkManager.cpp
+++ b/src/MAVLinkManager.cpp
@@ -20,7 +20,7 @@ constexpr float GRAVITY = 9.81;
 // Define and initialize the random number generators and distributions
 std::random_device MAVLinkManager::rd;
 std::mt19937 MAVLinkManager::gen(MAVLinkManager::rd());
-std::normal_distribution<float> MAVLinkManager::noiseDistribution(0.0f, 0.00006f);
+std::normal_distribution<float> MAVLinkManager::noiseDistribution(0.0f, 0.00007f);
 std::normal_distribution<float> MAVLinkManager::noiseDistribution_mag(0.0f, 0.00001f);