diff --git a/code/filter.h b/code/filter.h
index 4cc834a..0f864d5 100644
--- a/code/filter.h
+++ b/code/filter.h
@@ -183,7 +183,8 @@ struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl
         Distribution::Uniform<float> dHeading;
 
         MyPFTransRandom()
-            : dStepSize(0.7f, 0.5f), dHeading(0, 2*M_PI)
+            //: dStepSize(2.5f, 0.7f), dHeading(0, 2*M_PI)
+            : dStepSize(2.0f, 0.5f), dHeading(0, 2 * M_PI)
         {}
 
         void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {