diff --git a/config/mrs_uav_system/f330.yaml b/config/mrs_uav_system/f330.yaml
index 1926c9f..e3c7c86 100644
--- a/config/mrs_uav_system/f330.yaml
+++ b/config/mrs_uav_system/f330.yaml
@@ -52,12 +52,12 @@ mrs_uav_managers:
   constraint_manager:
 
     default_constraints:
-      gps_garmin: "fast"
-      gps_baro: "fast"
-      rtk: "fast"
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
       aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"
       other: "slow"
-      ground_truth: "fast"
+      ground_truth: "medium"
diff --git a/config/mrs_uav_system/f450.yaml b/config/mrs_uav_system/f450.yaml
index 18b6c3c..cdbdd1f 100644
--- a/config/mrs_uav_system/f450.yaml
+++ b/config/mrs_uav_system/f450.yaml
@@ -52,13 +52,13 @@ mrs_uav_managers:
   constraint_manager:
 
     default_constraints:
-      gps_garmin: "fast"
-      gps_baro: "fast"
-      rtk: "fast"
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
       aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"
       other: "slow"
-      ground_truth: "fast"
+      ground_truth: "medium"
 
diff --git a/config/mrs_uav_system/f550.yaml b/config/mrs_uav_system/f550.yaml
index be49e1f..8d6a4c2 100644
--- a/config/mrs_uav_system/f550.yaml
+++ b/config/mrs_uav_system/f550.yaml
@@ -52,13 +52,13 @@ mrs_uav_managers:
   constraint_manager:
 
     default_constraints:
-      gps_garmin: "fast"
-      gps_baro: "fast"
-      rtk: "fast"
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
       aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"
       other: "slow"
-      ground_truth: "fast"
+      ground_truth: "medium"
 
diff --git a/config/mrs_uav_system/t650.yaml b/config/mrs_uav_system/t650.yaml
index b1d9798..e2137c6 100644
--- a/config/mrs_uav_system/t650.yaml
+++ b/config/mrs_uav_system/t650.yaml
@@ -52,13 +52,13 @@ mrs_uav_managers:
   constraint_manager:
 
     default_constraints:
-      gps_garmin: "fast"
-      gps_baro: "fast"
-      rtk: "fast"
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
       aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"
       other: "slow"
-      ground_truth: "fast"
+      ground_truth: "medium"
 
diff --git a/config/mrs_uav_system/x500.yaml b/config/mrs_uav_system/x500.yaml
index 3466d93..2637da6 100644
--- a/config/mrs_uav_system/x500.yaml
+++ b/config/mrs_uav_system/x500.yaml
@@ -52,13 +52,13 @@ mrs_uav_managers:
   constraint_manager:
 
     default_constraints:
-      gps_garmin: "fast"
-      gps_baro: "fast"
-      rtk: "fast"
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
       aloam: "slow"
       hector_garmin: "slow"
       vio: "slow"
       optflow: "slow"
       other: "slow"
-      ground_truth: "fast"
+      ground_truth: "medium"
 
diff --git a/tmux/mrs_one_drone/config/custom_config.yaml b/tmux/mrs_one_drone/config/custom_config.yaml
index 31a063e..85eded6 100644
--- a/tmux/mrs_one_drone/config/custom_config.yaml
+++ b/tmux/mrs_one_drone/config/custom_config.yaml
@@ -17,17 +17,6 @@ mrs_uav_managers:
     initial_state_estimator: "gps_baro" # will be used as the first state estimator
     agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
 
-  control_manager:
-
-    MpcTracker:
-      human_switchable: true
-
-    LandoffTracker:
-      human_switchable: true
-
-    LineTracker:
-      human_switchable: true
-
   uav_manager:
 
     takeoff:
@@ -49,4 +38,3 @@ mrs_uav_managers:
       after_activation:
         controller: "Se3Controller"
         tracker: "MpcTracker"
-