diff --git a/tmux/one_drone/config/octomap_planner.yaml b/tmux/one_drone/config/octomap_planner.yaml
index 23e0148..207b313 100644
--- a/tmux/one_drone/config/octomap_planner.yaml
+++ b/tmux/one_drone/config/octomap_planner.yaml
@@ -1,5 +1,6 @@
 safe_obstacle_distance: 1.2 # [m]
 euclidean_distance_cutoff: 1.2 # [m]
 max_altitude: 10.0 # [m]
+
 subt_planner:
-  use: false
+  use: true
diff --git a/tmux/one_drone/config/octomap_server.yaml b/tmux/one_drone/config/octomap_server.yaml
index f2f2318..1f0acf2 100644
--- a/tmux/one_drone/config/octomap_server.yaml
+++ b/tmux/one_drone/config/octomap_server.yaml
@@ -1,3 +1,5 @@
+resolution: 0.2
+
 # for point cloud raycasting
 sensor_params:
 
@@ -8,7 +10,7 @@ sensor_params:
     sensor_0:
 
       max_range: 20.0 # [m] max range of points to be included as occupied, free space is updated up to min(max_range, free_ray_distance)
-      free_ray_distance: 15.0 # [m] max distance for free space raycasting
+      free_ray_distance: 10.0 # [m] max distance for free space raycasting
 
       # fallback values used for free space raycasting for missing data, uses pointcloud dimensions from the incoming message by default
       vertical_fov_angle: deg(90.0)
diff --git a/tmux/one_drone/config/world_config.yaml b/tmux/one_drone/config/world_config.yaml
index 9b55067..00e01ee 100644
--- a/tmux/one_drone/config/world_config.yaml
+++ b/tmux/one_drone/config/world_config.yaml
@@ -7,7 +7,7 @@ world_origin:
 
 safety_area:
 
-  enabled: true
+  enabled: false
 
   horizontal: