diff --git a/README.md b/README.md
index f72cfc4..9c40809 100644
--- a/README.md
+++ b/README.md
@@ -47,4 +47,5 @@
 `2. Run timedatectl to see settings` <br/>
 `3. Run sudo update-rc.d -f ntp remove` <br/>
 `4. Run systemctl disable --now systemd-timesyncd.service` <br/>
-`5. Reboot`
\ No newline at end of file
+`5. Reboot` <br/>
+`6. To start ntp Run sudo service ntp start`
\ No newline at end of file
diff --git a/eurobot/scripts/particle_filter_node/particle_filter_node.py b/eurobot/scripts/particle_filter_node/particle_filter_node.py
index 86d8740..a8668bc 100755
--- a/eurobot/scripts/particle_filter_node/particle_filter_node.py
+++ b/eurobot/scripts/particle_filter_node/particle_filter_node.py
@@ -16,8 +16,8 @@
              "angle_noise": 0.1,
              "min_intens": 3000,
              "max_dist": 3700,
-             "k_angle": 200,
-             "beac_dist_thresh": 100,
+             "k_angle": 120,
+             "beac_dist_thresh": 120,
              "num_is_near_thresh": 0.1}
 
 
diff --git a/eurobot_tests/src/write_laser_data.py b/eurobot_tests/src/write_laser_data.py
index 63c7078..8e7fd2c 100755
--- a/eurobot_tests/src/write_laser_data.py
+++ b/eurobot_tests/src/write_laser_data.py
@@ -33,5 +33,5 @@ def get_coords():
         odom_data_full.append(get_coords())
 #        rospy.loginfo("add line %d" % i)
 
-    np.save("laser_scans6.npy", np.array(lidar_data_full))
-    np.save("odom_coords6.npy", np.array(odom_data_full))
+    np.save("laser_scans7.npy", np.array(lidar_data_full))
+    np.save("odom_coords7.npy", np.array(odom_data_full))