diff --git a/y2019/constants.cc b/y2019/constants.cc
index aac1f95..ba737dd 100644
--- a/y2019/constants.cc
+++ b/y2019/constants.cc
@@ -143,15 +143,15 @@
   stilts_params->zeroing_constants.allowable_encoder_error = 0.9;
 
   r->camera_noise_parameters = {.max_viewable_distance = 10.0,
-                                .heading_noise = 0.25,
-                                .nominal_distance_noise = 0.3,
+                                .heading_noise = 0.1,
+                                .nominal_distance_noise = 0.15,
                                 .nominal_skew_noise = 0.45,
                                 .nominal_height_noise = 0.01};
 
   // Deliberately make FOV a bit large so that we are overly conservative in
   // our EKF.
   for (auto &camera : r->cameras) {
-    camera.fov = M_PI_2 * 1.1;
+    camera.fov = M_PI_2 * 1.5;
   }
 
   switch (team) {
@@ -349,7 +349,7 @@
       {{kRocketFarX, kRocketHatchY, kNormalZ}, kRocketFarTheta}, kDiscRadius,
       kDiscGoal);
 
-  const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.05,
+  const Target hp_slot({{0.0, kHpSlotY, kNormalZ}, kHpSlotTheta}, 0.00,
                        kBothGoal);
 
   const ::std::array<Target, 8> quarter_field_targets{