diff --git a/config/adc_common/ar_tag_loc_filter.yaml b/config/adc_common/ar_tag_loc_filter.yaml
index 55b731767deda7f33d7e623385b2174eb9f350ae..766496d23a45fcaf334c1581bc1f1bb4aa104002 100644
--- a/config/adc_common/ar_tag_loc_filter.yaml
+++ b/config/adc_common/ar_tag_loc_filter.yaml
@@ -11,6 +11,8 @@ id_filter_en: True
 ids_enabled: "0, 1, 2"
 
 time_persistance_filter_en: True
+time_persistance_filter_orientation_en: True
 time_persistance_alpha_window: 0.1
 time_persistance_range_window: 0.2
+time_persistance_orientation_th: 0.4
 time_persistance_min_detections: 4