diff --git a/config/adc_common/landmarks_loc/amcl_mapping.yaml b/config/adc_common/landmarks_loc/amcl_mapping.yaml
index 71b70c351b009b4b973c5b07f81b2601ff985855..bbbbe0e8b7e0f8625f23e859daf66717abbf860a 100644
--- a/config/adc_common/landmarks_loc/amcl_mapping.yaml
+++ b/config/adc_common/landmarks_loc/amcl_mapping.yaml
@@ -21,6 +21,7 @@ publish_tf_map_odom : False
 update_problem_rate: 0.1
 update_problem_distance: 0.2
 update_problem_angle: 0.1
+update_problem_features_detected: 3
 wait_feature_detected_timeout: 0.2
 problem_frame_window: -1
 
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration.yaml b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
index d8811f92a77c829497ae523c5b6dab769268784d..a66e49dbb8b4b8b5496ad51f5f72ec54b4a5a410 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration.yaml
@@ -21,6 +21,7 @@ publish_tf_map_odom : True
 update_problem_rate: 0.1
 update_problem_distance: 0.2
 update_problem_angle: 0.1
+update_problem_features_detected: 3
 wait_feature_detected_timeout: 0.2
 problem_frame_window: -1
 
diff --git a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
index 8f5cccec13b1e71f70b0bff9b68b2affadeb9e4d..0c27f1ef45e0a30722769ddc7e220bd1d57924d2 100644
--- a/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
+++ b/config/adc_common/landmarks_loc/landmarks_calibration_amcl.yaml
@@ -21,6 +21,7 @@ publish_tf_map_odom : False
 update_problem_rate: 0.1
 update_problem_distance: 0.2
 update_problem_angle: 0.1
+update_problem_features_detected: 3
 wait_feature_detected_timeout: 0.2
 problem_frame_window: -1
 
diff --git a/config/adc_common/landmarks_loc/localization.yaml b/config/adc_common/landmarks_loc/localization.yaml
index c0b7c0cf8b485d5217e7e1d5c974c8f99f32c2a7..317fdbf6d1e7275d756484c6b275407abd2c9deb 100644
--- a/config/adc_common/landmarks_loc/localization.yaml
+++ b/config/adc_common/landmarks_loc/localization.yaml
@@ -21,6 +21,7 @@ publish_tf_map_odom : True
 update_problem_rate: 0.1
 update_problem_distance: 0.2
 update_problem_angle: 0.1
+update_problem_features_detected: 3
 wait_feature_detected_timeout: 0.2
 problem_frame_window: 60
 
diff --git a/config/adc_common/landmarks_loc/slam_mapping.yaml b/config/adc_common/landmarks_loc/slam_mapping.yaml
index 5584388ed993eea85753ed07b0b75c2d4cec9149..b0ee7bb06c93cb791afe56a972219d9c519765f4 100644
--- a/config/adc_common/landmarks_loc/slam_mapping.yaml
+++ b/config/adc_common/landmarks_loc/slam_mapping.yaml
@@ -21,6 +21,7 @@ publish_tf_map_odom : True
 update_problem_rate: 0.1
 update_problem_distance: 0.2
 update_problem_angle: 0.1
+update_problem_features_detected: 3
 wait_feature_detected_timeout: 0.2
 problem_frame_window: -1