diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 450cd9d8c2333e06ef76a269939430fe42a18705..727095bd7af43d1a83013e6f3172e42aef9884bc 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -596,7 +596,7 @@ PackKeyFramePtr ProcessorMotion::computeProcessingStep()
             //            throw std::runtime_error("Pack's KF and origin's KF have matching time stamps (i.e. below time tolerances)");
             processing_step_ = RUNNING_WITH_PACK_ON_ORIGIN;
         }
-        else if (pack->key_frame->getTimeStamp() < origin_ptr_->getTimeStamp() - params_motion_->time_tolerance)
+        else if (pack->key_frame->getTimeStamp() < origin_ptr_->getTimeStamp())
             processing_step_ = RUNNING_WITH_PACK_BEFORE_ORIGIN;
 
         else