diff --git a/yaml/solver.yaml b/yaml/solver.yaml
index b82f3900e3457335e8578bb2e5bf2d2284200c00..a3b1c83d3903e6774d5d31f55fe38e9c271380ec 100644
--- a/yaml/solver.yaml
+++ b/yaml/solver.yaml
@@ -1,11 +1,11 @@
 minimizer: "LEVENBERG_MARQUARDT"
-interrupt_on_problem_change: false
+interrupt_on_problem_change: true
 min_num_iterations: 1
-max_num_iterations: 20
+max_num_iterations: 30
 function_tolerance: 1e-8
 gradient_tolerance: 1e-9
 use_nonmonotonic_steps: false
 period: 0.05                     
-n_threads: 2
+n_threads: 4
 compute_cov: false
 verbose: 0
\ No newline at end of file