diff --git a/clever/src/vpe_publisher.cpp b/clever/src/vpe_publisher.cpp
index 31cbdccb..e30d16ad 100644
--- a/clever/src/vpe_publisher.cpp
+++ b/clever/src/vpe_publisher.cpp
@@ -116,7 +116,7 @@ int main(int argc, char **argv) {
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
 	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
 	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
-	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 5.0));
+	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
 
 	if (!frame_id.empty()) {
 		ROS_INFO("vpe_publisher: using data from TF");