bigger margins

diff --git a/hostside/safety.h b/hostside/safety.h
index 735145cae701436acb9644f3c43cf8fac73b49e3..1745021e45a313429f90cea312cfab817740d3af 100644 (file)
--- a/hostside/safety.h
+++ b/hostside/safety.h
@@ -363,11 +363,12 @@ int trackloc_set_exactinto(TrackLocation *t, TrackAdvanceContext *c,
 #define MARGIN_AUTOPOINTTIME 500 /*ms*/
 #define UNMARGIN_ROUNDING 1e-4 /* mm/ms; for 1s, leads to max err of 100um */
 
-#define MARGIN_STOPTIME 60 /*ms*/
-#define MARGIN_POLARISETIME 60 /*ms*/
+#define MARGIN_STOPTIME 240 /*ms*/
+#define MARGIN_POLARISETIME 120 /*ms*/
 
-#define UNMARGIN_WATCHDOG_16 3 /* 16ms units */ /* should be < MARGIN_*TIME */
+#define UNMARGIN_WATCHDOG_16 7 /* 16ms units */ 
 #define UNMARGIN_WATCHDOG (UNMARGIN_WATCHDOG_16*16) /*ms*/
-#define MARGIN_WATCHDOG 20
+                                  /* should be < MARGIN_POLARISETIME */
+#define MARGIN_WATCHDOG 40
 
 #endif /*SAFETY_H*/