diff --git a/launch/mapping_avia_outdoor.launch b/launch/mapping_avia_outdoor.launch
index a75e9e8..03bde28 100644
--- a/launch/mapping_avia_outdoor.launch
+++ b/launch/mapping_avia_outdoor.launch
@@ -20,7 +20,7 @@
 	<param name="edgeb" type="double" value="0.1"/>
 	<param name="smallp_intersect" type="double" value="172.5"/>
 	<param name="smallp_ratio" type="double" value="1.2"/>
-	<param name="point_filter_num" type="int" value="1"/>
+	<param name="point_filter_num" type="int" value="4"/>
   <node pkg="fast_lio" type="loam_feat_extract" name="feature_extract" output="screen"/>
 
   <node pkg="fast_lio" type="loam_laserMapping" name="laserMapping" output="screen">
@@ -29,13 +29,13 @@
   <param name="dense_map_enable" type="bool" value="true" />
   <param name="fov_degree" type="double" value="70" />
   <param name="filter_size_corner" type="double" value="0.5" />
-  <param name="filter_size_surf" type="double" value="0.4" />
-  <param name="filter_size_map" type="double" value="0.4" />
-  <param name="cube_side_length" type="double" value="50" />
+  <param name="filter_size_surf" type="double" value="0.5" />
+  <param name="filter_size_map" type="double" value="0.5" />
+  <param name="cube_side_length" type="double" value="80" />
   </node>
 
-  <!-- <group if="$(arg rviz)">
+  <group if="$(arg rviz)">
     <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
-  </group> -->
+  </group>
 
 </launch>
diff --git a/rviz_cfg/loam_livox.rviz b/rviz_cfg/loam_livox.rviz
index 3eb8626..b2ef4ba 100644
--- a/rviz_cfg/loam_livox.rviz
+++ b/rviz_cfg/loam_livox.rviz
@@ -47,7 +47,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: currPoints
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -707,7 +707,7 @@ Window Geometry:
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000026d00000384fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000384000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001aa000001e20000001600fffffffb0000000a0049006d00610067006501000002730000027f00000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074900000052fc0100000002fb0000000800540069006d0065010000000000000749000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d60000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000017900000384fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000384000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001aa000001e20000001600fffffffb0000000a0049006d00610067006501000002730000027f00000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074900000052fc0100000002fb0000000800540069006d0065010000000000000749000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005ca0000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: