diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index 3c89faa2..61e9dbb8 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -2,10 +2,8 @@
   ros__parameters:
     roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
-    visibility_error_threshold: 0.95
-    visibility_warn_threshold: 0.97
-    min_azimuth_deg: 100.0
-    max_azimuth_deg: 260.0
+    visibility_error_threshold: 0.92
+    visibility_warn_threshold: 0.95
     max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 6968b7f2..e39c461c 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -81,7 +81,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Dual" />
+        <arg name="return_mode" value="Strongest" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
@@ -133,7 +133,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Strongest" />
+        <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index bb205119..c8a2ecb6 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -44,10 +44,9 @@ def launch_setup(context, *args, **kwargs):
                     "/sensing/lidar/left_lower/pointcloud_before_sync",
                     "/sensing/lidar/right_upper/pointcloud_before_sync",
                     "/sensing/lidar/right_lower/pointcloud_before_sync",
-                    "/sensing/lidar/rear_upper/pointcloud_before_sync",
                     "/sensing/lidar/rear_lower/pointcloud_before_sync",
                 ],
-                "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05, 0.05],
+                "input_offset": [0.025, 0.025, 0.01, 0.0, 0.05, 0.05, 0.05],
                 "timeout_sec": 0.075,
                 "output_frame": LaunchConfiguration("base_frame"),
                 "input_twist_topic_type": "twist",