diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h
index eda39cca..5a2e9bff 100644
--- a/corelib/include/rtabmap/core/Parameters.h
+++ b/corelib/include/rtabmap/core/Parameters.h
@@ -166,7 +166,7 @@ class RTABMAP_EXP Parameters
 	RTABMAP_PARAM(Kp, ReactivatedWordsComparedToNewWords, bool, true); //Reactivated words are compared to the last words added in the dictionary (which are not indexed)
 	RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, false); // Use of the td-idf strategy to compute the likelihood
 	RTABMAP_PARAM(Kp, Parallelized, bool, true); // If the dictionary update and signature creation were parallelized
-	RTABMAP_PARAM(Kp, SensorStateOnly, bool, false); // If using only sensors state (without actuators) for sensorimotor state nearest neighbor computation
+	RTABMAP_PARAM(Kp, SensorStateOnly, bool, true); // If using only sensors state (without actuators) for sensorimotor state nearest neighbor computation
 	RTABMAP_PARAM(Kp, TfIdfNormalized, bool, false); // If tf-idf weighting is normalized by the words count ratio between compared signatures
 	RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0"); // Region of interest ratios [left, right, top, bottom]
 	RTABMAP_PARAM_STR(Kp, DictionaryPath, ""); // Path of the pre-computed dictionary
diff --git a/guilib/src/Plot.cpp b/guilib/src/Plot.cpp
index 8a115a23..7318834a 100644
--- a/guilib/src/Plot.cpp
+++ b/guilib/src/Plot.cpp
@@ -1859,7 +1859,7 @@ void Plot::contextMenuEvent(QContextMenuEvent * event)
 					(min+max)/2,
 					-2147483647,
 					2147483647,
-					2,
+					4,
 					&ok);
 			if(ok)
 			{