diff --git a/config/navigation_costmap.lua b/config/navigation_costmap.lua
index 7871b7e..82f836a 100644
--- a/config/navigation_costmap.lua
+++ b/config/navigation_costmap.lua
@@ -32,7 +32,7 @@ NavigationParameters = {
   carrot_dist = 12.8;
   system_latency = 0.24;
   obstacle_margin = 0.15;
-  num_options = 41;-- 31, 63;
+  num_options = 63;-- 31, 63;
   robot_width = 0.44;
   robot_length = 0.5;
   robot_wheelbase = 0.26;
diff --git a/src/shared b/src/shared
index 1966da7..5f1eeee 160000
--- a/src/shared
+++ b/src/shared
@@ -1 +1 @@
-Subproject commit 1966da780fc74f993088168ba0eb08fd1c670b18
+Subproject commit 5f1eeeef7b9c151686fb2230c8a9ccf01c72a096