diff --git a/homer_mapping/src/ParticleFilter/SlamFilter.cpp b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
index 2f6508c36aec1c280dcdd75624d45dc05a0f42fc..3cb7f8d9a60771fbc9bcb06f1558d69e817ae8bd 100644
--- a/homer_mapping/src/ParticleFilter/SlamFilter.cpp
+++ b/homer_mapping/src/ParticleFilter/SlamFilter.cpp
@@ -339,8 +339,8 @@ void SlamFilter::filter(Pose currentPose,
            << " dist=" << transSinceLastUpdate.magnitude() << "m" << endl;
 
     bool update =
-        (std::fabs(transSinceLastUpdate.theta()) > m_UpdateMinMoveAngle) ||
-        (transSinceLastUpdate.magnitude() > m_UpdateMinMoveDistance) ||
+        ((std::fabs(transSinceLastUpdate.theta()) > m_UpdateMinMoveAngle) ||
+         (transSinceLastUpdate.magnitude() > m_UpdateMinMoveDistance)) &&
         ((measurementTime - m_LastUpdateTime) > m_MaxUpdateInterval);
 
     if (m_DoMapping && update) {