diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
index f476b640f..4821c7b75 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -30,7 +30,7 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
     public int threads = 4; // Multiple threads seems to be better performance on most platforms
     public boolean debug = false;
     public boolean refineEdges = true;
-    public int numIterations = 200;
+    public int numIterations = 40;
     public int hammingDist = 0;
     public int decisionMargin = 35;
 
diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
index bcafe7c29..23f494428 100644
--- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
@@ -130,7 +130,7 @@ public class AprilTagTest {
 
         // these numbers are not *accurate*, but they are known and expected
         var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
-        Assertions.assertEquals(4, pose.getTranslation().getX(), 0.2);
+        Assertions.assertEquals(4.14, pose.getTranslation().getX(), 0.2);
         Assertions.assertEquals(2, pose.getTranslation().getY(), 0.2);
         Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
     }