diff --git a/src/solve_transition.cpp b/src/solve_transition.cpp
index 8443b7f201fccf89d6c65f357b11d7e1a14b51cf..2b923fbe00f74eb74cc5a45d2bb72f1e1b8b8aa8 100644
--- a/src/solve_transition.cpp
+++ b/src/solve_transition.cpp
@@ -13,11 +13,11 @@
 #define QHULL 0
 #endif
 #ifndef DDC0_CONSTRAINT
-#define DDC0_CONSTRAINT 0
+#define DDC0_CONSTRAINT 1
 #endif
 
 #ifndef DDC1_CONSTRAINT
-#define DDC1_CONSTRAINT 0
+#define DDC1_CONSTRAINT 1
 #endif
 
 #ifndef DC1_CONSTRAINT
@@ -28,13 +28,13 @@
 #endif
 
 #ifndef CONSTRAINT_ACC
-#define CONSTRAINT_ACC 0
+#define CONSTRAINT_ACC 1
 #endif
 
 
 
 #ifndef MAX_ACC
-#define MAX_ACC 3
+#define MAX_ACC 1
 #endif
 
 namespace bezier_com_traj