diff --git a/LibCarla/source/carla/rpc/EpisodeSettings.h b/LibCarla/source/carla/rpc/EpisodeSettings.h
index 31e64fcd1..7112372e7 100644
--- a/LibCarla/source/carla/rpc/EpisodeSettings.h
+++ b/LibCarla/source/carla/rpc/EpisodeSettings.h
@@ -33,9 +33,9 @@ namespace rpc {
 
     bool substepping = true;
 
-    double max_substep_delta_time = 0.016667;
+    double max_substep_delta_time = 0.01;
 
-    int max_substeps = 6;
+    int max_substeps = 10;
 
     MSGPACK_DEFINE_ARRAY(synchronous_mode, no_rendering_mode, fixed_delta_seconds, substepping,
         max_substep_delta_time, max_substeps);
@@ -51,8 +51,8 @@ namespace rpc {
         bool no_rendering_mode,
         double fixed_delta_seconds = 0.0,
         bool substepping = true,
-        double max_substep_delta_time = 0.016667,
-        int max_substeps = 6)
+        double max_substep_delta_time = 0.01,
+        int max_substeps = 10)
       : synchronous_mode(synchronous_mode),
         no_rendering_mode(no_rendering_mode),
         fixed_delta_seconds(
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index d6c5e6053..faa6a84c1 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -146,8 +146,8 @@ void export_world() {
          arg("no_rendering_mode")=false,
          arg("fixed_delta_seconds")=0.0,
          arg("substepping")=true,
-         arg("max_substep_delta_time")=0.016667,
-         arg("max_substeps")=6)))
+         arg("max_substep_delta_time")=0.01,
+         arg("max_substeps")=10)))
     .def_readwrite("synchronous_mode", &cr::EpisodeSettings::synchronous_mode)
     .def_readwrite("no_rendering_mode", &cr::EpisodeSettings::no_rendering_mode)
     .def_readwrite("substepping", &cr::EpisodeSettings::substepping)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp
index d5afb4b12..3b4a73720 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp
@@ -16,7 +16,6 @@
 
 #include "Runtime/Core/Public/Misc/App.h"
 #include "PhysicsEngine/PhysicsSettings.h"
-#include "Engine/World.h"
 
 #include <thread>
 
@@ -153,26 +152,11 @@ void FCarlaEngine::OnEpisodeSettingsChanged(const FEpisodeSettings &Settings)
 
   FCarlaEngine_SetFixedDeltaSeconds(Settings.FixedDeltaSeconds);
 
+  // Setting parameters for physics substepping
   UPhysicsSettings* PhysSett = UPhysicsSettings::Get();
-
   PhysSett->bSubstepping = Settings.bSubstepping;
   PhysSett->MaxSubstepDeltaTime = Settings.MaxSubstepDeltaTime;
   PhysSett->MaxSubsteps = Settings.MaxSubsteps;
-
-
-
-  UE_LOG(LogCarla, Error, TEXT("-------------------------------------------------------------"));
-  UE_LOG(LogCarla, Error, TEXT("Syncronous Mode %d"), Settings.bSynchronousMode);
-  UE_LOG(LogCarla, Error, TEXT("Substepping     %d"), Settings.bSubstepping);
-  UE_LOG(LogCarla, Error, TEXT("FixedDelta Secs %f"), Settings.FixedDeltaSeconds.Get(0.0));
-  UE_LOG(LogCarla, Error, TEXT("MaxSubstepDat   %f"), Settings.MaxSubstepDeltaTime);
-  UE_LOG(LogCarla, Error, TEXT("MaxSubsteps     %d"), Settings.MaxSubsteps);
-  //UE_LOG(LogCarla, Error, TEXT("PS: EditChange  %d"), PhysSett->CanEditChange(UPhysicsSettings::bSubstepping));
-  UE_LOG(LogCarla, Error, TEXT("FA: DeltaTime   %f"), CurrentEpisode->GetWorld()->GetDeltaSeconds() );
-  UE_LOG(LogCarla, Error, TEXT("PS: Substepping %d"), PhysSett->bSubstepping);
-  UE_LOG(LogCarla, Error, TEXT("PS: MaxSubsDt   %f"), PhysSett->MaxSubstepDeltaTime);
-  UE_LOG(LogCarla, Error, TEXT("PS: MaxSubsNum  %d"), PhysSett->MaxSubsteps);
-
 }
 
 void FCarlaEngine::ResetSimulationState()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h
index 6fea085cb..a15f2ecc0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/EpisodeSettings.h
@@ -24,7 +24,7 @@ struct CARLA_API FEpisodeSettings
 
   TOptional<double> FixedDeltaSeconds;
 
-  double MaxSubstepDeltaTime = 0.016667;
+  double MaxSubstepDeltaTime = 0.01;
 
-  int MaxSubsteps = 6;
+  int MaxSubsteps = 10;
 };