diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 7697e68b9845ce..63a1bf91eac987 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -91,8 +91,8 @@ def __init__(self, max_trackable):
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=[0., 0.02, 2], max_trackable=max_trackable)
+    self.yaw_offseter = RunningStatFilter(raw_priors=[0., 0.03, 2], max_trackable=max_trackable)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
@@ -101,7 +101,7 @@ def __init__(self, max_trackable):
 class DriverPhone:
   def __init__(self, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(raw_priors=[0.5, 0.25, 2], max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -140,7 +140,7 @@ def __init__(self, rhd_saved=False, settings=None, always_on=False):
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos_learner = RunningStatFilter()
+    self.wheelpos_learner = RunningStatFilter(raw_priors=[0.5, 0.25, 2])
     self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
     self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
     self.blink = DriverBlink()