diff --git a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
index 0d682d0..d8f5eb6 100644
--- a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
+++ b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
@@ -295,6 +295,9 @@ void MpcPlanner::setupProblem() {
 }
 
 GimbalState MpcPlanner::plan(const TargetInfo& target, double dt) {
+    // Setup problem constraints and weights
+    setupProblem();
+
     int N = N_;
     double total_time = params_.sample_total_time;
     double time_step = total_time / N;