diff --git a/trajectory_native/src/trajectory_service.cpp b/trajectory_native/src/trajectory_service.cpp
index 3a42fd3d..db9fdc77 100644
--- a/trajectory_native/src/trajectory_service.cpp
+++ b/trajectory_native/src/trajectory_service.cpp
@@ -19,7 +19,7 @@ namespace vts = org::littletonrobotics::vehicletrajectoryservice;
 // We take the tradeoff of increased computation time since we cache paths anyway.
 static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.0;
 
-static const int MINIMUM_CONTROL_INTERVAL_COUNT = 20;
+static const int MINIMUM_CONTROL_INTERVAL_COUNT = 0;
 
 static std::unique_ptr<grpc::Server> server;