diff --git a/depthai-core b/depthai-core
index 280084f11..a77d38610 160000
--- a/depthai-core
+++ b/depthai-core
@@ -1 +1 @@
-Subproject commit 280084f112db50c8391373476383b67664b7fac3
+Subproject commit a77d38610dc5541817c30352f6fe147f3fcc76ed
diff --git a/examples/StereoDepth/stereo_depth_from_host.py b/examples/StereoDepth/stereo_depth_from_host.py
index 172a0710f..289c90cf3 100755
--- a/examples/StereoDepth/stereo_depth_from_host.py
+++ b/examples/StereoDepth/stereo_depth_from_host.py
@@ -530,14 +530,14 @@ def __init__(self, config):
 
 
 # StereoDepth initial config options.
-outDepth = False  # Disparity by default
+outDepth = True  # Disparity by default
 outConfidenceMap = False  # Output disparity confidence map
 outRectified = False   # Output and display rectified streams
-lrcheck = False   # Better handling for occlusions
+lrcheck = True   # Better handling for occlusions
 extended = False  # Closer-in minimum depth, disparity range is doubled. Unsupported for now.
 subpixel = True   # Better accuracy for longer distance, fractional disparity 32-levels
 
-enableDebugLrCheckIt1 = True
+enableDebugLrCheckIt1 = args.debug
 enableDebugLrCheckIt2 = args.debug
 enableDebugExtLrCheckIt1 = args.debug
 enableDebugExtLrCheckIt2 = args.debug