diff --git a/src/shared/algorithms/Filters/AdjustableMedFilter.h b/src/shared/algorithms/Filters/AdjustableMedFilter.h
index a068864c3ba774aad3a12db02d24d14dc9ea5d26..6b806c6ce99569e72890f90df4a8b0439e2c1a19 100644
--- a/src/shared/algorithms/Filters/AdjustableMedFilter.h
+++ b/src/shared/algorithms/Filters/AdjustableMedFilter.h
@@ -24,6 +24,7 @@
 
 #include <utils/SlidingWindow.h>
 
+#include <algorithm>
 #include <array>
 
 namespace Boardcore
diff --git a/src/shared/sensors/SFD/PressureSFD.cpp b/src/shared/sensors/SFD/PressureSFD.cpp
index 6740322cd9f4939b2170444d7fec5291cfbbb165..390378b149d587dab96d51f9db7dfa1d27e2ea71 100644
--- a/src/shared/sensors/SFD/PressureSFD.cpp
+++ b/src/shared/sensors/SFD/PressureSFD.cpp
@@ -67,6 +67,9 @@ void PressureSFD::setMode(SFDMode mode)
         case SFDMode::DESCENT:
             k = K_DESCENT;
             break;
+
+        case SFDMode::UNSET:
+            break;
     }
 }
 
@@ -168,6 +171,9 @@ void PressureSFD::setDisabledSensors()
                 }
             }
             break;
+
+        case SFDMode::UNSET:
+            break;
     }
 
     // reset all sensors if all of them are faulty
diff --git a/src/shared/sensors/SFD/PressureSFD.h b/src/shared/sensors/SFD/PressureSFD.h
index 070966abf8798cec791fe04321798022904ddd3f..553c77d3acb95d7b9f5c37891c4ccbe9572111a5 100644
--- a/src/shared/sensors/SFD/PressureSFD.h
+++ b/src/shared/sensors/SFD/PressureSFD.h
@@ -52,6 +52,7 @@ public:
     static constexpr int WIN_LEN        = MASKED_SENSORS * LEN_CHUNK;
 
     // TODO: set these values
+    static constexpr int MED_FILTER_WIN_LEN   = 25;
     static constexpr float K_ACTIVE_ASCENT    = 0;
     static constexpr float K_PASSIVE_ASCENT   = 0;
     static constexpr float K_APOGEE_PROXIMITY = 0;
@@ -92,7 +93,7 @@ private:
     std::array<float, MASKED_SENSORS> weights;
 
     LowPass lowPassFilter;
-    AdjustableMedFilter<WIN_LEN> medianFilter;
+    AdjustableMedFilter<MED_FILTER_WIN_LEN> medianFilter;
 
     std::array<std::function<PressureData()>, MASKED_SENSORS> pressSamplers;
     std::array<bool, MASKED_SENSORS> disabledSensors;
diff --git a/src/shared/utils/SlidingWindow.h b/src/shared/utils/SlidingWindow.h
index 37c0cbc58c5d8ceb4c440256d871f4c8ec8d60bb..2494f623fcad1ec5d6179e5b1f50e87a43f6c5d7 100644
--- a/src/shared/utils/SlidingWindow.h
+++ b/src/shared/utils/SlidingWindow.h
@@ -31,25 +31,25 @@ template <typename T, size_t D>
 class SlidingWindow
 {
 public:
-    explicit SlidingWindow() : window({0}), filled(0) {}
+    explicit SlidingWindow() : window({0}), valuesFilled(0) {}
 
     void push(T value)
     {
         shiftWindow(1);
-        filled < D ? filled++ : filled;
+        valuesFilled < D ? valuesFilled++ : valuesFilled;
         setLast(value);
     }
 
-    bool isFull() { return filled == D; }
+    bool isFull() { return valuesFilled == D; }
 
     /**
      * @brief Get the actual number of elements in the window
      */
-    size_t filled() { return filled; }
+    size_t filled() { return valuesFilled; }
 
     T last() { return window[D - 1]; }
 
-    std::array<T, D>& all() { return &window; }
+    std::array<T, D>& all() { return window; }
 
 private:
     inline void setLast(T value) { window[D - 1] = value; }
@@ -62,14 +62,14 @@ private:
      */
     void shiftWindow(size_t n)
     {
-        for (int i = 0; i < D - n; i++)
+        for (size_t i = 0; i < D - n; i++)
         {
             window[i] = window[i + n];
         }
     }
 
     std::array<T, D> window;
-    size_t filled;
+    size_t valuesFilled;
 };
 
 }  // namespace Boardcore