diff --git a/tracking/lidar_cache.py b/tracking/lidar_cache.py
index ebb8443..800ba11 100644
--- a/tracking/lidar_cache.py
+++ b/tracking/lidar_cache.py
@@ -38,6 +38,8 @@ class LidarCache():
         # Create the 0MQ socket first. This should not be passed between threads.
         self._mFactory = sender
 
+        # Batch over scans, so we don't need to do our own batching to determine groups
+        # TODO: Implement custom batching, as iter_scans can be unreliable
         for scan in self.lidar.iter_scans(min_len=self.measurements):
             print('Got %d measurments' % (len(scan)))
             if(not self.run):
diff --git a/tracking/mock_lidar.py b/tracking/mock_lidar.py
index 0ac0a57..ef4e735 100644
--- a/tracking/mock_lidar.py
+++ b/tracking/mock_lidar.py
@@ -26,7 +26,7 @@ class MockLidar:
         """
         self._iter = scan_iter
 
-    def iter_scans(self, measurements=100):
+    def iter_scans(self, min_len=100):
         return self._iter
 
     def get_health(self):