diff --git a/walky/CMakeLists.txt b/walky/CMakeLists.txt
index 6f6ad97..90fb002 100644
--- a/walky/CMakeLists.txt
+++ b/walky/CMakeLists.txt
@@ -1,8 +1,3 @@
-# Usage:
-#  Create build folder, like RC-build next to RobotControl and WifiScan folder
-#  CD into build folder and execute 'cmake -DCMAKE_BUILD_TYPE=Debug ../RobotControl'
-#  make
-
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 # select build type
@@ -81,8 +76,6 @@ ADD_DEFINITIONS(
 	-g3
 	-O0
 
-
-
 	-march=native
 
 	-DWITH_TESTS
diff --git a/walky/ParticleWalkNavMesh.h b/walky/ParticleWalkNavMesh.h
index 273bdea..cd0c6a2 100644
--- a/walky/ParticleWalkNavMesh.h
+++ b/walky/ParticleWalkNavMesh.h
@@ -30,6 +30,7 @@
 #include <Indoor/synthetic/SyntheticTurns.h>
 
 #include <Indoor/sensors/imu/StepDetection.h>
+#include <Indoor/sensors/imu/StepDetection2.h>
 #include <Indoor/sensors/imu/TurnDetection.h>
 
 #include <KLib/math/filter/particles/ParticleFilter.h>
@@ -101,7 +102,8 @@ public:
 
 		MyControl ctrl;
 		PoseDetection* poseDetect = new PoseDetection();
-		StepDetection* stepDetect = new StepDetection();		// TODO
+		StepDetection* stepDetect = new StepDetection();
+		//StepDetection2* stepDetect = new StepDetection2();
 		TurnDetection* turnDetect = new TurnDetection(poseDetect);
 
 	public: