diff --git a/code/Plotty.h b/code/Plotty.h
index bcaae75..734aae5 100644
--- a/code/Plotty.h
+++ b/code/Plotty.h
@@ -581,7 +581,7 @@ public:
 
 		splot.getAxisX().setRange(K::GnuplotAxis::Range(bbox.getMin().x, bbox.getMax().x));
 		splot.getAxisY().setRange(K::GnuplotAxis::Range(bbox.getMin().y, bbox.getMax().y));
-		splot.getAxisZ().setRange(K::GnuplotAxis::Range(0, 11));
+		splot.getAxisZ().setRange(K::GnuplotAxis::Range(0 /*bbox.getMin().z*/, bbox.getMax().z));
 
 		// process each selected floor
 		for (Floorplan::Floor* floor : floors) {
@@ -622,13 +622,13 @@ public:
 					splot.getObjects().add(gpol);
 
 				}
-                break;
 			}
 
 			// plot obstacles?
 			if (settings.obstacles) {
 				for (Floorplan::FloorObstacle* obs : floor->obstacles) {
-					Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
+					//Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
+                    Floorplan::FloorObstacleWall* line = dynamic_cast<Floorplan::FloorObstacleWall*>(obs);
 					if (line) {
 
 						if (floor->atHeight < settings.minZ) {continue;}
diff --git a/code/Settings.h b/code/Settings.h
index 5693cc7..9e52c12 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -125,6 +125,7 @@ namespace Settings {
                 dataDir + "Pixel2/Path0_0605.csv",
             },
             {
+                // NUC, ID   Pos X   Y    Z   offset loss   kalman stddev
                 { NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1
                 { NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2
                 { NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
@@ -138,10 +139,10 @@ namespace Settings {
                 dataDir + "Pixel2/Path1_7208.csv",
             },
             {
-                { NUC1, {1, { 8.1, 18.7, 0.8}, 0, 0, 0} }, // NUC 1
-                { NUC2, {2, { 8.4, 27.3, 0.8}, 0, 0, 0} }, // NUC 2
-                { NUC3, {3, {21.3, 19.3, 0.8}, 0, 0, 0} }, // NUC 3
-                { NUC4, {4, {20.6, 26.8, 0.8}, 0, 0, 0} }, // NUC 4
+                { NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 6.156f} }, // NUC 1
+                { NUC2, {2, { 8.4, 27.3, 0.8}, 3.25, 0, 5.650f} }, // NUC 2
+                { NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 6.107f} }, // NUC 3
+                { NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 3.985f} }, // NUC 4
             },
             { 1, 2, 6, 7, 6, 2, 1 }
         };
diff --git a/map/map2_ap_path1.xml b/map/map2_ap_path1.xml
index 32b6bc9..f0dc4fd 100644
--- a/map/map2_ap_path1.xml
+++ b/map/map2_ap_path1.xml
@@ -3,7 +3,7 @@
         <correspondences/>
     </earthReg>
     <floors>
-        <floor atHeight="3" height="2.8" name="OG">
+        <floor atHeight="0" height="2.8" name="OG">
             <outline>
                 <polygon name="" method="0" outdoor="false">
                     <point x="4.9200001" y="28.9"/>
@@ -79,69 +79,5 @@
             <stairs/>
             <elevators/>
         </floor>
-        <floor atHeight="0" height="3" name="EG">
-            <outline>
-                <polygon name="" method="0" outdoor="false">
-                    <point x="4.9200001" y="28.9"/>
-                    <point x="4.9200001" y="16.6"/>
-                    <point x="14.04" y="16.6"/>
-                    <point x="15" y="16.6"/>
-                    <point x="17.300001" y="16.6"/>
-                    <point x="18.08" y="16.6"/>
-                    <point x="23.879999" y="16.6"/>
-                    <point x="23.879999" y="28.9"/>
-                </polygon>
-            </outline>
-            <obstacles>
-                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
-                <wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
-                <wall material="3" type="1" x1="17.26" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
-                <wall material="3" type="1" x1="5.0799999" y1="16.76" x2="15.059999" y2="16.76" thickness="0.30000001"/>
-                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
-                <wall material="3" type="1" x1="5.2000003" y1="24.9" x2="23.6" y2="24.9" thickness="0.12">
-                    <door type="1" material="2" x01="0.32608694" width="0.89999998" height="2.0999999" io="false" lr="true"/>
-                    <door type="1" material="2" x01="0.40326083" width="0.89999998" height="2.0999999" io="false" lr="false"/>
-                    <door type="1" material="2" x01="0.62391305" width="0.89999998" height="2.0999999" io="false" lr="true"/>
-                    <door type="1" material="2" x01="0.6760869" width="0.89999998" height="2.0999999" io="false" lr="false"/>
-                </wall>
-                <wall material="3" type="1" x1="5.2000003" y1="20.800001" x2="10.62" y2="20.799999" thickness="0.12">
-                    <door type="1" material="2" x01="0.93357944" width="0.89999998" height="2.0999999" io="true" lr="true"/>
-                </wall>
-                <wall material="3" type="1" x1="17.559999" y1="20.779999" x2="23.6" y2="20.779999" thickness="0.12">
-                    <door type="1" material="2" x01="0.69536424" width="1" height="2.0999999" io="true" lr="false"/>
-                    <door type="1" material="2" x01="0.11258282" width="0.89999998" height="2.0999999" io="true" lr="false"/>
-                </wall>
-                <wall material="3" type="1" x1="20.52" y1="16.879999" x2="20.52" y2="20.76" thickness="0.12"/>
-                <wall material="3" type="1" x1="9.0999994" y1="20.82" x2="9.1000004" y2="24.9" thickness="0.12">
-                    <door type="1" material="2" x01="0.79901963" width="0.89999998" height="2.0999999" io="false" lr="true"/>
-                </wall>
-                <wall material="1" type="1" x1="10.7" y1="16.9" x2="10.7" y2="20.779999" thickness="0.12"/>
-                <wall material="1" type="1" x1="10.7" y1="20.779999" x2="17.48" y2="20.779999" thickness="0.12">
-                    <door type="1" material="2" x01="0.64306784" width="1.1" height="2.0999999" io="true" lr="false"/>
-                    <door type="1" material="2" x01="0.96755171" width="1.1" height="2.0999999" io="true" lr="true"/>
-                </wall>
-                <wall material="1" type="1" x1="17.48" y1="20.779999" x2="17.48" y2="16.879999" thickness="0.12"/>
-                <wall material="3" type="1" x1="11.96" y1="28.66" x2="11.96" y2="24.879999" thickness="0.12"/>
-                <wall material="3" type="1" x1="15.02" y1="28.699999" x2="15.02" y2="24.9" thickness="0.12"/>
-                <wall material="3" type="1" x1="16.859999" y1="28.699999" x2="16.859999" y2="24.9" thickness="0.12"/>
-                <wall material="3" type="1" x1="10.74" y1="20.859999" x2="10.74" y2="23.24" thickness="0.12"/>
-                <wall material="3" type="1" x1="10.74" y1="23.24" x2="14.4" y2="23.24" thickness="0.12">
-                    <door type="1" material="2" x01="0.93989062" width="0.75" height="2.0999999" io="true" lr="true"/>
-                    <door type="1" material="2" x01="0.060109366" width="0.75" height="2.0999999" io="true" lr="false"/>
-                </wall>
-                <wall material="3" type="1" x1="14.4" y1="23.24" x2="14.4" y2="20.879999" thickness="0.12"/>
-                <wall material="3" type="1" x1="12.559999" y1="20.879999" x2="12.559999" y2="23.199999" thickness="0.12"/>
-            </obstacles>
-            <underlays>
-                <underlay x="-0" y="0" sx="0.0105" sy="0.0105" name="" file="D:/Source/Navegadors/NavData/2019_06_10_prologicv2/map/Datenplan_EG.png"/>
-            </underlays>
-            <pois/>
-            <gtpoints/>
-            <accesspoints/>
-            <beacons/>
-            <fingerprints/>
-            <stairs/>
-            <elevators/>
-        </floor>
     </floors>
 </map>