diff --git a/code/Plotty.h b/code/Plotty.h
index 0df0f3c..b76fef5 100644
--- a/code/Plotty.h
+++ b/code/Plotty.h
@@ -614,8 +614,8 @@ public:
 //			K::GnuplotPoint3(bbox.getMax().x, bbox.getMax().y, bbox.getMax().z)
 //		);
         
-		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.getAxisX().setRange(K::GnuplotAxis::Range(bbox.getMin().x-5, bbox.getMax().x+5));
+		splot.getAxisY().setRange(K::GnuplotAxis::Range(bbox.getMin().y-5, bbox.getMax().y+5));
 		splot.getAxisZ().setRange(K::GnuplotAxis::Range(0 /*bbox.getMin().z*/, bbox.getMax().z));
 
 		// process each selected floor
diff --git a/code/Settings.h b/code/Settings.h
index 1163c53..245602e 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -11,7 +11,7 @@ namespace Settings {
 	const std::string errorDir = "../measurements/error/";
     const std::string plotDataDir = "../plots/data/";
     
-    const bool UseKalman = true;
+    const bool UseKalman = false;
 
     /** describes one dataset (map, training, parameter-estimation, ...) */
 
@@ -228,10 +228,10 @@ namespace Settings {
             },
             {
                 // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
-                { NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
-                { NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
-                { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
-                { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
+                { NUC1, {1, { 54, 46, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 1
+                { NUC2, {2, { 45, 37, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 2
+                { NUC3, {3, { 27, 45, 0.8}, 0.0, 3.250, 3.0f} }, // NUC 3
+                { NUC4, {4, { 16, 36, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 4
             },
             { 100, 102, 103, 104, 105, 104, 103, 102, 100 },
             true
@@ -275,7 +275,7 @@ namespace Settings {
         };
 
 
-        const DataSetup CurrentPath = Path8;
+        const DataSetup CurrentPath = Path7;
 
     } data;
 
diff --git a/code/filter.h b/code/filter.h
index fdff44d..d2ebd66 100644
--- a/code/filter.h
+++ b/code/filter.h
@@ -180,8 +180,10 @@ class MyPFTransStatic : public SMC::ParticleFilterTransition<MyState, MyControl>
 struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl>{
 
         Distribution::Normal<float> dStepSize;
+        Distribution::Uniform<float> dHeading;
+
         MyPFTransRandom()
-            : dStepSize(0.0f, 0.6f)
+            : dStepSize(2.0f, 0.2f), dHeading(0, 2*M_PI)
         {}
 
         void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
@@ -189,8 +191,12 @@ struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl
             #pragma omp parallel for num_threads(3)
             for (int i = 0; i < particles.size(); ++i) {
                 SMC::Particle<MyState>& p = particles[i];
-                p.state.pos.pos.x += dStepSize.draw();
-                p.state.pos.pos.y += dStepSize.draw();
+
+                const float angle = dHeading.draw();
+                const float stepSize = dStepSize.draw();
+
+                p.state.pos.pos.x += std::cos(angle) * stepSize;
+                p.state.pos.pos.y += std::sin(angle) * stepSize;
             }
         }
 };
diff --git a/code/main.cpp b/code/main.cpp
index 2b93956..e2db731 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -263,8 +263,8 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     //auto trans = std::make_unique<MyPFTransStatic>();
 
     auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
-    //auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
-    auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>();
+    auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
+    //auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>();
 
     // setup
     MyFilter pf(numParticles, std::move(init));