diff --git a/code/Eval.cpp b/code/Eval.cpp
index 8e1bb58..30ace57 100644
--- a/code/Eval.cpp
+++ b/code/Eval.cpp
@@ -39,9 +39,9 @@ double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3&
             if (ftmDist > 0)
             {
                 //double sigma = wifi.getFtmDistStd()*wifi.getFtmDistStd(); // 3.5; // TODO
-                double sigma = 3;
+                double sigma = 8;
 
-                if (false && ftmKalmanFilters != nullptr)
+                if (ftmKalmanFilters != nullptr)
                 {
                     Kalman& kalman = ftmKalmanFilters->at(mac);
                     ftmDist = kalman.predictAndUpdate(currentTime, ftmDist);
@@ -66,7 +66,7 @@ double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3&
         else
         {
             // RSSI
-            double sigma = 5;
+            double sigma = 8;
 
             double x = Distribution::Normal<double>::getProbability(rssiDist, sigma, apDist);
             result *= x;
diff --git a/code/Settings.h b/code/Settings.h
index a015951..86148d8 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -12,7 +12,7 @@ namespace Settings {
     const std::string plotDataDir = "../plots/data/";
     const std::string outputDir = "../output/";
     
-    const bool UseKalman = true;
+    const bool UseKalman = false;
 
     /** describes one dataset (map, training, parameter-estimation, ...) */
 
@@ -328,18 +328,44 @@ namespace Settings {
             "path11",
             mapDir + "shl_nuc_2.xml",
             {
-                dataDir + "Pixel2/path11/1688129692555.csv",
-                dataDir + "Pixel2/path11/1841800940572.csv",
-                dataDir + "Pixel3/path11/3833358280134.csv",
-                dataDir + "Pixel3/path11/3997838116311.csv",
+                //dataDir + "Pixel2/path11/1688129692555.csv",
+                //dataDir + "Pixel2/path11/1841800940572.csv",
+                //dataDir + "Pixel3/path11/3833358280134.csv",
+                //dataDir + "Pixel3/path11/3997838116311.csv",
+                dataDir + "Pixel3/path11/5137884187509.csv",
+                //dataDir + "Pixel3/path11/6613042236545.csv",                NUC 6 im Gang
+                //dataDir + "Pixel3/path11/11657691328657.csv",  // NUC 6 im 3OG
             },
             {
                 // NUC, ID Pos X   Y    Z  offset loss   kalman stddev
-                { NUC1, {1, {  7,  6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1  I.2.14
-                { NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5  I.2.37
-                { NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6  I.2.03
-                { NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7  I.2.28
-                { NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8  I.2.10
+                //{ NUC1, {1, {  7,  6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1  I.2.14
+                //{ NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5  I.2.37
+                //{ NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6  I.2.03
+                //{ NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7  I.2.28
+                //{ NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8  I.2.10
+
+
+                /*NUC1 x = "67" y = "33"
+                NUC2 x = "27" y = "49.600002"
+                NUC3 x = "15" y = "32.400002"
+                NUC4 x = "14.6" y = "4.4000001"
+
+                NUC5 x = "52.200001" y = "49.5"
+                NUC6 x = "39" y = "33"
+                NUC7 x = "5" y = "49.799999"
+                NUC8 x = "2" y = "21.5"*/
+
+
+                { NUC1, {1, { 67  , 33  , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1  
+                { NUC2, {2, { 27  , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2  
+                { NUC3, {3, { 15  , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3  
+                { NUC4, {4, { 14.6,  4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4  
+                { NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5  
+                { NUC6, {6, { 38  , 33  , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6  im Juschi Lab
+                //{ NUC6, {6, { 38.1, 40  , 0.8}, 0.00, 3.000, 3.0f} }, // NUC 6  aufn Gang
+                //{ NUC6, {6, { 38  , 33  , 3.4+0.8}, -2.00, 3.000, 3.0f} }, // NUC 6  3OG
+                { NUC7, {7, {  5  , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7  
+                { NUC8, {8, {  2  , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8  
             },
             { 100, 101, 102, 103, 104, 105, 104, 103, 102, 101, 100 },
             true
@@ -347,6 +373,6 @@ namespace Settings {
 
     } data;
 
-    static DataSetup CurrentPath = data.Path10;
+    static DataSetup CurrentPath = data.Path11;
 }
 
diff --git a/code/filter.h b/code/filter.h
index 9d5a20c..4e42683 100644
--- a/code/filter.h
+++ b/code/filter.h
@@ -183,7 +183,7 @@ struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl
         Distribution::Uniform<float> dHeading;
 
         MyPFTransRandom()
-            : dStepSize(1.5f, 0.2f), dHeading(0, 2*M_PI)
+            : dStepSize(0.7f, 0.5f), dHeading(0, 2*M_PI)
         {}
 
         void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {