diff --git a/detect.h b/detect.h
index b52e853..aa74e62 100644
--- a/detect.h
+++ b/detect.h
@@ -37,10 +37,8 @@ enum {
 	POSCTL_CALIB_MODE_OFF = 0,
 	POSCTL_CALIB_MODE_START,
 	POSCTL_CALIB_MODE_DELTA,
-	POSCTL_CALIB_MODE_AXIS1_MI,
-	POSCTL_CALIB_MODE_AXIS1_MA,
-	POSCTL_CALIB_MODE_AXIS2_MI,
-	POSCTL_CALIB_MODE_AXIS2_MA,
+	POSCTL_CALIB_MODE_AXIS1,
+	POSCTL_CALIB_MODE_AXIS2,
 	POSCTL_CALIB_MODE_FINISH
 };
 
@@ -75,18 +73,12 @@ class PosCtl {
 		PosCtl();
 		~PosCtl() {};
 
-		double calib_rot_angle;
-		double calib_rot_len;
-
-		double calib_axis1min_angle;
-		double calib_axis1min_len;
-		double calib_axis1max_angle;
-		double calib_axis1max_len;
-
-		double calib_axis2min_angle;
-		double calib_axis2min_len;
-		double calib_axis2max_angle;
-		double calib_axis2max_len;
+		position_f_2d	calib_rot_v;
+		vector_2d calib_rot;
+		position_f_2d	calib_axis1_v;
+		vector_2d calib_axis1;
+		position_f_2d	calib_axis2_v;
+		vector_2d calib_axis2;
 
 		double out[2];
 
diff --git a/gui.h b/gui.h
index 291e2c8..0c5c2b1 100644
--- a/gui.h
+++ b/gui.h
@@ -11,6 +11,7 @@
 #include <gdk/gdk.h>
 #include <glib.h>
 
+#include <math.h>
 #include <string>
 #include <iostream>
 #include <list>
@@ -28,10 +29,37 @@ struct {
 } typedef position_2d;
 
 
-struct {
-	float x;
-	float y;
-} typedef position_f_2d;
+class position_f_2d {
+public:
+	position_f_2d() { x = NAN; y = NAN; };
+	~position_f_2d() {};
+
+	position_f_2d operator + (position_f_2d const &obj) {
+	         position_f_2d res;
+	         res.x = x + obj.x;
+	         res.y = y + obj.y;
+	         return res;
+	    }
+
+	position_f_2d operator - (position_f_2d const &obj) {
+	         position_f_2d res;
+	         res.x = x - obj.x;
+	         res.y = y - obj.y;
+	         return res;
+	    }
+
+	double x;
+	double y;
+};
+
+
+class vector_2d {
+public:
+	double a;
+	double l;
+	vector_2d () { a = NAN; l = NAN; }
+	~vector_2d () {};
+};
 
 
 #define DETECT_MOVEMENT_SAMPLES 50
diff --git a/main.cc b/main.cc
index ed02500..64a3e55 100644
--- a/main.cc
+++ b/main.cc
@@ -6,6 +6,7 @@
 
 #include <sys/time.h>
 #include <execinfo.h>
+#include <math.h>
 
 #include "simpleskycam.h"
 #include "config.h"
@@ -127,3 +128,14 @@ void errorexit (char *fmt,...) {
 	exit (-1);
 }
 
+
+void calc_vec2anglelen(position_f_2d *p, vector_2d *v) {
+	if (v == NULL || p == NULL) return;
+	v->a = atan2(p->x, p->y) * 180.0 / M_PI;
+	while (v->a < 0.0) v->a += 360.0;
+	v->l = hypot(p->x, p->y);
+
+}
+
+
+
diff --git a/posctl.cc b/posctl.cc
index c6a385e..e69fe5f 100644
--- a/posctl.cc
+++ b/posctl.cc
@@ -31,6 +31,8 @@ GtkWidget *posctl_rot_da = NULL;
 double linedash1[] = { 1.0, 4.0 };
 
 
+#define CALIB_MAXSPEED 2.0
+
 void posctl_gui_update();
 
 void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
@@ -138,25 +140,17 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
 	// rotation da
 	GtkWidget *entry_rot_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
 	GtkWidget *entry_rot_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
-	GtkWidget *entry_axis1_minangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1minangle"));
-	GtkWidget *entry_axis1_minlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1minlen"));
-	GtkWidget *entry_axis1_maxangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1maxangle"));
-	GtkWidget *entry_axis1_maxlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1maxlen"));
-	GtkWidget *entry_axis2_minangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2minangle"));
-	GtkWidget *entry_axis2_minlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2minlen"));
-	GtkWidget *entry_axis2_maxangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2maxangle"));
-	GtkWidget *entry_axis2_maxlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2maxlen"));
+	GtkWidget *entry_axis1_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
+	GtkWidget *entry_axis1_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));
+	GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
+	GtkWidget *entry_axis2_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));
 
 	float rotangle = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_angle))) * (M_PI / 180);
 	float rotlen = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_len)));
-	float a1min_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_minangle))) * (M_PI / 180);
-	float a1min_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_minlen)));
-	float a1max_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_maxangle))) * (M_PI / 180);
-	float a1max_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_maxlen)));
-	float a2min_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_minangle))) * (M_PI / 180);
-	float a2min_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_minlen)));
-	float a2max_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_maxangle))) * (M_PI / 180);
-	float a2max_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_maxlen)));
+	float a1_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_angle))) * (M_PI / 180);
+	float a1_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_len)));
+	float a2_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_angle))) * (M_PI / 180);
+	float a2_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_len)));
 
 	if (posctl_rot_da == NULL) // should only be called once
 		posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
@@ -190,15 +184,15 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
 	lpos[0].x = sin(rotangle) * rotlen;
 	lpos[0].y = cos(rotangle) * rotlen;
 
-	lpos[1].x = lpos[0].x + sin(a1min_angle) * a1min_len;
-	lpos[1].y = lpos[0].y + cos(a1min_angle) * a1min_len;
-	lpos[2].x = lpos[0].x + sin(a1max_angle) * a1max_len;
-	lpos[2].y = lpos[0].y + cos(a1max_angle) * a1max_len;
+	lpos[1].x = lpos[0].x + sin(a1_angle) * a1_len;
+	lpos[1].y = lpos[0].y + cos(a1_angle) * a1_len;
+	lpos[2].x = lpos[0].x;
+	lpos[2].y = lpos[0].y;
 
-	lpos[3].x = lpos[0].x + sin(a2min_angle) * a2min_len;
-	lpos[3].y = lpos[0].y + cos(a2min_angle) * a2min_len;
-	lpos[4].x = lpos[0].x + sin(a2max_angle) * a2max_len;
-	lpos[4].y = lpos[0].y + cos(a2max_angle) * a2max_len;
+	lpos[3].x = lpos[0].x + sin(a2_angle) * a2_len;
+	lpos[3].y = lpos[0].y + cos(a2_angle) * a2_len;
+	lpos[4].x = lpos[0].x;
+	lpos[4].y = lpos[0].y;
 
 	// find maximum
 	for (int i = 0; i < 5; i++) {
@@ -234,8 +228,8 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
 	cairo_line_to(cr, center.x + float (lpos[2].x * center.x * 0.8 / lmax),
 					  center.y - float (lpos[2].y * center.y * 0.8 / lmax));
 	cairo_stroke(cr);
-	cairo_move_to(cr, center.x + float (lpos[2].x * center.x * 0.9 / lmax),
-					  center.y - float (lpos[2].y * center.y * 0.9 / lmax));
+	cairo_move_to(cr, center.x + float (lpos[1].x * center.x * 0.9 / lmax),
+					  center.y - float (lpos[1].y * center.y * 0.9 / lmax));
 	cairo_show_text(cr, (char *)"1");
 
 	// axis2
@@ -245,8 +239,8 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
 	cairo_line_to(cr, center.x + float (lpos[4].x * center.x * 0.8 / lmax),
 					  center.y - float (lpos[4].y * center.y * 0.8 / lmax));
 	cairo_stroke(cr);
-	cairo_move_to(cr, center.x + float (lpos[4].x * center.x * 0.9 / lmax),
-					  center.y - float (lpos[4].y * center.y * 0.9 / lmax));
+	cairo_move_to(cr, center.x + float (lpos[3].x * center.x * 0.9 / lmax),
+					  center.y - float (lpos[3].y * center.y * 0.9 / lmax));
 	cairo_show_text(cr, (char *)"2");
 };
 
@@ -310,15 +304,11 @@ void posctl_gui_update() {
 	GtkWidget *e_cal_rotangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
 	GtkWidget *e_cal_rotlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
 
-	GtkWidget *e_cal_a1minangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1minangle"));
-	GtkWidget *e_cal_a1minlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1minlen"));
-	GtkWidget *e_cal_a1maxangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1maxangle"));
-	GtkWidget *e_cal_a1maxlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1maxlen"));
+	GtkWidget *e_cal_a1angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
+	GtkWidget *e_cal_a1len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));
 
-	GtkWidget *e_cal_a2minangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2minangle"));
-	GtkWidget *e_cal_a2minlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2minlen"));
-	GtkWidget *e_cal_a2maxangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2maxangle"));
-	GtkWidget *e_cal_a2maxlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2maxlen"));
+	GtkWidget *e_cal_a2angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
+	GtkWidget *e_cal_a2len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));
 
 	GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
 	GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
@@ -371,28 +361,20 @@ void posctl_gui_update() {
 		gtk_widget_set_sensitive(e_posdevice, false);
 	}
 
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot_angle);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot.a);
 	gtk_entry_set_text (GTK_ENTRY(e_cal_rotangle), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot_len);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot.l);
 	gtk_entry_set_text (GTK_ENTRY(e_cal_rotlen), txt);
 
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1min_angle);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a1minangle), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1min_len);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a1minlen), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1max_angle);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a1maxangle), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1max_len);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a1maxlen), txt);
-
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2min_angle);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a2minangle), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2min_len);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a2minlen), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2max_angle);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a2maxangle), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2max_len);
-	gtk_entry_set_text (GTK_ENTRY(e_cal_a2maxlen), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1.a);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a1angle), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1.l);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a1len), txt);
+
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2.a);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a2angle), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2.l);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a2len), txt);
 
 	gtk_entry_set_text (GTK_ENTRY(e_posdevice), posctl.GetDevice().c_str());
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[0]);
@@ -442,16 +424,6 @@ PosCtl::PosCtl() {
 	mode = POSCTL_MODE_OFF;
 
 	calib_mode = POSCTL_CALIB_MODE_OFF;
-	calib_rot_len = 0.0;
-	calib_rot_angle = 0.0;
-	calib_axis1min_angle = 0.0;
-	calib_axis1min_len = 0.0;
-	calib_axis1max_angle = 0.0;
-	calib_axis1max_len = 0.0;
-	calib_axis2min_angle = 0.0;
-	calib_axis2min_len = 0.0;
-	calib_axis2max_angle = 0.0;
-	calib_axis2max_len = 0.0;
 	device_fd = -1;
 	device = "";
 	device_type = POSCTL_DEVTYPE_TTY;
@@ -542,22 +514,20 @@ void PosCtl::CalibModeDelta(int x, int y) {
 		printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
 		pid_axis[0].GetParam(&a1min, &a1max, NULL, NULL, NULL);
 
-		OutputWriteStart();
-
 		fp.x = (x - calib_pos.x) / (float)timediff;
 		fp.y = -(y - calib_pos.y) / (float)timediff;
 
 		LockMutex();
-		calib_rot_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
-		while (calib_rot_angle < 0.0) calib_rot_angle += 360.0;
-		calib_rot_len = sqrt(fp.x * fp.x + fp.y * fp.y);
+		calib_rot_v = fp;
+		calc_vec2anglelen(&fp, &calib_rot);
 		UnLockMutex();
 
-		calib_mode = POSCTL_CALIB_MODE_AXIS1_MI;
+		calib_mode = POSCTL_CALIB_MODE_AXIS1;
 		calib_pos.x = x;
 		calib_pos.y = y;
 
-		OutputWriteValue(0, a1min);
+		OutputWriteValue(0, CALIB_MAXSPEED);
+
 		gettimeofday (&calib_timestamp, NULL);
 		gdk_threads_add_idle(cb_thread_posctl, NULL);
 	}
@@ -567,7 +537,6 @@ void PosCtl::CalibModeDelta(int x, int y) {
 void PosCtl::CalibModeAxis(int x, int y) {
 	struct timeval tv;
 	float timediff;
-	double a1min, a1max, a2min, a2max;
 	position_f_2d fp;
 
 	gettimeofday (&tv, NULL);
@@ -576,35 +545,19 @@ void PosCtl::CalibModeAxis(int x, int y) {
 	if (timediff > 5.0) {
 		printf ("%s:%d %s calib_mode: %d\n", __FILE__, __LINE__, __FUNCTION__, calib_mode);
 
-		pid_axis[0].GetParam(&a1min, &a1max, NULL, NULL, NULL);
-		pid_axis[1].GetParam(&a2min, &a2max, NULL, NULL, NULL);
-
 		fp.x = (x - calib_pos.x) / (float)timediff;
 		fp.y = -(y - calib_pos.y) / (float)timediff;
 
-		if (calib_mode ==  POSCTL_CALIB_MODE_AXIS1_MI)	{
-			calib_axis1min_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
-			while (calib_axis1min_angle < 0.0) calib_axis1min_angle += 360.0;
-			calib_axis1min_len = sqrt(fp.x * fp.x + fp.y * fp.y);
-			OutputWriteValue(0, a1max);
-		}
-		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS1_MA) {
-			calib_axis1max_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
-			while (calib_axis1max_angle < 0.0) calib_axis1max_angle += 360.0;
-			calib_axis1max_len = sqrt(fp.x * fp.x + fp.y * fp.y);
-			OutputWriteValue(1, a2min);
-		}
-		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2_MI)	{
-			calib_axis2min_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
-			while (calib_axis2min_angle < 0.0) calib_axis2min_angle += 360.0;
-			calib_axis2min_len = sqrt(fp.x * fp.x + fp.y * fp.y);
-			OutputWriteValue(1, a2max);
+		if (calib_mode ==  POSCTL_CALIB_MODE_AXIS1)	{
+			calib_axis1_v = fp;
+			calc_vec2anglelen(&calib_axis1_v, &calib_axis1);
+			OutputWriteStop();
+			OutputWriteValue(1, CALIB_MAXSPEED);
 		}
-		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2_MA) {
-			calib_axis2max_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
-			while (calib_axis2max_angle < 0.0) calib_axis2max_angle += 360.0;
-			calib_axis2max_len = sqrt(fp.x * fp.x + fp.y * fp.y);
-			OutputWriteStart();			// reset speed output to 50%
+		else if (calib_mode ==  POSCTL_CALIB_MODE_AXIS2)	{
+			calib_axis2_v = fp;
+			calc_vec2anglelen(&calib_axis2_v, &calib_axis2);
+			OutputWriteStart();
 		}
 
 		calib_mode++;
@@ -640,10 +593,8 @@ void PosCtl::Loop (int posx, int posy) {
 		case (POSCTL_CALIB_MODE_DELTA):
 			CalibModeDelta(posx, posy);
 			break;
-		case (POSCTL_CALIB_MODE_AXIS1_MI):
-		case (POSCTL_CALIB_MODE_AXIS1_MA):
-		case (POSCTL_CALIB_MODE_AXIS2_MI):
-		case (POSCTL_CALIB_MODE_AXIS2_MA):
+		case (POSCTL_CALIB_MODE_AXIS1):
+		case (POSCTL_CALIB_MODE_AXIS2):
 			CalibModeAxis(posx, posy);
 			break;
 		case (POSCTL_CALIB_MODE_FINISH):
diff --git a/simpleskycam.h b/simpleskycam.h
index c52f33d..4de9cd9 100644
--- a/simpleskycam.h
+++ b/simpleskycam.h
@@ -2,7 +2,13 @@
 #ifndef _SIMPLESKYCAM_H_
 #define _SIMPLESKYCAM_H_
 
+#include "gui.h"
+
 extern void errorexit(char *fmt, ...);
+extern void calc_vec2anglelen(position_f_2d *p, vector_2d *v);
+
+#define sindeg(_angle_) sin((M_PI * _angle_ / 180.0))
+#define cosdeg(_angle_) cos((M_PI * _angle_ / 180.0))
 
 #endif
 
diff --git a/simpleskycam.ui b/simpleskycam.ui
index 17934ee..e348e28 100644
--- a/simpleskycam.ui
+++ b/simpleskycam.ui
@@ -762,7 +762,7 @@
               </packing>
             </child>
             <child>
-              <!-- n-columns=5 n-rows=4 -->
+              <!-- n-columns=3 n-rows=4 -->
               <object class="GtkGrid">
                 <property name="visible">True</property>
                 <property name="can-focus">False</property>
@@ -771,7 +771,7 @@
                 <property name="row-spacing">4</property>
                 <property name="column-spacing">4</property>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a1minangle">
+                  <object class="GtkEntry" id="posctl_entry_a1angle">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>
@@ -801,7 +801,7 @@
                   </packing>
                 </child>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a2minangle">
+                  <object class="GtkEntry" id="posctl_entry_a2angle">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>
@@ -888,7 +888,7 @@
                   </packing>
                 </child>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a1minlen">
+                  <object class="GtkEntry" id="posctl_entry_a1len">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>
@@ -903,7 +903,7 @@
                   </packing>
                 </child>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a2minlen">
+                  <object class="GtkEntry" id="posctl_entry_a2len">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>
@@ -917,92 +917,6 @@
                     <property name="top-attach">3</property>
                   </packing>
                 </child>
-                <child>
-                  <object class="GtkLabel">
-                    <property name="visible">True</property>
-                    <property name="can-focus">False</property>
-                    <property name="label" translatable="yes">Max: Angle</property>
-                  </object>
-                  <packing>
-                    <property name="left-attach">3</property>
-                    <property name="top-attach">0</property>
-                  </packing>
-                </child>
-                <child>
-                  <object class="GtkEntry" id="posctl_entry_a2maxangle">
-                    <property name="visible">True</property>
-                    <property name="sensitive">False</property>
-                    <property name="can-focus">True</property>
-                    <property name="editable">False</property>
-                    <property name="width-chars">6</property>
-                    <property name="text" translatable="yes">30</property>
-                    <signal name="changed" handler="cb_posctl_entryanglelen" swapped="no"/>
-                  </object>
-                  <packing>
-                    <property name="left-attach">3</property>
-                    <property name="top-attach">3</property>
-                  </packing>
-                </child>
-                <child>
-                  <object class="GtkEntry" id="posctl_entry_a1maxlen">
-                    <property name="visible">True</property>
-                    <property name="sensitive">False</property>
-                    <property name="can-focus">True</property>
-                    <property name="editable">False</property>
-                    <property name="width-chars">6</property>
-                    <property name="text" translatable="yes">15</property>
-                    <signal name="changed" handler="cb_posctl_entryanglelen" swapped="no"/>
-                  </object>
-                  <packing>
-                    <property name="left-attach">4</property>
-                    <property name="top-attach">2</property>
-                  </packing>
-                </child>
-                <child>
-                  <object class="GtkEntry" id="posctl_entry_a1maxangle">
-                    <property name="visible">True</property>
-                    <property name="sensitive">False</property>
-                    <property name="can-focus">True</property>
-                    <property name="editable">False</property>
-                    <property name="width-chars">6</property>
-                    <property name="text" translatable="yes">15</property>
-                  </object>
-                  <packing>
-                    <property name="left-attach">3</property>
-                    <property name="top-attach">2</property>
-                  </packing>
-                </child>
-                <child>
-                  <object class="GtkEntry" id="posctl_entry_a2maxlen">
-                    <property name="visible">True</property>
-                    <property name="sensitive">False</property>
-                    <property name="can-focus">True</property>
-                    <property name="editable">False</property>
-                    <property name="width-chars">6</property>
-                    <property name="text" translatable="yes">15</property>
-                  </object>
-                  <packing>
-                    <property name="left-attach">4</property>
-                    <property name="top-attach">3</property>
-                  </packing>
-                </child>
-                <child>
-                  <object class="GtkLabel">
-                    <property name="visible">True</property>
-                    <property name="can-focus">False</property>
-                    <property name="label" translatable="yes">Len</property>
-                  </object>
-                  <packing>
-                    <property name="left-attach">4</property>
-                    <property name="top-attach">0</property>
-                  </packing>
-                </child>
-                <child>
-                  <placeholder/>
-                </child>
-                <child>
-                  <placeholder/>
-                </child>
                 <child>
                   <placeholder/>
                 </child>
diff --git a/videodev-simulation.cc b/videodev-simulation.cc
index b130ef1..1f088ba 100644
--- a/videodev-simulation.cc
+++ b/videodev-simulation.cc
@@ -11,7 +11,6 @@
 #include <sys/stat.h>
 #include <math.h>
 
-
 #include "convert.h"
 #include "configuration.h"
 #include "videodev-simulation.h"
@@ -21,8 +20,8 @@ gpointer simulation_threadprocess_wrapper (gpointer data);
 
 VideoDev_Simulation::VideoDev_Simulation() {
 	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
-	w = 1920;
-	h = 1080;
+	conf_width = 1920;
+	conf_height = 1080;
 	inframe = NULL;
 	simulation_thread = NULL;
 };
@@ -56,13 +55,14 @@ int VideoDev_Simulation::Open() {
 
 	if (inframe != NULL) Close();
 
-	conf_width = w;
-	conf_height = h;
+//	conf_width = w;
+//	conf_height = h;
 	conf_format = convert_from_pixelformat (V4L2_PIX_FMT_RGB24);
+	simulation.SetResolution(conf_width, conf_height);
 
 	simulation_thread = g_thread_new("Simulation", simulation_threadprocess_wrapper, NULL);
 
-	inframe = (unsigned char *) malloc (w * h * 3);
+	inframe = (unsigned char *) malloc (conf_width * conf_height * 3);
 
 	return VDEV_STATUS_OK;
 };
@@ -128,21 +128,22 @@ int VideoDev_Simulation::Grab(VideoFrame *vf) {
 	dsec = get_cycletime(&lastframetv);
 	if (dsec < 0.040) usleep (50000 - dsec*1000.0);
 
-	memset (inframe, 0x0, w*h*3);
+	memset (inframe, 0x0, conf_width*conf_height*3);
 	simulation.GetPos(&posx, &posy);
 
 	for (r = 1; r < SIMULATION_SIZE; r++) for (a = 0; a < M_PI * 2.0; a += 0.1) {
 		x = posx + (sin(a) * r);
 		y = posy + (cos(a) * r);
-		if (x >= 0 && (unsigned int)x < w && y >= 0 && (unsigned int)y < h) {
-			inframe[3*(x+y*w)+0] = 200;
-			inframe[3*(x+y*w)+1] = 200;
-			inframe[3*(x+y*w)+2] = 200;
+		if (x >= 0 && x < conf_width && y >= 0 && y < conf_height) {
+			inframe[3*(x+y*conf_width)+0] = 200;
+			inframe[3*(x+y*conf_width)+1] = 200;
+			inframe[3*(x+y*conf_width)+2] = 200;
 		}
 	}
 
 	LockMutex();
-	Convert(&cdata, vf, inframe, (w*h*3), V4L2_PIX_FMT_RGB24, w, h);
+	Convert(&cdata, vf, inframe, (conf_width*conf_height*3), V4L2_PIX_FMT_RGB24,
+			conf_width, conf_height);
 	UnLockMutex();
 
 	return VDEV_STATUS_OK;
@@ -181,8 +182,10 @@ gpointer simulation_threadprocess_wrapper (gpointer data) {
 Simulation::Simulation() {
 	int i;
 
-	posX = 900.0;
-	posY = 500.0;
+	w = 1920;
+	h = 1080;
+	posX = w/2;
+	posY = h/2;
 	running = 0;
 
 	time_t t = time(NULL);
@@ -191,7 +194,7 @@ Simulation::Simulation() {
 	//
 	// object movement
 	dAngle = 2.0 * M_PI * (double)random() / (double) RAND_MAX;
-	dLen = 2.5 + 5.0 * (double)random() / (double) RAND_MAX;
+	dLen = 1.0 + 5.0 * (double)random() / (double) RAND_MAX;
 
 	printf ("%s:%d %s dAngle:%f    dLen:%f\n", __FILE__, __LINE__, __FUNCTION__, dAngle, dLen);
 
@@ -208,6 +211,10 @@ Simulation::Simulation() {
 	axis[i % 2].defLen = dLen + (1.0 * (double)random() / ((double) RAND_MAX) - 0.5);
 	axis[i % 2].v = 1.0;
 	axis[i % 2].active = 1;
+
+	printf ("%s:%d %s Axis1: %f° Len:%f   Axis2: %f° Len:%f\n", __FILE__, __LINE__, __FUNCTION__,
+			axis[0].defAngle,axis[0].defLen, axis[1].defAngle,axis[1].defLen);
+
 };
 
 Simulation::~Simulation() {
@@ -236,7 +243,7 @@ void Simulation::ThreadProcess() {
 	running = 1;
 
 	do {
-		usleep (10000);
+		usleep (20000);
 		ms = get_cycletime(&tv);
 		LockMutex();
 
@@ -244,8 +251,8 @@ void Simulation::ThreadProcess() {
 		// simulate rotation movement
 
 		// calculate movement
-		dx = sin(dAngle) * dLen * ms;
-		dy = -cos(dAngle) * dLen * ms;
+		dx = sindeg(dAngle) * dLen * ms;
+		dy = -cosdeg(dAngle) * dLen * ms;
 		posX += dx;
 		posY += dy;
 
@@ -253,16 +260,16 @@ void Simulation::ThreadProcess() {
 		// simulate motor axis movement
 		for (int i = 0; i < 2; i++)
 			if (axis[i].active) {
-				dx = sin(axis[i].defAngle) * axis[i].defLen * axis[i].v * ms;
-				dy = -cos(axis[i].defAngle) * axis[i].defLen * axis[i].v * ms;
+				dx = sindeg(axis[i].defAngle) * axis[i].defLen * (1.0 + axis[i].v) * ms;
+				dy = -cosdeg(axis[i].defAngle) * axis[i].defLen * (1.0 + axis[i].v) * ms;
 				posX -= dx;
 				posY -= dy;
 			}
 
-		if (posX < 0) posX = 1920.0 - 1.0;
-		if (posY < 0) posY = 1080.0 - 1.0;
-		if (posX > 1920) posX = 0.0;
-		if (posY > 1080) posY = 0.0;
+		if (posX < 0) posX = w - 1.0;
+		if (posY < 0) posY = h - 1.0;
+		if (posX > w) posX = 0.0;
+		if (posY > h) posY = 0.0;
 		r = running;
 		UnLockMutex();
 	} while (r);
@@ -278,6 +285,16 @@ void Simulation::Stop() {
 }
 
 
+void Simulation::SetResolution (int w, int h) {
+	LockMutex();
+	this->w = w;
+	this->h = h;
+	posX = w / 2;
+	posY = h / 2;
+	UnLockMutex();
+}
+
+
 void Simulation::AxisSetValue (int a, double v) {
 	printf ("%s:%d %s Axis:%d   Value:%f\n", __FILE__, __LINE__, __FUNCTION__, a, v);
 	if (a < 0 || a > 1) return;
@@ -288,7 +305,7 @@ void Simulation::AxisSetValue (int a, double v) {
 
 void Simulation::AxisStop() {
 	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
-	axis[0].active = 1;
-	axis[1].active = 1;
+	axis[0].active = 0;
+	axis[1].active = 0;
 }
 
diff --git a/videodev-simulation.h b/videodev-simulation.h
index 8ecab80..ff06707 100644
--- a/videodev-simulation.h
+++ b/videodev-simulation.h
@@ -37,6 +37,8 @@ struct SimAxisCtl {
 
 class Simulation {
 private:
+	int w;
+	int h;
 	float posX;
 	float posY;
 	float dAngle;
@@ -57,6 +59,7 @@ public:
 	void AxisSetValue(int a, double v);
 	void AxisStop();
 
+	void SetResolution (int w, int h);
 	void LockMutex() { g_mutex_lock(&mutex); };
 	void UnLockMutex() { g_mutex_unlock(&mutex); };
 };
@@ -64,8 +67,6 @@ public:
 
 class VideoDev_Simulation: public VideoDev {
 private:
-	uint32_t w;
-	uint32_t h;
 	struct timeval lastframetv;
 	unsigned char *inframe;
 	ConvertData cdata;