diff --git a/Makefile.config b/Makefile.config
index 2653a43..aceb9d4 100644
--- a/Makefile.config
+++ b/Makefile.config
@@ -4,5 +4,6 @@
 # set one of these variables to 0 to disable the function.
 #
 USE_SVBONY = 1
-DEBUG_ANGLES = 1
+DEBUG_ANGLES = 0
+
 
diff --git a/detect.h b/detect.h
index bd31abd..0b151a2 100644
--- a/detect.h
+++ b/detect.h
@@ -59,7 +59,6 @@ class PosCtl {
 		struct timeval calib_timestamp;
 		int calib_mode;
 		position_2d calib_pos;
-		position_f_2d target_pos;
 
 		void CalibModeStart(int x, int y);
 		void CalibModeDelta(int x, int y);
@@ -80,8 +79,9 @@ class PosCtl {
 		vector_2d calib_axis1;
 		position_f_2d	calib_axis2_v;
 		vector_2d calib_axis2;
-
-		double out[2];
+		position_f_2d target_pos;
+		double axis_pv[2];
+		double axis_op[2];
 
 		void LockMutex() { g_mutex_lock(&mutex); };
 		void UnLockMutex() { g_mutex_unlock(&mutex); };
diff --git a/gui.h b/gui.h
index ed9445c..154ff9e 100644
--- a/gui.h
+++ b/gui.h
@@ -91,6 +91,8 @@ struct {
 
 void draw_text (cairo_t *cr, int x, int y, float border, std::string text);
 void draw_printf(cairo_t *cr, int x, int y, float border, char *fmt,...);
+#define gtk_entry_set_text_nofocus(__w__,__t__)  if (!gtk_widget_has_focus(__w__)) gtk_entry_set_text (GTK_ENTRY(__w__), __t__)
+
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/posctl.cc b/posctl.cc
index 65d136f..ae72319 100644
--- a/posctl.cc
+++ b/posctl.cc
@@ -55,8 +55,7 @@ void axis_history_add(int axis, double diff, double out) {
 	axis_history[axis][axis_history_pos[axis]].out = out;
 }
 
-
-#define CALIB_MAXSPEED 2.0
+#define CALIB_MAXSPEED 1.0
 #define CALIB_DURATION_DELTA 10.0
 #define CALIB_DURATION_AXIS (CALIB_DURATION_DELTA / CALIB_MAXSPEED)
 
@@ -407,6 +406,8 @@ void posctl_gui_update() {
 	char txt[255];
 	double kp, ki, kd, mi, ma;
 
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
 	GtkWidget *caliblabel = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_calib_label"));
 
 	GtkWidget *btnclib = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
@@ -436,12 +437,14 @@ void posctl_gui_update() {
 	GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
 	GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
 	GtkWidget *a1_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outx"));
+	GtkWidget *a1_pv = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_dx"));
 	GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
 	GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
 	GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
 	GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
 	GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
 	GtkWidget *a2_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outy"));
+	GtkWidget *a2_pv = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_dy"));
 
 	posctl.LockMutex();
 	int m = posctl.GetMode();
@@ -491,34 +494,40 @@ void posctl_gui_update() {
 	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]);
+
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.axis_op[0]);
 	gtk_label_set_text(GTK_LABEL(a1_out), txt);
-	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.out[1]);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.axis_op[1]);
 	gtk_label_set_text(GTK_LABEL(a2_out), txt);
 
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.axis_pv[0]);
+	gtk_label_set_text(GTK_LABEL(a1_pv), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.axis_pv[1]);
+	gtk_label_set_text(GTK_LABEL(a2_pv), txt);
+
 	posctl.GetAxisParam(0, &mi, &ma, &kp, &ki, &kd);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
-	gtk_entry_set_text (GTK_ENTRY(a1_min), txt);
+	gtk_entry_set_text_nofocus (a1_min, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
-	gtk_entry_set_text (GTK_ENTRY(a1_max), txt);
+	gtk_entry_set_text_nofocus (a1_max, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
-	gtk_entry_set_text (GTK_ENTRY(a1_kp), txt);
+	gtk_entry_set_text_nofocus (a1_kp, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
-	gtk_entry_set_text (GTK_ENTRY(a1_ki), txt);
+	gtk_entry_set_text_nofocus (a1_ki, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
-	gtk_entry_set_text (GTK_ENTRY(a1_kd), txt);
+	gtk_entry_set_text_nofocus (a1_kd, txt);
 
 	posctl.GetAxisParam(1, &mi, &ma, &kp, &ki, &kd);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", mi);
-	gtk_entry_set_text (GTK_ENTRY(a2_min), txt);
+	gtk_entry_set_text_nofocus (a2_min, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", ma);
-	gtk_entry_set_text (GTK_ENTRY(a2_max), txt);
+	gtk_entry_set_text_nofocus (a2_max, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", kp);
-	gtk_entry_set_text (GTK_ENTRY(a2_kp), txt);
+	gtk_entry_set_text_nofocus (a2_kp, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", ki);
-	gtk_entry_set_text (GTK_ENTRY(a2_ki), txt);
+	gtk_entry_set_text_nofocus (a2_ki, txt);
 	strfromd (txt, sizeof(txt-1), (const char *)"%f", kd);
-	gtk_entry_set_text (GTK_ENTRY(a2_kd), txt);
+	gtk_entry_set_text_nofocus (a2_kd, txt);
 
 	posctl.UnLockMutex();
 }
@@ -742,8 +751,6 @@ void PosCtl::Loop (int posx, int posy) {
 	// dist_axis1 --> will control pid_axis2
 	// dist_axis2 --> will control pis_axis1
 	else if (mode == POSCTL_MODE_CONTROL) {
-		double dist_axis1, out1;
-		double dist_axis2, out2;
 		position_f_2d p;
 		double d;
 
@@ -756,21 +763,21 @@ void PosCtl::Loop (int posx, int posy) {
 		d = calib_axis1_v.perpendicular(calib_axis2_v, p);
 
 		p.x = posx; p.y = posy;
-		dist_axis1 = calib_axis1_v.perpendicular(p, target_pos);
-		dist_axis2 = calib_axis2_v.perpendicular(p, target_pos);
-		out1 = pid_axis[0].Update(0.0, dist_axis1);
-		out2 = pid_axis[1].Update(0.0, dist_axis2);
+		axis_pv[0] = calib_axis2_v.perpendicular(p, target_pos);
+		axis_pv[1] = calib_axis1_v.perpendicular(p, target_pos);
+		axis_op[0] = pid_axis[0].Update(0.0, axis_pv[0]);
+		axis_op[1] = pid_axis[1].Update(0.0, axis_pv[1]);
 
 		printf ("%s:%d %s", __FILE__, __LINE__, __FUNCTION__);
 		printf (" d: %+6.3f   ", d);
-		printf (" Axis1 [dist:%+6.3f out1:%+6.3f]  ", dist_axis1, out1);
-		printf (" Axis2 [dist:%+6.3f out2:%+6.3f]\n", dist_axis2, out2);
+		printf (" Axis1 [dist:%+6.3f out1:%+6.3f]  ", axis_pv[0], axis_op[0]);
+		printf (" Axis2 [dist:%+6.3f out2:%+6.3f]\n", axis_pv[1], axis_op[1]);
 
-		OutputWriteValue(0, out2);
-		OutputWriteValue(1, out1);
+		OutputWriteValue(0, axis_op[0]);
+		OutputWriteValue(1, axis_op[1]);
 
-		axis_history_add(0, dist_axis1, out1);
-		axis_history_add(1, dist_axis2, out2);
+		axis_history_add(0, axis_pv[0], axis_op[0]);
+		axis_history_add(1, axis_pv[1], axis_op[1]);
 
 		UnLockMutex();
 		gdk_threads_add_idle(cb_thread_posctl, NULL);
diff --git a/videodev-simulation.cc b/videodev-simulation.cc
index 1a43beb..8853283 100644
--- a/videodev-simulation.cc
+++ b/videodev-simulation.cc
@@ -77,6 +77,7 @@ int VideoDev_Simulation::Close() {
 		free (inframe);
 		inframe = NULL;
 	}
+	simulation.Stop();
 
 	return VDEV_STATUS_OK;
 };
@@ -199,7 +200,7 @@ Simulation::Simulation() {
 
 	//
 	// axis movement
-	i = random() % 2;
+	i = 0;
 
 	axis[i % 2].defAngle = dAngle + (10.0 * (double)random() / ((double) RAND_MAX)) - 5.0;
 	axis[i % 2].defLen = dLen + (3.0 * (double)random() / ((double) RAND_MAX) - 1.5);
@@ -239,6 +240,7 @@ void Simulation::ThreadProcess() {
 	double dx, dy;
 
 	get_cycletime (&tv);
+	if (running) return;
 	running = 1;
 
 	do {
@@ -272,6 +274,8 @@ void Simulation::ThreadProcess() {
 		r = running;
 		UnLockMutex();
 	} while (r);
+
+	running = 0;
 }
 
 void Simulation::Start() {