diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 72d6718a2a8b88416bf4429224a1a5ea41561981..37a817a408d958d8760c37487a37031a09e3dbef 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -818,8 +818,18 @@ void MainGUIWindow::on_load_from_DB_button_clicked()
     {
 		ROS_INFO_STREAM("database:\n" << tmp_db);
         m_data_base = tmp_db;
-        // TODO: update links table
+
         cf_linker->clear_all_links();
+        // remove all cf_zones existing
+
+        for(int j = scene->crazyfly_zones.size() - 1; j >= 0; j--)
+        {
+            scene->removeCrazyFlyZone(scene->crazyfly_zones[j]->getIndex());
+        }
+
+        int size = scene->crazyfly_zones.size();
+        ROS_INFO("vector_cf_zones_size %d", size);
+
         for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
         {
             std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
@@ -832,28 +842,14 @@ void MainGUIWindow::on_load_from_DB_button_clicked()
                             - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
                             width * FROM_METERS_TO_UNITS,
                             height * FROM_METERS_TO_UNITS);
-            int found_j;
-            for(int j = 0; j < scene->crazyfly_zones.size(); j++)
-            {
-                if(cf_zone_index == scene->crazyfly_zones[j]->getIndex())
-                {
-                    cf_zone_exists = true;
-                    found_j = j;
-                    break;
-                }
-            }
-            if(!cf_zone_exists)
-            {
-                scene->addCFZone(tmp_rect, cf_zone_index);
-            }
-            else
-            {
-                scene->crazyfly_zones[found_j]->setPos(tmp_rect.topLeft());
-                // scene->crazyfly_zones[found_j]->setRect(tmp_rect);
-                scene->crazyfly_zones[found_j]->rectSizeChanged();
-            }
             int student_id = m_data_base.crazyflieEntries[i].studentID;
+
+
+            scene->addCFZone(tmp_rect, cf_zone_index);
+
+
             cf_linker->link(student_id, cf_zone_index, cf_name);
+
         }
     }
     else
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
index f92e0180f2669e951100790aee9408a859515ac3..c56196d62eb64bdcab56aa18609e739e15ef405d 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/myGraphicsScene.cpp
@@ -103,7 +103,7 @@ void myGraphicsScene::addCFZone(QRectF rect, int index)
     addCrazyFlyZoneToVector(tmp_crazyfly_zone_item);
     std::string str = std::to_string(tmp_crazyfly_zone_item->getIndex() + 1);
     tmp_crazyfly_zone_item->setLabel(str.c_str());
-    setSelectedCrazyFlyZone(crazyfly_zones.size() - 1); //select just created rectangle
+    // setSelectedCrazyFlyZone(crazyfly_zones.size() - 1); //select just created rectangle
 }
 
 void myGraphicsScene::mousePressEvent(QGraphicsSceneMouseEvent *mouseEvent)
@@ -207,6 +207,8 @@ void myGraphicsScene::mouseMoveEvent(QGraphicsSceneMouseEvent *mouseEvent)
 void myGraphicsScene::addCrazyFlyZoneToVector(crazyFlyZone* rect)
 {
     crazyfly_zones.push_back(rect);
+    int size = crazyfly_zones.size();
+    qDebug("size crazyflyzones %d", size);
     emit numCrazyFlyZonesChanged(rect->getIndex());
 }
 
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index dd061eed63a0c3a731521a3805dce6f0fcdb6799..b9f4f06cd63541dc564699e8ddf3353ddec684bd 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1,2 +1,2 @@
-2,CF1,,0,-1.18203,0.803384,0,-0.372033,1.94338,0
-1,CF2,,1,-1.70283,2.03901,0,-1.15283,2.96901,0
+1,CF1,,0,-0.58,1.22,0,0.97,1.89,0
+2,CF2,,1,-0.19,0.15,0,0.85,0.96,0