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 ae2c93a256f819b2bef76037e63b6a3c8f97bd05..e92508fb91679b65f8b6bd51d6296915bae5bce9 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
@@ -85,7 +85,8 @@ void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
     //     int found_index = getTabIndexFromName(qstr);
     //     if(found_index != -1)
     //     {
-    //         ui->tabWidget->removeTab(found_index);
+    //         ui->tabWidget->widget(found_index)->deleteLater();
+    //         // ui->tabWidget->removeTab(found_index);
     //     }
 
     //     //  now unlink it from table also:
@@ -106,14 +107,16 @@ void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
     //     connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
     // }
 
-    for(int index = 0; index < ui->tabWidget->count(); index++)
-    {
-        // ui->tabWidget->removeTab(index);
-        ui->tabWidget->widget(index)->deleteLater();
-    }
+    // for(int index = 0; index < ui->tabWidget->count(); index++)
+    // {
+    //     // ui->tabWidget->removeTab(index);
+    //     ui->tabWidget->widget(index)->deleteLater();
+    // }
+
+    // // unlink all?
+    // // cf_linker->clear_all_links();
 
-    // unlink all?
-    // cf_linker->clear_all_links();
+    ui->tabWidget->clear();
 
     for(int i = 0; i < scene->crazyfly_zones.size(); i++)
     {
@@ -121,13 +124,23 @@ void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
         QString qstr = "CrazyFly ";
         int CF_index = scene->crazyfly_zones[i]->getIndex();
         qstr.append(QString::number(CF_index + 1));
-        crazyFlyZoneTab* widget = new crazyFlyZoneTab(CF_index);
-        ui->tabWidget->insertTab(CF_index + 1, widget, qstr);
-        // ui->tabWidget->addTab(widget, qstr);
+        crazyFlyZoneTab* widget = new crazyFlyZoneTab(i);
+        // ui->tabWidget->insertTab(i, widget, qstr);
+        ui->tabWidget->addTab(widget, qstr);
         ROS_INFO("Added tab");
         connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
     }
 
+
+    // for(int i = 0; i < n; i++)
+    // {
+    //     QString qstr = "Crazyfly ";
+    //     qstr.append(QString::number(i+1));
+    //     crazyFlyZoneTab* widget = new crazyFlyZoneTab(i);
+    //     ui->tabWidget->insertTab(i, widget, qstr);
+    //     connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
+    // }
+
     updateComboBoxesCFZones();
 }
 
@@ -512,12 +525,12 @@ void MainGUIWindow::on_checkBox_crazyfly_zones_toggled(bool checked)
 
 void MainGUIWindow::on_tabWidget_currentChanged(int index)
 {
-    // this index is tab index. Need to go to cf index
-    QString name = ui->tabWidget->tabText(index);
-    #ifdef CATKIN_MAKE
-    int cf_index = cf_linker->getCFZoneIndexFromName(name);
-    scene->setSelectedCrazyFlyZone(cf_index);
-    #endif
+    // // this index is tab index. Need to go to cf index
+    // QString name = ui->tabWidget->tabText(index);
+    // #ifdef CATKIN_MAKE
+    // int cf_index = cf_linker->getCFZoneIndexFromName(name);
+    // scene->setSelectedCrazyFlyZone(cf_index);
+    // #endif
 }
 
 void MainGUIWindow::centerViewIndex(int index)
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index 1e91615dcdfd43f8144cf907e2bf77de13c26301..ae58bf5902b521fe11110da12a124a6dd08608e6 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1,2 +1,3 @@
-1,CF2,123,0,-0.46,0.12,-0.2,1.22,1.61,2
-2,CF3,1233,1,0.34,-2.25,-0.2,2.12,-1.11,2
+2,CF1,123,0,0.66,0.11,-0.2,3.46,1.76,2
+1,CF2,1234,1,0.78,-2.09,-0.2,3.38,-0.45,2
+5,CF3,12346,2,3.94,-1.07,-0.2,5.33,0.81,2