diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index f4e9b14b69c80a175f24ee878ee587537073c795..b25c5926123b1eb64bee7a6d2f9ec758fde6e606 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 @@
-3,cfTwo,0/69/2M,0,0,0,1,1,1
-5,cfFour,0/99/2M,-1,0,0,0,1,1
+3,cfTwo,0/69/2M,-2,-2,0,2,2,2
+5,cfThree,0/72/2M,-2,-2,0,2,2,2
diff --git a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
index d8c07a8982870a760dc464216ebb059709a24a06..7bc471100e5d300553fa47938796f332a298d234 100755
--- a/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
+++ b/pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp
@@ -216,8 +216,7 @@ int main(int argc, char* argv[]) {
             cfData.pitch = pitch;
             cfData.yaw = yaw;
             cfData.acquiringTime = totalViconLatency;
-
-            viconData.crazyflies.push_back(cfData);
+            if(!outputTranslation.Occluded) viconData.crazyflies.push_back(cfData);
         }
         viconDataPublisher.publish(viconData);
     }