diff --git a/src/com/muhavision/control/DroneController.java b/src/com/muhavision/control/DroneController.java
index a24b3c2..942c6e0 100644
--- a/src/com/muhavision/control/DroneController.java
+++ b/src/com/muhavision/control/DroneController.java
@@ -21,6 +21,8 @@ public class DroneController {
 
 	ARDrone drone = null;
 	NavData data = null;
+	
+	BufferedImage quadImage = null;
 
 	public DroneController(final VisualRenderer visual) {
 		System.out.println("Drone controller loading...");
@@ -33,16 +35,7 @@ public DroneController(final VisualRenderer visual) {
 
 				@Override
 				public void imageReceived(BufferedImage image) {
-					QuadrantFlowSpeed speed = null;
-					EulerAngles angle = null;
-
-					if (visual.global_main.flightMode.getMode() == FlightMode.eMode.MUHA_MODE)
-						speed = calc.getFlowData(image);
-					else if (visual.global_main.flightMode.getMode() == FlightMode.eMode.TAG_MODE)
-						angle = MarkerControl
-								.getControlDataAndPictureDataBasedOnNavData(data);
-
-					visual.reloadDatas(image, speed, data, angle);
+					quadImage = image;
 				}
 			});
 
@@ -53,6 +46,39 @@ public void navDataReceived(NavData fdata) {
 					data = fdata;
 				}
 			});
+			
+			Thread t = new Thread(){
+				
+				public void run(){
+					while(true){
+						
+						long millis = System.currentTimeMillis();
+						
+						QuadrantFlowSpeed speed = null;
+						EulerAngles angle = null;
+
+						if(visual.global_main.flightMode!=null)
+							if (visual.global_main.flightMode.getMode() == FlightMode.eMode.MUHA_MODE)
+								speed = calc.getFlowData(quadImage);
+							else if (visual.global_main.flightMode.getMode() == FlightMode.eMode.TAG_MODE)
+								angle = MarkerControl
+									.getControlDataAndPictureDataBasedOnNavData(data);
+
+						visual.reloadDatas(quadImage, speed, data, angle);
+						
+						millis = System.currentTimeMillis() - millis;
+						
+						try {
+							Thread.sleep(70-millis);
+						} catch (InterruptedException e) {
+							e.printStackTrace();
+						}
+						
+					}
+				}
+				
+			};
+			t.start();
 
 		} catch (UnknownHostException e) {
 			e.printStackTrace();
diff --git a/src/com/muhavision/control/FlightMode.java b/src/com/muhavision/control/FlightMode.java
index 2627a99..38453b5 100644
--- a/src/com/muhavision/control/FlightMode.java
+++ b/src/com/muhavision/control/FlightMode.java
@@ -35,7 +35,6 @@ public eMode getMode() {
 
 	public void setMode(eMode mode) {
 		this.mode = mode;
-		mode.toString();
 	}
 
 }
diff --git a/src/com/muhavision/control/MarkerControl.java b/src/com/muhavision/control/MarkerControl.java
index 78b669e..d290f44 100644
--- a/src/com/muhavision/control/MarkerControl.java
+++ b/src/com/muhavision/control/MarkerControl.java
@@ -11,21 +11,22 @@ public class MarkerControl {
 	public static EulerAngles getControlDataAndPictureDataBasedOnNavData(
 			NavData nav) {
 
-		if (nav.isVisionEnabled()) {
-			List<VisionTag> tags = nav.getVisionTags();
-			if (!tags.isEmpty()) {
-				VisionTag tag = tags.get(0);
-				if (tag != null) {
-					EulerAngles angles = new EulerAngles();
-					Point point = tag.getPosition();
-					angles.picX = point.getX();
-					angles.picY = point.getY();
-					angles.dist = tag.getDistance();
-					angles.hasAngles = true;
-					return angles;
+		if(nav!=null)
+			if (nav.isVisionEnabled()) {
+				List<VisionTag> tags = nav.getVisionTags();
+				if (!tags.isEmpty()) {
+					VisionTag tag = tags.get(0);
+					if (tag != null) {
+						EulerAngles angles = new EulerAngles();
+						Point point = tag.getPosition();
+						angles.picX = point.getX();
+						angles.picY = point.getY();
+						angles.dist = tag.getDistance();
+						angles.hasAngles = true;
+						return angles;
+					}
 				}
 			}
-		}
 
 		return new EulerAngles();
 	}
diff --git a/src/com/muhavision/cv/OpticalFlowCalculator.java b/src/com/muhavision/cv/OpticalFlowCalculator.java
index 0a69535..705c84f 100644
--- a/src/com/muhavision/cv/OpticalFlowCalculator.java
+++ b/src/com/muhavision/cv/OpticalFlowCalculator.java
@@ -37,13 +37,9 @@ public BufferedImage Equalize(BufferedImage bufferedimg) {
 
 		IplImage srcimg = AbstractIplImage.create(iploriginal.width(),
 				iploriginal.height(), IPL_DEPTH_8U, 1);
-		// IplImage destimg = IplImage.create(iploriginal.width(),
-		// iploriginal.height(), IPL_DEPTH_8U, 1);
 
 		cvCvtColor(iploriginal, srcimg, CV_BGR2GRAY);
 
-		// cvEqualizeHist( srcimg, destimg );
-
 		BufferedImage eqimg = srcimg.getBufferedImage();
 
 		return eqimg;
diff --git a/src/com/muhavision/cv/image/VisualRenderer.java b/src/com/muhavision/cv/image/VisualRenderer.java
index 835f95c..5f864de 100644
--- a/src/com/muhavision/cv/image/VisualRenderer.java
+++ b/src/com/muhavision/cv/image/VisualRenderer.java
@@ -57,7 +57,7 @@ public void paintComponent(Graphics g_panel) {
 			g.drawString("Mark. dist.: " + angles.dist, 250, 38);
 			g.fillRect(angles.picX, angles.picY, 4, 4);
 		}
-
+		
 		g.drawString("Roll: " + (int) global_main.roll, 30, 30);
 		g.drawString("Pitch: " + (int) global_main.pitch, 30, 38);
 		g.drawString("Yaw: " + (int) global_main.yaw, 30, 46);