diff --git a/calibration_plot.m b/calibration_plot.m
index 207a0fd..7b75a0c 100644
--- a/calibration_plot.m
+++ b/calibration_plot.m
@@ -1,6 +1,6 @@
 % clear all; %close all;
 
-folder = 'calibration_data/new_indoor/';
+folder = 'calibration_data/outdoor/';
 files = dir(folder); files = files(3:end);  % remove . and ..
 targets = zeros(1, length(files));
 for i = length(files):-1:1
@@ -54,6 +54,8 @@ for i = 1:length(files)
         data(:, data(7, :) ~= 0) = [];
         data(:, data(9, :) < -1000) = [];
         rawDist = data(9, :);
+        rawDistVar = zeros(size(rawDist));
+        rssi = zeros(size(rawDist));
     end
 
     mean_result(i) = mean(rawDist);
@@ -67,6 +69,9 @@ for i = 1:length(files)
     fprintf('* std: %.2f (uncalibrated)\n', std(rawDist));
 
     figure(1); cdfplot(rawDist);
+    diffs_each = param_linear(1) * rawDist + param_linear(2) - targets(i);
+    pd = fitdist(diffs_each(~isnan(diffs_each))', 'Normal');
+    fit_pd_each(i) = pd;
 %     figure(2);
 %     scatter3(...
 %         sqrt(rawDistVar),...
@@ -162,6 +167,15 @@ fprintf(' parabolic mode: %.6f\n', mstd_parabolic);
 % diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_1517706881.txt')];
 % diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_1517706976.txt')];
 % diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_1517707172.txt')];
+
+% 
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706433.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706537.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706636.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706737.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706835.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517706930.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_outdoor/result_walking_3800_to_100cm_r_1517707073.txt')];
 % pd = fitdist(diffs(~isnan(diffs))', 'Normal');
 % prob_fit = cdf(pd, diffs(~isnan(diffs))');
 % figure(10); clf; hold on;
@@ -171,17 +185,24 @@ fprintf(' parabolic mode: %.6f\n', mstd_parabolic);
 % title('Distribution of Distance Err When Walking')
 % legend('fitted \mu=53.5043, \sigma=72.1852', 'actual dist error', 'location', 'best')
 
+% % 
+% diffs = [];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693155.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693287.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693408.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693534.txt')];
 % 
-diffs = [];
-diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693155.txt')];
-diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693287.txt')];
-diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693408.txt')];
-diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_1517693534.txt')];
-pd = fitdist(diffs(~isnan(diffs))', 'Normal');
-prob_fit = cdf(pd, diffs(~isnan(diffs))');
-figure(11); clf; hold on;
-scatter(diffs(~isnan(diffs))', prob_fit);
-cdfplot(diffs); xlim([-200, 200])
-xlabel('Distance Err (cm)')
-title('Distribution of Distance Err When Walking')
-legend('fitted \mu=28.8055, \sigma=50.1228', 'actual dist error', 'location', 'best')
\ No newline at end of file
+% diffs = [];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_r_1517693224.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_r_1517693350.txt')];
+% diffs = [diffs, calibration_walking('calibration_data/walking_indoor/result_walking_3600_to_100cm_r_1517693475.txt')];
+
+
+% pd = fitdist(diffs(~isnan(diffs))', 'Normal');
+% prob_fit = cdf(pd, diffs(~isnan(diffs))');
+% figure(11); clf; hold on;
+% scatter(diffs(~isnan(diffs))', prob_fit);
+% cdfplot(diffs); xlim([-200, 200])
+% xlabel('Distance Err (cm)')
+% title('Distribution of Distance Err When Walking')
+% legend('fitted \mu=28.8055, \sigma=50.1228', 'actual dist error', 'location', 'best')
\ No newline at end of file
diff --git a/calibration_walking.m b/calibration_walking.m
index ca430f7..caba669 100644
--- a/calibration_walking.m
+++ b/calibration_walking.m
@@ -5,8 +5,10 @@ function diffs = calibration_walking(filename)
         startI = 100;
         endI = 3600;
     end
-%     param_linear = [0.8927,553.3157];  % outdoor
-    param_linear = [0.9376, 558.0551];   % indoor
+%     param_linear = [0.6927, 400.3157];  % medical_try_0b
+%     param_linear = [0.7927,483.3157];  % medical_try_1f
+    param_linear = [0.8927,553.3157];  % outdoor
+%     param_linear = [0.9376, 558.0551];   % indoor
     data = readtable(filename, 'ReadVariableNames', 0);
     data = data(2:end, :);
     caliDist = str2double(table2array(data(:, 2)))';
@@ -16,9 +18,20 @@ function diffs = calibration_walking(filename)
     rawDistVar = str2double(table2array(data(:, 6)))';
     rssi = str2double(table2array(data(:, 7)))';
     time = str2double(table2array(data(:, 8)))';
+    % clear invalid data
+    logistics = rawDist < -1000 | rawDist > 10000 | isnan(time);
+    caliDist(logistics) = [];
+    rawRTT(logistics) = [];
+    rawRTTVar(logistics) = [];
+    rawDist(logistics) = [];
+    rawDistVar(logistics) = [];
+    rssi(logistics) = [];
+    time(logistics) = [];
+    % normalize time
+    time = (time - time(1)) ./ (time(end) - time(1));
     
-    rawDist = movmean(rawDist, 10, 'omitnan');
-    rssi = movmean(rssi, 10, 'omitnan');
+%     rawDist = movmean(rawDist, 10, 'omitnan');
+%     rssi = movmean(rssi, 10, 'omitnan');
 %     for i = size(caliDist, 2) - 3: -4: 1
 %         rawDist(i) = nanmean(rawDist(i: i + 3));
 %         rawDist(i + 1: i + 3) = [];
@@ -33,19 +46,25 @@ function diffs = calibration_walking(filename)
     fprintf("** mean diff: %.4f cm\n", nanmean(diffs));
     fprintf("** median diff: %.4f cm\n", nanmedian(diffs));
     
-    figure(1); clf; 
+    figure(1); % clf; 
     scatter3(time, dist, rssi); hold on; scatter(time, dist, '.')
-    plot([time(1), time(end)], [startI, endI]); view([0, 90]);
-    if contains(filename, '_r_')
-        title('back')
-    else
-        title('front')
-    end
+%     plot([time(1), time(end)], [startI, endI]); 
+    view([0, 90]);
+%     if contains(filename, '_r_')
+%         title('back')
+%         figure(9); hold on;
+%         plot(flip((time - time(1)) ./ (time(end) - time(1))), rssi)
+%     else
+%         title('front')
+%         figure(9); hold on;
+%         plot(((time - time(1)) ./ (time(end) - time(1))), rssi)
+%     end
     
-    figure(2); hold on;
-    pd = fitdist(diffs(~isnan(diffs))', 'Normal')
-    prob_fit = cdf(pd, diffs(~isnan(diffs))');
-    scatter(diffs(~isnan(diffs))', prob_fit);
-    cdfplot(diffs);
-%     histogram(diffs, 'BinWidth', 1, 'Normalization', 'pdf');
+%     figure(2); clf; hold on;
+%     pd = fitdist(diffs(~isnan(diffs))', 'Normal')
+%     prob_fit = cdf(pd, diffs(~isnan(diffs))');
+%     scatter(diffs(~isnan(diffs))', prob_fit);
+%     cdfplot(diffs);
+% %     histogram(diffs, 'BinWidth', 1, 'Normalization', 'pdf');
+   
 end
\ No newline at end of file