diff --git a/pid_from_msl.cpp b/pid_from_msl.cpp
index f294f0a..adb8a81 100644
--- a/pid_from_msl.cpp
+++ b/pid_from_msl.cpp
@@ -59,6 +59,10 @@ public:
 				}
 				curIdx++;
 			} else if (j == outputIdx) {
+				/*const float alpha = 0.5f;
+				float fv = alpha * prevV + (1.0f - alpha) * (float)v;
+				prevV = v;
+				data.push_back(fv);*/
 				data.push_back((float)v);
 			}
 		}
@@ -69,9 +73,10 @@ public:
 	std::vector<float> data;
 	double minValue = 0, maxValue = 0, stepPoint = -1.0, maxPoint = 0;
 	int curIdx = -1;
+	float prevV = 0;
 };
 
-#if 0
+#if 1
 int main(int argc, char **argv) {
 	if (argc < 6) {
 		printf("Usage: PID_FROM_MSL file.msl start_time end_time input_column output_column...\r\n");
@@ -85,7 +90,8 @@ int main(int argc, char **argv) {
 		return -2;
 	}
 
-	printf("PID_FROM_MSL: Calculating...\r\n");
+	printf("PID_FROM_MSL: minValue=%g maxValue=%g stepPoint=%g maxPoint=%g Calculating...\r\n",
+		data.minValue, data.maxValue, data.stepPoint, data.maxPoint);
 
 	PidAutoTuneChrSopdt chr;
 	double params0[4];
@@ -100,8 +106,6 @@ int main(int argc, char **argv) {
 		chr.addData(data.data[i]);
 	}
 
-	double stepPoint = 178;	// todo: adjust for the buffer scale
-	double maxPoint = 460;
 	chr.findPid(PID_TUNE_CHR2, data.minValue, data.maxValue, data.stepPoint, data.maxPoint, params0);
 
 	printf("Done!\r\n");
@@ -111,6 +115,10 @@ int main(int argc, char **argv) {
 	const pid_s & pid = chr.getPid();
 	printf("PID: P=%f I=%f D=%f offset=%f\r\n", pid.pFactor, pid.iFactor, pid.dFactor, pid.offset);
 
+	// todo: is it correct?
+	double dTime = 1;
+	PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<2048>(chr.getAvgMeasuredMin(), chr.getAvgMeasuredMax(), dTime, pid, p);
+	printf("Metric result: ITAE=%g ISE=%g Overshoot=%g%%\r\n", metric.getItae(), metric.getIse(), metric.getMaxOvershoot() * 100.0);
 
 	return 0;
 }
diff --git a/pid_functions.h b/pid_functions.h
index ec55655..a1c6391 100644
--- a/pid_functions.h
+++ b/pid_functions.h
@@ -28,7 +28,7 @@ enum {
 
 };
 
-static const double minParamValue = 0.01;
+static const double minParamValue = 0.0001;
 
 class InputFunction {
 public:
diff --git a/pid_open_loop_models.h b/pid_open_loop_models.h
index f59c853..b20e22a 100644
Binary files a/pid_open_loop_models.h and b/pid_open_loop_models.h differ
diff --git a/test_chs_pid.cpp b/test_chs_pid.cpp
index ab4e938..561b6cb 100644
--- a/test_chs_pid.cpp
+++ b/test_chs_pid.cpp
@@ -122,9 +122,9 @@ TEST(pidAutoTune, testPidCoefs) {
 	params[PARAM_L] = 1.52685;
 
 	// todo: is it correct?
-	double dTime = 2;
+	double dTime = 1;
 	for (int idx = 0; idx <= 4; idx++) {
-		PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<1024>(13.0, 16.0, dTime, pidParams[idx], params);
+		PidAccuracyMetric metric = PidAutoTuneChrSopdt::simulatePid<2048>(13.0, 14.0, dTime, pidParams[idx], params);
 #ifdef PID_DEBUG
 		printf("Metric result: ITAE=%g ISE=%g Overshoot=%g%%\r\n", metric.getItae(), metric.getIse(), metric.getMaxOvershoot() * 100.0);
 #endif
@@ -133,7 +133,7 @@ TEST(pidAutoTune, testPidCoefs) {
 	// todo: check results
 }
 
-#if 1
+#if 0
 GTEST_API_ int main(int argc, char **argv) {
 	//testPidCoefs();
 
@@ -148,7 +148,7 @@ GTEST_API_ int main(int argc, char **argv) {
 	testSOPDTOverdamped();
 	testChsSopdtPid();
 #endif	
-	//::testing::GTEST_FLAG(filter) = "*testPidCoefs*";
+	::testing::GTEST_FLAG(filter) = "*testPidCoefs*";
 	int result = RUN_ALL_TESTS();
 	// windows ERRORLEVEL in Jenkins batch file seems to want negative value to detect failure
 	return result == 0 ? 0 : -1;