diff --git a/aerpaw/config/client1.yaml b/aerpaw/config/client1.yaml
index 959b72f..636cef5 100644
--- a/aerpaw/config/client1.yaml
+++ b/aerpaw/config/client1.yaml
@@ -28,11 +28,11 @@ environments:
       port: 5000
 
   testbed:
-    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
     mavlink:
       ip: "192.168.32.26"
       port: 14550
-    # Controller runs on host machine (192.168.109.1 from E-VM perspective)
+    # Controller runs on host machine (192.168.X.1, generally)
     controller:
-      ip: "192.168.109.1"
+      ip: "192.168.112.1"
       port: 5000
diff --git a/aerpaw/config/client2.yaml b/aerpaw/config/client2.yaml
index e7a73d4..7d6cfb7 100644
--- a/aerpaw/config/client2.yaml
+++ b/aerpaw/config/client2.yaml
@@ -28,11 +28,11 @@ environments:
       port: 5000
 
   testbed:
-    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP)
     mavlink:
       ip: "192.168.32.26"
       port: 14550
-    # Controller runs on host machine (192.168.109.1 from E-VM perspective)
+    # Controller runs on host machine (192.168.X.1, generally)
     controller:
-      ip: "192.168.109.1"
+      ip: "192.168.112.1"
       port: 5000
\ No newline at end of file
diff --git a/aerpaw/config/scenario.csv b/aerpaw/config/scenario.csv
index 841c99b..a63cab4 100644
--- a/aerpaw/config/scenario.csv
+++ b/aerpaw/config/scenario.csv
@@ -1,2 +1,2 @@
 timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology
-1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1
\ No newline at end of file
+1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "6.0, 6.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1
\ No newline at end of file
diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index 7729654..821668c 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -138,6 +138,11 @@
                   <Size type="coderapp.internal.codertype.Dimension"/>
                   <Size type="coderapp.internal.codertype.Dimension"/>
                 </Types>
+                <Types id="28" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
               </Types>
             </coderapp.internal.interface.project.Interface>
           </MF0>
@@ -163,935 +168,539 @@
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+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/abs.cpp</Path>
                   </File>
                   <Type>GENERATED_SOURCE</Type>
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+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/abs.h</Path>
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+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/agent.cpp</Path>
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diff --git a/aerpaw/radio/updateScripts.sh b/aerpaw/radio/updateScripts.sh
index 74aadb4..1487603 100755
--- a/aerpaw/radio/updateScripts.sh
+++ b/aerpaw/radio/updateScripts.sh
@@ -12,4 +12,5 @@ cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/.
 cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/.
 
 echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml"
-echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node"
\ No newline at end of file
+echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node"
+echo "REMEMBER! Manually copy startVehicle_controller.sh to ~/Profiles/ProfileScripts/Vehicle/startVehicle.sh on the fixed node"
\ No newline at end of file