diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index f0b9274..cf8f232 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -128,6 +128,11 @@
                   <Size type="coderapp.internal.codertype.Dimension"/>
                   <Size type="coderapp.internal.codertype.Dimension"/>
                 </Types>
+                <Types id="26" 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>
@@ -873,221 +878,227 @@
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/sensorPerformance.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xgemv.h</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xgeqp3.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xgeqp3.h</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xnrm2.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xrotg.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xrotg.h</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzgeqp3.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzgeqp3.h</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.h</Path>
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.h</Path>
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.h</Path>
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                   <Type>GENERATED_SOURCE</Type>
                 </Artifacts>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
+                    <Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
                   </File>
                   <Type>GENERATED_SOURCE</Type>
                 </Artifacts>
                 <Artifacts id="160" type="coderapp.internal.build.mfz.CodegenArtifact">
+                  <File type="coderapp.internal.util.mfz.FileSpec">
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
+                </Artifacts>
+                <Artifacts id="161" type="coderapp.internal.build.mfz.CodegenArtifact">
                   <File type="coderapp.internal.util.mfz.FileSpec">
                     <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.h</Path>
                   </File>
@@ -1095,7 +1106,7 @@
                 </Artifacts>
                 <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
                 <Success>true</Success>
-                <Timestamp>2026-03-03T15:54:20</Timestamp>
+                <Timestamp>2026-03-03T18:47:15</Timestamp>
               </MainBuildResult>
             </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
           </MF0>
diff --git a/aerpaw/guidance_step.m b/aerpaw/guidance_step.m
index c01a794..bd8df89 100644
--- a/aerpaw/guidance_step.m
+++ b/aerpaw/guidance_step.m
@@ -135,7 +135,7 @@ if isInit
 
         % --- Build obstacle list from flat arrays ---
         coder.varsize('obstacleList', [8, 1], [1, 0]);
-        obstacleList = cell(int32(0), 1);
+        obstacleList = repmat({rectangularPrism}, numObstacles, 1);
         for ii = 1:numObstacles
             obs = rectangularPrism;
             obs = obs.initialize([obstacleMin(ii, :); obstacleMax(ii, :)], ...
diff --git a/aerpaw/results/plotGpsCsvs.m b/aerpaw/results/plotGpsCsvs.m
index d040570..e6581a8 100644
--- a/aerpaw/results/plotGpsCsvs.m
+++ b/aerpaw/results/plotGpsCsvs.m
@@ -20,7 +20,7 @@ fclose(fID);
 lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
 
 % Paths to logs
-gpsCsvs = dir(fullfile("sandbox", "test10", "*.csv"));
+gpsCsvs = dir(fullfile("sandbox", "test12", "*.csv"));
 
 G = cell(size(gpsCsvs));
 for ii = 1:size(gpsCsvs, 1)
@@ -64,5 +64,16 @@ objectivePos = [params.objectivePos, 0];
 llaObj = enu2lla(objectivePos, lla0, 'flat');
 geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
 
+% Plot obstacles
+for ii = 1:params.numObstacles
+    obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, 'flat');
+    geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
+    geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
+    geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
+    geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
+    geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
+    geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
+end
+
 % finish
 hold(gf, "off");
\ No newline at end of file
diff --git a/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ed.xml b/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ed.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ed.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ep.xml b/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ep.xml
new file mode 100644
index 0000000..49b762c
--- /dev/null
+++ b/resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ep.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="test12" type="File"/>
\ No newline at end of file
diff --git a/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4d.xml b/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4d.xml
new file mode 100644
index 0000000..4356a6a
--- /dev/null
+++ b/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4d.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>
\ No newline at end of file
diff --git a/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4p.xml b/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4p.xml
new file mode 100644
index 0000000..01cb34e
--- /dev/null
+++ b/resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4p.xml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>
\ No newline at end of file