diff --git a/matlab/GPSaidedINS.m b/matlab/GPSaidedINS.m
index 2922079b6e992d1c165d68882ecb5a390b42f1da..50013b28ecab6f23a12de30497d7c17a790915d7 100644
--- a/matlab/GPSaidedINS.m
+++ b/matlab/GPSaidedINS.m
@@ -76,7 +76,7 @@ P_store=0;                  %store summed valued of the trace of P in time
 sv_store=sv;          %store number of visible satellites in time
 
 for k=2:N
-    
+
     % Sampling period
     Ts=t(k)-t(k-1);
     
diff --git a/matlab/main.m b/matlab/main.m
index 7c0d119751251766a1c7444d6c6d55446fb92217..b65b0b558dc6f5139746f0635830951e66448876 100644
--- a/matlab/main.m
+++ b/matlab/main.m
@@ -1,11 +1,12 @@
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % Main script for pAN_ powe aware navigation with sensor fusion 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+% change input data load and script to be run to switch from car to bike
 
 %% Load data
 disp('Loads data')
-load('GNSSaidedINS_data.mat');
+%load('GNSSaidedINS_data.mat');
+load('cycling_input_data');
 
 %% Load filter settings
 disp('Loads settings')
@@ -14,7 +15,8 @@ settings.P_treshold=0.1;
 
 %% Run the GNSS-aided INS
 disp('Runs the GNSS-aided INS')
-out_data=GPSaidedINS(in_data,settings);
+%out_data=GPSaidedINS(in_data,settings);
+out_data=GPSaidedINS_cycling(in_data,settings);
 
 %% Plot the data 
 disp('Plot data')
diff --git a/matlab/manipulate_cycling_data.m b/matlab/manipulate_cycling_data.m
index 2a6a8bb067b726430053e20d67dbadd8438e4331..c766398a541ad7e96c10f0840865b64082c806c6 100644
--- a/matlab/manipulate_cycling_data.m
+++ b/matlab/manipulate_cycling_data.m
@@ -83,8 +83,8 @@
 % end
 
 
-% in_data.IMU.acc = Acc;
-% in_data.IMU.gyro = Gyr;
+% in_data.IMU.acc = Acc';
+% in_data.IMU.gyro = Gyr';
 % in_data.IMU.t = t;
 % in_data.GNSS.pos_ned = Gps;
 % in_data.GNSS.t = t_Gps;