diff --git a/src/radar_main.c b/src/radar_main.c
index 0186dc3..fa1310d 100644
--- a/src/radar_main.c
+++ b/src/radar_main.c
@@ -33,11 +33,12 @@ void trial_loop(trial *t) {
 		}
 		while (t->alive) {
 			timestamp step=getcurts(t) + LATENCY - t->sim.tm.ts;
-			
-			t->sim.tm.vehicle.w = turn2w(t, t->sim.tm.vehicle.turn);
-
-			dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,step,step);
-			t->sim.steps++;
+			if (step > 0) {
+				t->sim.tm.vehicle.w = turn2w(t, t->sim.tm.vehicle.turn);
+				dgl(t,&t->sim.tm.vehicle,&t->sim.tm.vehicle,step,step);
+				t->sim.tm.ts += step;
+				t->sim.steps++;
+			}
 //			simulate(t, getcurts(t) + LATENCY);
 			goradar(t);
 			if (-1 == trial_check_input(t)) return;
diff --git a/testitradar b/testitradar
index 72fe7c7..18ee7e8 100755
--- a/testitradar
+++ b/testitradar
@@ -7,7 +7,7 @@ CMD="./build/default/src/icfp08radar localhost 17676"
 if [ "$1" == "--gdb" ]; then 
 	CMD="gdb --args ${CMD}"
 elif [ "$1" == "--valgrind" ]; then
-	CMD="valgrind ${CMD}"
+	CMD="valgrind --leak-check=full ${CMD}"
 fi
 
 exec $CMD
diff --git a/wscript b/wscript
index 3966126..1c26650 100644
--- a/wscript
+++ b/wscript
@@ -70,7 +70,7 @@ def configure(conf):
 	
 	common_ccflags = [
 		'-std=gnu99', '-Wall', '-g', '-Wshadow', '-W', '-pedantic',
-		'-O2',
+		#'-O2',
 #		'-fPIC', '-D_GNU_SOURCE',
 		]
 	conf.env['CCFLAGS'] += common_ccflags