diff --git a/dotbot/controller.py b/dotbot/controller.py
index 04e4bd7a..c7563733 100644
--- a/dotbot/controller.py
+++ b/dotbot/controller.py
@@ -362,9 +362,15 @@ def handle_received_payload(
                     header,
                     PayloadType.LH2_LOCATION,
                     LH2Location(
-                        int(dotbot.lh2_position.x * 1e6),
-                        int(dotbot.lh2_position.y * 1e6),
-                        int(dotbot.lh2_position.z * 1e6),
+                        int(
+                            dotbot.lh2_position.x
+                            * self.lh2_manager.calibration_data.width
+                        ),
+                        int(
+                            dotbot.lh2_position.y
+                            * self.lh2_manager.calibration_data.height
+                        ),
+                        int(dotbot.lh2_position.z * 1e3),
                     ),
                 )
             )
diff --git a/dotbot/frontend/src/DotBots.test.js b/dotbot/frontend/src/DotBots.test.js
index 895198b4..08c52d88 100644
--- a/dotbot/frontend/src/DotBots.test.js
+++ b/dotbot/frontend/src/DotBots.test.js
@@ -84,6 +84,9 @@ const server = setupServer(
     rest.get('/controller/lh2/calibration', (req, res, ctx) => {
         return res(ctx.json({state: "done"}));
     }),
+    rest.get('/controller/lh2/calibration/size', (req, res, ctx) => {
+        return res(ctx.json({width: "100", height: "100"}));
+    }),
     rest.put('/controller/dotbots/:address/:application/move_raw', (req, res, ctx) => {
         return res();
     }),
diff --git a/dotbot/frontend/src/DotBotsMap.js b/dotbot/frontend/src/DotBotsMap.js
index 0ccc142e..1a32fbd3 100644
--- a/dotbot/frontend/src/DotBotsMap.js
+++ b/dotbot/frontend/src/DotBotsMap.js
@@ -4,7 +4,8 @@ import { ApplicationType } from "./constants";
 
 import {
     apiFetchLH2CalibrationState, apiApplyLH2Calibration,
-    apiAddLH2CalibrationPoint, inactiveAddress
+    apiAddLH2CalibrationPoint, apiFetchLH2MapSize, apiUpdateLH2MapSize,
+    inactiveAddress
 } from "./rest";
 
 const referencePoints = [
@@ -169,6 +170,9 @@ export const DotBotsMap = (props) => {
   const [ displayGrid, setDisplayGrid ] = useState(true);
   const [ calibrationFetched, setCalibrationFetched ] = useState(false);
   const [ calibrationState, setCalibrationState ] = useState("unknown");
+  const [ mapSizeFetched, setMapSizeFetched ] = useState(false);
+  const [ mapWidth, setMapWidth ] = useState(200);
+  const [ mapHeight, setMapHeight ] = useState(200);
   const [ pointsChecked, setPointsChecked ] = useState([false, false, false, false]);
 
   const fetchCalibrationState = useCallback(async () => {
@@ -178,6 +182,14 @@ export const DotBotsMap = (props) => {
   }, [setCalibrationFetched, setCalibrationState]
   );
 
+  const fetchMapSize = useCallback(async () => {
+    const size = await apiFetchLH2MapSize().catch((error) => console.error(error));
+    setMapWidth(size.width);
+    setMapHeight(size.height);
+    setMapSizeFetched(true);
+  }, [setMapSizeFetched, setMapWidth, setMapHeight]
+  );
+
   const pointClicked = (index) => {
     let pointsCheckedTmp = pointsChecked.slice();
     pointsCheckedTmp[index] = true;
@@ -191,6 +203,7 @@ export const DotBotsMap = (props) => {
       setCalibrationState("running");
     } else if (calibrationState === "ready") {
       setCalibrationState("done");
+      apiUpdateLH2MapSize(mapWidth, mapHeight);
       apiApplyLH2Calibration();
     }
   };
@@ -215,10 +228,17 @@ export const DotBotsMap = (props) => {
     if (!calibrationFetched) {
       fetchCalibrationState();
     }
+    if (!mapSizeFetched) {
+      fetchMapSize();
+    }
     if (pointsChecked.every(v => v === true)) {
       setCalibrationState("ready");
     }
-  }, [calibrationFetched, fetchCalibrationState, pointsChecked, setCalibrationState]);
+  }, [
+    calibrationFetched, fetchCalibrationState,
+    mapSizeFetched, fetchMapSize,
+    pointsChecked, setCalibrationState
+  ]);
 
   let calibrationButtonLabel = "Start calibration";
   let calibrationButtonClass = "btn-primary";
@@ -292,6 +312,15 @@ export const DotBotsMap = (props) => {
             <label htmlFor="dotbotHistorySize">Position history size:</label>
             <input className="form-control my-1 mr-sm-2" type="number" id="dotbotHistorySize" min="10" max="1000" value={props.historySize} onChange={event => props.setHistorySize(event.target.value)}/>
           </form>
+          <form className="form-inline">
+            <label htmlFor="dotbotMapWidth">Map width (in mm):</label>
+            <input className="form-control my-1 mr-sm-2" type="number" id="dotbotMapWidth" min="10" max="65535" value={mapWidth} onChange={event => setMapWidth(event.target.value)}/>
+            <label htmlFor="dotbotMapHeight">Map height (in mm):</label>
+            <input className="form-control my-1 mr-sm-2" type="number" id="dotbotMapHeight" min="10" max="65535" value={mapHeight} onChange={event => setMapHeight(event.target.value)}/>
+          </form>
+          {/* <div className="d-flex">
+            <button className="btn btn-sm btn-primary" onClick={updateMapSize}>Update map size</button>
+          </div> */}
           <div className="d-flex">
             <button className={`btn btn-sm ${calibrationButtonClass}`} onClick={calibrateClicked}>{calibrationButtonLabel}</button>
           </div>
diff --git a/dotbot/frontend/src/rest.js b/dotbot/frontend/src/rest.js
index 0e0a8709..3188fbfe 100644
--- a/dotbot/frontend/src/rest.js
+++ b/dotbot/frontend/src/rest.js
@@ -86,3 +86,17 @@ export const apiAddLH2CalibrationPoint = async (index) => {
     `${process.env.REACT_APP_DOTBOTS_BASE_URL}/controller/lh2/calibration/${index}`,
   );
 }
+
+export const apiFetchLH2MapSize = async (width, height) => {
+  return await axios.get(
+    `${process.env.REACT_APP_DOTBOTS_BASE_URL}/controller/lh2/calibration/size`,
+  ).then(res => res.data);
+}
+
+export const apiUpdateLH2MapSize = async (width, height) => {
+  return await axios.put(
+    `${process.env.REACT_APP_DOTBOTS_BASE_URL}/controller/lh2/calibration/size`,
+    {width: width, height: height},
+    { headers: { 'Content-Type': 'application/json' } }
+  );
+}
diff --git a/dotbot/lighthouse2.py b/dotbot/lighthouse2.py
index 42f543da..a2857d59 100644
--- a/dotbot/lighthouse2.py
+++ b/dotbot/lighthouse2.py
@@ -17,7 +17,11 @@
 import numpy as np
 
 from dotbot.logger import LOGGER
-from dotbot.models import DotBotLH2Position, DotBotCalibrationStateModel
+from dotbot.models import (
+    DotBotLH2Position,
+    DotBotCalibrationStateModel,
+    DotBotCalibrationSizeModel,
+)
 from dotbot.protocol import Lh2RawData
 
 
@@ -97,6 +101,8 @@ class CalibrationData:
     random_rodriguez: np.array
     normal: np.array
     m: np.array
+    width: int = 200
+    height: int = 200
 
 
 class LighthouseManagerState(Enum):
@@ -115,6 +121,7 @@ def __init__(self):
         self.state = LighthouseManagerState.NotCalibrated
         self.reference_points = REFERENCE_POINTS_DEFAULT
         Path.mkdir(CALIBRATION_DIR, exist_ok=True)
+        self.calibration_size = DotBotCalibrationSizeModel()
         self.calibration_output_path = CALIBRATION_DIR / "calibration.out"
         self.calibration_data = self._load_calibration()
         self.calibration_points = np.zeros(
@@ -245,13 +252,16 @@ def compute_calibration(self):  # pylint: disable=too-many-locals
         )
 
         self.calibration_data = CalibrationData(zeta, random_rodriguez, n, M)
-
-        with open(self.calibration_output_path, "wb") as output_file:
-            pickle.dump(self.calibration_data, output_file)
+        self.save_calibration()
 
         self.state = LighthouseManagerState.Calibrated
         self.logger.info("Calibration done", data=self.calibration_data)
 
+    def save_calibration(self):
+        """Store the calibration data in a file."""
+        with open(self.calibration_output_path, "wb") as output_file:
+            pickle.dump(self.calibration_data, output_file)
+
     def compute_position(self, raw_data: Lh2RawData) -> Optional[DotBotLH2Position]:
         """Compute the position coordinates from LH2 raw data and available calibration."""
         if self.state != LighthouseManagerState.Calibrated:
diff --git a/dotbot/models.py b/dotbot/models.py
index b8d7acf7..bae8e2b5 100644
--- a/dotbot/models.py
+++ b/dotbot/models.py
@@ -23,6 +23,13 @@ class DotBotCalibrationStateModel(BaseModel):
     state: str
 
 
+class DotBotCalibrationSizeModel(BaseModel):
+    """Model that holds the width and height of the LH2 calibration whole map."""
+
+    width: int = 200  # size in millimeters
+    height: int = 200
+
+
 class DotBotMoveRawCommandModel(BaseModel):
     """Model class that defines a move raw command."""
 
@@ -46,6 +53,8 @@ class DotBotLH2Position(BaseModel):
     x: float
     y: float
     z: float
+    width: int = 200
+    height: int = 200
 
 
 class DotBotControlModeModel(BaseModel):
diff --git a/dotbot/protocol.py b/dotbot/protocol.py
index 9e83bf8e..81372c45 100644
--- a/dotbot/protocol.py
+++ b/dotbot/protocol.py
@@ -11,7 +11,7 @@
 from dataclasses import dataclass
 
 
-PROTOCOL_VERSION = 8
+PROTOCOL_VERSION = 9
 
 
 class PayloadType(Enum):
@@ -208,17 +208,17 @@ class LH2Location(ProtocolData):
     @property
     def fields(self) -> List[ProtocolField]:
         return [
-            ProtocolField(self.pos_x, name="x", length=4),
-            ProtocolField(self.pos_y, name="y", length=4),
-            ProtocolField(self.pos_z, name="z", length=4),
+            ProtocolField(self.pos_x, name="x", length=2),
+            ProtocolField(self.pos_y, name="y", length=2),
+            ProtocolField(self.pos_z, name="z", length=2),
         ]
 
     @staticmethod
     def from_bytes(bytes_) -> ProtocolData:
         return LH2Location(
-            int.from_bytes(bytes_[0:4], "little"),
-            int.from_bytes(bytes_[4:8], "little"),
-            int.from_bytes(bytes_[8:12], "little"),
+            pos_x=int.from_bytes(bytes_[0:2], "little"),
+            pos_y=int.from_bytes(bytes_[2:4], "little"),
+            pos_z=int.from_bytes(bytes_[4:6], "little"),
         )
 
 
@@ -402,7 +402,7 @@ def from_bytes(bytes_: bytes):
         elif payload_type == PayloadType.LH2_RAW_DATA:
             values = Lh2RawData.from_bytes(bytes_[25:45])
         elif payload_type == PayloadType.LH2_LOCATION:
-            values = LH2Location.from_bytes(bytes_[25:37])
+            values = LH2Location.from_bytes(bytes_[25:31])
         elif payload_type == PayloadType.ADVERTISEMENT:
             values = Advertisement.from_bytes(None)
         elif payload_type == PayloadType.GPS_POSITION:
diff --git a/dotbot/server.py b/dotbot/server.py
index bdd02f7f..7d5b54aa 100644
--- a/dotbot/server.py
+++ b/dotbot/server.py
@@ -13,6 +13,7 @@
 from dotbot.logger import LOGGER
 from dotbot.models import (
     DotBotCalibrationStateModel,
+    DotBotCalibrationSizeModel,
     DotBotModel,
     DotBotQueryModel,
     DotBotAddressModel,
@@ -312,6 +313,31 @@ async def controller_get_lh2_calibration():
     return app.controller.lh2_manager.state_model
 
 
+@app.put(
+    path="/controller/lh2/calibration/size",
+    summary="Set the size of the LH2 map.",
+    tags=["dotbots"],
+)
+async def controller_set_lh2_size(size: DotBotCalibrationSizeModel):
+    """Set the size of the LH2 map."""
+    app.controller.lh2_manager.calibration_data.width = size.width
+    app.controller.lh2_manager.calibration_data.height = size.height
+
+
+@app.get(
+    path="/controller/lh2/calibration/size",
+    response_model=DotBotCalibrationSizeModel,
+    summary="Get the size of the LH2 map.",
+    tags=["dotbots"],
+)
+async def controller_lh2_size():
+    """Set the width of the LH2 map."""
+    return DotBotCalibrationSizeModel(
+        width=app.controller.lh2_manager.calibration_data.width,
+        height=app.controller.lh2_manager.calibration_data.height,
+    )
+
+
 @app.websocket("/controller/ws/status")
 async def websocket_endpoint(websocket: WebSocket):
     """Websocket server endpoint."""
diff --git a/dotbot/tests/test_protocol.py b/dotbot/tests/test_protocol.py
index 894d27f6..fa40314d 100644
--- a/dotbot/tests/test_protocol.py
+++ b/dotbot/tests/test_protocol.py
@@ -27,7 +27,7 @@
     "payload,expected",
     [
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x00\x00\x42\x00\x42",
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x00\x00\x42\x00\x42",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122221111111111,
@@ -43,7 +43,7 @@
             id="MoveRaw",
         ),
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x01\x42\x42\x42",
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x01\x42\x42\x42",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122221111111111,
@@ -59,7 +59,7 @@
             id="RGBLed",
         ),
         pytest.param(
-            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x08\x00\x00\x00\x00\x02"
+            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x09\x00\x00\x00\x00\x02"
             b"\x12\x34\x56\x78\x9a\xbc\xde\xf1\x01\x02"
             b"\x12\x34\x56\x78\x9a\xbc\xde\xf1\x01\x02",
             ProtocolPayload(
@@ -82,8 +82,8 @@
             id="LH2RawData",
         ),
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x03"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x03"
+            b"\xe8\x03\xe8\x03\x02\x00",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122221111111111,
@@ -99,7 +99,7 @@
             id="LH2Location",
         ),
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x04",
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x04",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122221111111111,
@@ -115,7 +115,7 @@
             id="Advertisement",
         ),
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x05"
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x05"
             b"&~\xe9\x02]\xe4#\x00",
             ProtocolPayload(
                 ProtocolHeader(
@@ -132,7 +132,7 @@
             id="GPSPosition",
         ),
         pytest.param(
-            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x08\x00\x00\x00\x00\x06"
+            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x09\x00\x00\x00\x00\x06"
             b"-\x00"
             b"\x12\x34\x56\x78\x9a\xbc\xde\xf1\x01\x02"
             b"\x12\x34\x56\x78\x9a\xbc\xde\xf1\x01\x02",
@@ -157,7 +157,7 @@
             id="DotBotData",
         ),
         pytest.param(
-            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x08\x00\x00\x00\x00\x07\x01",
+            b"\x11\x11\x11\x11\x11\x22\x22\x11\x12\x12\x12\x12\x12\x12\x12\x12\x34\x12\x00\x09\x00\x00\x00\x00\x07\x01",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122221111111111,
@@ -173,9 +173,8 @@
             id="ControlMode",
         ),
         pytest.param(
-            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x08\x00\x00\x00\x00\x08\x02\x0a"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
+            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x09\x00\x00\x00\x00\x08\x02\x0a"
+            b"\xe8\x03\xe8\x03\x02\x00\xe8\x03\xe8\x03\x02\x00",
             ProtocolPayload(
                 ProtocolHeader(
                     0x1122334455667788,
@@ -191,7 +190,7 @@
             id="LH2Waypoints",
         ),
         pytest.param(
-            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x08\x00\x00\x00\x00\x09\x02\x0a"
+            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x09\x00\x00\x00\x00\x09\x02\x0a"
             b"&~\xe9\x02]\xe4#\x00&~\xe9\x02]\xe4#\x00",
             ProtocolPayload(
                 ProtocolHeader(
@@ -208,7 +207,7 @@
             id="GPSWaypoints",
         ),
         pytest.param(
-            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x08\x00\x00\x00\x00\x0a"
+            b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x09\x00\x00\x00\x00\x0a"
             b"-\x00&~\xe9\x02]\xe4#\x00",
             ProtocolPayload(
                 ProtocolHeader(
@@ -225,12 +224,12 @@
             id="SailBotData",
         ),
         pytest.param(
-            b"\x11\x22\x22\x11\x11\x11\x11\x11\x12\x12\x12\x12\x12\x12\x12\x12\x00\x00\x00\x08\x00\x00\x00\x00\xff",
+            b"\x11\x22\x22\x11\x11\x11\x11\x11\x12\x12\x12\x12\x12\x12\x12\x12\x00\x00\x00\x09\x00\x00\x00\x00\xff",
             ValueError("255 is not a valid PayloadType"),
             id="invalid payload",
         ),
         pytest.param(
-            b"\x11\x22\x22\x11\x11\x11\x11\x11\x12\x12\x12\x12\x12\x12\x12\x12\x00\x00\x00\x08\x00\x00\x00\x00\x0b",
+            b"\x11\x22\x22\x11\x11\x11\x11\x11\x12\x12\x12\x12\x12\x12\x12\x12\x00\x00\x00\x09\x00\x00\x00\x00\x0b",
             ProtocolPayloadParserException("Unsupported payload type '11'"),
             id="unsupported payload type",
         ),
@@ -333,7 +332,7 @@ def test_protocol_parser(payload, expected):
                 LH2Location(1000, 1000, 2),
             ),
             b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x01\x00\x00\x00\x00\x03"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
+            b"\xe8\x03\xe8\x03\x02\x00",
             id="LH2Location",
         ),
         pytest.param(
@@ -392,8 +391,7 @@ def test_protocol_parser(payload, expected):
                 ),
             ),
             b"\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x42\x14\x00\x01\x00\x00\x00\x00\x08\x02\x0a"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00"
-            b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
+            b"\xe8\x03\xe8\x03\x02\x00\xe8\x03\xe8\x03\x02\x00",
             id="LH2Waypoints",
         ),
         pytest.param(
@@ -495,14 +493,10 @@ def test_payload(payload, expected):
                 LH2Location(1000, 1000, 2),
             ),
             (
-                "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+\n"
-                " LH2_LOCATION    | dst                              | src                              | swarm id | app. | ver. | msg id           | type |\n"
-                " (37 Bytes)      | 0x1122334455667788               | 0x1222122212221221               | 0x2442   | 0x00 | 0x01 | 0x00000000       | 0x03 |\n"
-                "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+\n"
-                "                 +------------------+------------------+------------------+\n"
-                "                 | x                | y                | z                |\n"
-                "                 | 0x000003e8       | 0x000003e8       | 0x00000002       |\n"
-                "                 +------------------+------------------+------------------+\n"
+                "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+----------+----------+----------+\n"
+                " LH2_LOCATION    | dst                              | src                              | swarm id | app. | ver. | msg id           | type | x        | y        | z        |\n"
+                " (31 Bytes)      | 0x1122334455667788               | 0x1222122212221221               | 0x2442   | 0x00 | 0x01 | 0x00000000       | 0x03 | 0x03e8   | 0x03e8   | 0x0002   |\n"
+                "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+----------+----------+----------+\n"
                 "\n"
             ),
             id="LH2Location",
@@ -593,12 +587,12 @@ def test_payload(payload, expected):
             (
                 "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+\n"
                 " LH2_WAYPOINTS   | dst                              | src                              | swarm id | app. | ver. | msg id           | type |\n"
-                " (51 Bytes)      | 0x1122334455667788               | 0x1222122212221221               | 0x2442   | 0x00 | 0x01 | 0x00000000       | 0x08 |\n"
+                " (39 Bytes)      | 0x1122334455667788               | 0x1222122212221221               | 0x2442   | 0x00 | 0x01 | 0x00000000       | 0x08 |\n"
                 "                 +----------------------------------+----------------------------------+----------+------+------+------------------+------+\n"
-                "                 +------+------+------------------+------------------+------------------+------------------+------------------+------------------+\n"
-                "                 | len. | thr. | x                | y                | z                | x                | y                | z                |\n"
-                "                 | 0x02 | 0x0a | 0x000003e8       | 0x000003e8       | 0x00000002       | 0x000003e8       | 0x000003e8       | 0x00000002       |\n"
-                "                 +------+------+------------------+------------------+------------------+------------------+------------------+------------------+\n"
+                "                 +------+------+----------+----------+----------+----------+----------+----------+\n"
+                "                 | len. | thr. | x        | y        | z        | x        | y        | z        |\n"
+                "                 | 0x02 | 0x0a | 0x03e8   | 0x03e8   | 0x0002   | 0x03e8   | 0x03e8   | 0x0002   |\n"
+                "                 +------+------+----------+----------+----------+----------+----------+----------+\n"
                 "\n"
             ),
             id="LH2Waypoints",
diff --git a/dotbot/tests/test_server.py b/dotbot/tests/test_server.py
index f3d20b89..d42bd3be 100644
--- a/dotbot/tests/test_server.py
+++ b/dotbot/tests/test_server.py
@@ -14,6 +14,7 @@
     DotBotMoveRawCommandModel,
     DotBotRgbLedCommandModel,
     DotBotCalibrationStateModel,
+    DotBotCalibrationSizeModel,
     DotBotControlModeModel,
     DotBotGPSPosition,
     DotBotLH2Position,
@@ -49,6 +50,9 @@ def controller():
     app.controller.lh2_manager = MagicMock()
     app.controller.lh2_manager.state_model = DotBotCalibrationStateModel(state="test")
     app.controller.notify_clients = AsyncMock()
+    app.controller.lh2_manager.calibration_data = MagicMock()
+    app.controller.lh2_manager.calibration_data.width = 100
+    app.controller.lh2_manager.calibration_data.height = 100
     app.controller.send_payload = MagicMock()
     app.controller.settings = MagicMock()
     app.controller.settings.gw_address = "0000"
@@ -684,6 +688,24 @@ async def test_lh2_calibration():
         calibration.assert_called_once()
 
 
+@pytest.mark.asyncio
+async def test_lh2_calibration_size():
+    response = await client.get("/controller/lh2/calibration/size")
+    assert (
+        response.json()
+        == DotBotCalibrationSizeModel(width=100, height=100).model_dump()
+    )
+    assert response.status_code == 200
+
+    response = await client.put(
+        "/controller/lh2/calibration/size",
+        json=DotBotCalibrationSizeModel(width=300, height=400).model_dump(),
+    )
+    assert response.status_code == 200
+    assert app.controller.lh2_manager.calibration_data.width == 300
+    assert app.controller.lh2_manager.calibration_data.height == 400
+
+
 @pytest.mark.asyncio
 async def test_ws_client():
     with TestClient(app).websocket_connect("/controller/ws/status") as websocket:
diff --git a/tox.ini b/tox.ini
index 26e30de7..78241dde 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,5 +1,5 @@
 [tox]
-envlist = tests,check
+envlist = check,tests
 skip_missing_interpreters = true
 isolated_build = true