diff --git a/plot_data.py b/plot_data.py
index bf8f672..dd6112f 100644
--- a/plot_data.py
+++ b/plot_data.py
@@ -4,15 +4,19 @@ from datetime import datetime, timedelta
 
 class PlotData():
     def __init__(self):
-        self.refresh_rate = 1  # ms
-        self.timeout = 100  # cycles
-        self.data = {"time": np.array([0])}
+
+        #resolution * timeout must be at least 2-3 times higher then the slowest refresh rate
+        self.resolution = 100  # ms
+        self.timeout = 100 #cycles
+        self.data = {"time": np.array([])}
         self.start_time = datetime.utcnow()
         self.queues = {}
 
     def clear(self):
+        print("clear")
         for key in self.data:
             self.data[key] = np.array([])
+        self.start_time = datetime.utcnow()
 
     def get(self, key):
         return self.data.get(key, np.full_like(self.data["time"], np.nan, dtype=np.double))
@@ -22,45 +26,41 @@ class PlotData():
 
         """
         if sensor_name not in self.data:
-            self.queues[sensor_name] = []
+            self.queues[sensor_name] = ([],[])
             self.data[sensor_name] = np.full_like(self.data["time"], np.nan, dtype=np.double)
         for time, dat in zip(data[0], data[1]):
-            self.queues[sensor_name].append((time, dat))
+            self.queues[sensor_name][0].append((time-self.start_time)/ timedelta(milliseconds=self.resolution))
+            self.queues[sensor_name][1].append(dat)
+        self.extend_timeline()
+        self.sort_in_queue()
+        #self.drop_old()
 
-        running = True
-        while running:
-            # TODO timeout clean and time clean
-            for sensor, que in self.queues.items():
-                index = -1
-                for time, _ in que:
-                    if time < self.start_time \
-                            + timedelta(milliseconds=int(self.data["time"][-1]) + self.refresh_rate):
-                        index += 1
-                if index >= 0:
-                    self.queues[sensor] = que[index:]
-            #TODO timeout not working as intended
-            #if timeout is reached add empty values on sensors
-            #if self.start_time + timedelta(milliseconds=int(self.data["time"][-1])+self.timeout) < datetime.utcnow():
-            #    for sensor, que in self.queues.items():
-            #        if len(que) == 0:
-            #            que.append((self.start_time,np.nan))
+    def extend_timeline(self):
+        #extend numpy arrays with passed time
+        #unknown values are filled with nans
+        end = (datetime.utcnow()-self.start_time)/timedelta(milliseconds=self.resolution)
+        print(end, self.start_time)
 
-            for que in self.queues.values():
-                if len(que) == 0:
-                    running = False
-                    return
+        self.data["time"] = np.arange(0, end, 1).astype(np.double)
+        for key in self.data:
+            if key != "time":
+                pad_length = self.data["time"].size-self.data[key].size
+                self.data[key] = np.pad(self.data[key], (0,pad_length), mode="constant", constant_values=np.nan)
 
-            for sensor, que in self.queues.items():
-                self.data[sensor] = np.append(self.data[sensor], que[0][1])
-                self.queues[sensor] = que[1:]
-            self.data["time"] = np.append(self.data["time"],self.data["time"][-1]+self.refresh_rate)
+    def sort_in_queue(self):
+        #linear interpolation and adding it to the array
+        for key in self.queues:
+            time = np.array(self.queues[key][0])
+            data = np.array(self.queues[key][1])
+            if time.size > 1:
+                inter = np.interp(self.data["time"], time, data)
+                self.data[key] = inter#np.where(np.isnan(inter), self.data[key], inter)
+
+    def drop_old(self):
+        for key in self.queues:
+            time = np.array(self.queues[key][0])
+            old = self.data["time"][-1]-(self.timeout)
+            if time.size>2:
+                drop_index = (np.where(time < old)[0])[-1]
+                self.queues[key] = (self.queues[key][0][drop_index:],self.queues[key][1][drop_index:])
 
-        """
-        TODO
-         while true
-             clean  delte all to old values
-             for q in que:
-                   if q is empty 
-                        return
-                   update np array
-        """