diff --git a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
index 15450dd..b9beb89 100644
--- a/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
+++ b/app/src/main/java/com/example/carcontroller/SLAM/SlamView.java
@@ -40,7 +40,7 @@ public class SlamView extends SurfaceView implements Runnable {
         context = new ZContext();
         SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
         host = prefs.getString("host", "10.0.0.53");
-        port = prefs.getString("port", "50051");
+        port = prefs.getString("zmqPort", "5050");
     }
 
     @Override
diff --git a/app/src/main/res/layout-land/activity_slam_controller.xml b/app/src/main/res/layout-land/activity_slam_controller.xml
index b84f479..246557e 100644
--- a/app/src/main/res/layout-land/activity_slam_controller.xml
+++ b/app/src/main/res/layout-land/activity_slam_controller.xml
@@ -6,6 +6,15 @@
     android:layout_height="match_parent"
     tools:context=".SLAM.SlamController">
 
+    <com.example.carcontroller.SLAM.SlamView
+        android:id="@+id/slamView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
     <SeekBar
         android:id="@+id/steeringBar"
         android:layout_width="200dp"
diff --git a/app/src/main/res/xml/root_preferences.xml b/app/src/main/res/xml/root_preferences.xml
index 0c2b451..1c49e0c 100644
--- a/app/src/main/res/xml/root_preferences.xml
+++ b/app/src/main/res/xml/root_preferences.xml
@@ -49,4 +49,16 @@
             app:useSimpleSummaryProvider="true" />
     </PreferenceCategory>
 
+    <PreferenceCategory android:title="SLAM Configuration">
+        <EditTextPreference
+            android:key="MAPSIZEPIXELS"
+            android:title="SLAM Map Size Pixels"
+            app:useSimpleSummaryProvider="true" />
+
+        <EditTextPreference
+            android:key="MAPSIZEMETRES"
+            android:title="SLAM Map Size Meters"
+            app:useSimpleSummaryProvider="true" />
+    </PreferenceCategory>
+
 </PreferenceScreen>