diff --git a/ar_tag_pose/detector_board_main.py b/ar_tag_pose/detector_board_main.py
index f9a2aa9..d471f12 100644
--- a/ar_tag_pose/detector_board_main.py
+++ b/ar_tag_pose/detector_board_main.py
@@ -172,7 +172,8 @@ class Detector(abc.ABC):
 		out = None
 		pose_center = True
 		rot = np.array([0,0,0])
-		alpha_rot = 0.3
+		# ToDo: fixed filter with multiple detectors
+		alpha_rot = 1.0
 		scale_target_width = 800
 		show_undistorted_image = False
 		read_key = ReadKey()
@@ -329,12 +330,12 @@ def main():
 	if "Aruco" in var_args["type"]:
 		for n in range(var_args["num_boards"]):
 			board_id = f"{bid_start+n:0{msg_size}d}"
-			det = BoardDetectorAruco(f"{var_args["name"]}-{n}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"]))
+			det = BoardDetectorAruco(f"{var_args["name"]}-{board_id}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"]))
 			board_detector.append(det)
 	elif "Charuco" in var_args["type"]:
 		for n in range(var_args["num_boards"]):
 			board_id = f"{bid_start+n:0{msg_size}d}"
-			det = BoardDetectorCharuco(f"{var_args["name"]}-{n}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"]))
+			det = BoardDetectorCharuco(f"{var_args["name"]}-{board_id}", var_args["dict_type"], board_id, (var_args["board_width"], var_args["board_height"]))
 			board_detector.append(det)
 
 	# Create output