diff --git a/GuiNuMo-server/server.cc b/GuiNuMo-server/server.cc
index 2e0f42b..18faa3c 100644
--- a/GuiNuMo-server/server.cc
+++ b/GuiNuMo-server/server.cc
@@ -1068,7 +1068,7 @@ Point Server::fbcm(const vector<Measurement> &m, const int &client_idx)const
   vector<Point> centres;
   unsigned int i, ap_idx;
   float constant_term, minmax_res, minmax_max;
-  float x = MINMAX_X_START, y = MINMAX_Y_START;
+  float x = MINMAX_X_START, y = MINMAX_Y_START, z = MINMAX_Z_START;
 
   i = 0;
   //cout << "FBCM: ";
@@ -1092,19 +1092,21 @@ Point Server::fbcm(const vector<Measurement> &m, const int &client_idx)const
   minmax_res = 1000000;
   for (x = MINMAX_X_START ; x < MINMAX_X_STOP ; x += MINMAX_STEP)
     for (y = MINMAX_Y_START ; y < MINMAX_Y_STOP ; y += MINMAX_STEP)
-      {
-	minmax_max = 0;
-	for (i = 0 ; i < centres.size() ; i++)
-	  if (abs(centres[i].distance(x, y, 3) - dist_vect[i]) > minmax_max)
-	    minmax_max = abs(centres[i].distance(x, y, 3) - dist_vect[i]) ;
-	if (minmax_max < minmax_res)
-	  {
-	    ret.setX(x);
-	    ret.setY(y);
-	    minmax_res = minmax_max;
-	  }
-      }
-
+      for(z = MINMAX_Z_START ; z <= MINMAX_Z_STOP ; z += MINMAX_Z_STEP)
+	{
+	  minmax_max = 0;
+	  for (i = 0 ; i < centres.size() ; i++)
+	    if (abs(centres[i].distance(x, y, z) - dist_vect[i]) > minmax_max)
+	      minmax_max = abs(centres[i].distance(x, y, z) - dist_vect[i]) ;
+	  if (minmax_max < minmax_res)
+	    {
+	      ret.setX(x);
+	      ret.setY(y);
+	      ret.setZ(z);
+	      minmax_res = minmax_max;
+	    }
+	}
+  
   /* Clear all vectors */
   addr.clear();
   dist_vect.clear();
@@ -1131,7 +1133,7 @@ Point Server::fbcm_friis( const vector<Measurement> &m, const vector<float> frii
   vector<Point> centres;
   unsigned int i, j, ap_idx;
   float constant_term, minmax_res, minmax_max;
-  float x = MINMAX_X_START, y = MINMAX_Y_START;
+  float x = MINMAX_X_START, y = MINMAX_Y_START, z = MINMAX_Z_START;
 
   i = 0;
   //cout << "FBCM: ";
@@ -1152,24 +1154,23 @@ Point Server::fbcm_friis( const vector<Measurement> &m, const vector<float> frii
 	}
 
   /* Then: min-max */
- minmax_res = 1000000;
+  minmax_res = 1000000;
   for (x = MINMAX_X_START ; x < MINMAX_X_STOP ; x += MINMAX_STEP)
     for (y = MINMAX_Y_START ; y < MINMAX_Y_STOP ; y += MINMAX_STEP)
-      {
-		minmax_max = 0;
-		for (i = 0 ; i < centres.size() ; i++)
-			if ((std::abs(centres[i].distance(Point(x, y, 3)) - dist_vect[i])) > minmax_max)
-			{
-				minmax_max = std::abs(centres[i].distance(Point(x, y, 3)) - dist_vect[i]);
-				//cout << "minmax_max: " << minmax_max << endl;	
-			} 
-	if (minmax_max < minmax_res)
-	  {
-	    ret.setX(x);
-	    ret.setY(y);
-	    minmax_res = minmax_max;
-	  }
-      }
+      for(z = MINMAX_Z_START ; z <= MINMAX_Z_STOP ; z += MINMAX_Z_STEP)
+	{
+	  minmax_max = 0;
+	  for (i = 0 ; i < centres.size() ; i++)
+	    if (abs(centres[i].distance(x, y, z) - dist_vect[i]) > minmax_max)
+	      minmax_max = abs(centres[i].distance(x, y, z) - dist_vect[i]) ;
+	  if (minmax_max < minmax_res)
+	    {
+	      ret.setX(x);
+	      ret.setY(y);
+	      ret.setZ(z);
+	      minmax_res = minmax_max;
+	    }
+	}
 
   /* Clear all vectors */
   addr.clear();
diff --git a/GuiNuMo-server/server.hh b/GuiNuMo-server/server.hh
index b1beaea..9fd4cff 100644
--- a/GuiNuMo-server/server.hh
+++ b/GuiNuMo-server/server.hh
@@ -40,10 +40,13 @@ typedef ClientInfo::float_index float_index ;
 #define DEFAULT_LISTEN_PORT 7777
 #define LIGHT_SPEED 300000000
 #define MINMAX_STEP 0.5
+#define MINMAX_Z_STEP 3
 #define MINMAX_X_START -1
 #define MINMAX_Y_START -1
+#define MINMAX_Z_START 0
 #define MINMAX_X_STOP 15
 #define MINMAX_Y_STOP 45
+#define MINMAX_Z_STOP 3
 #define BUFFER_LENGTH 5000
 //#define DEFAULT_Z 3 // Décommenter pour utiliser des fichiers d'entrée avec des coordonnées dans un seul plan (X, Y).
 //#define FRED_CSV_FORMAT // Décommenter pour utiliser les fichiers CSV au « format Fred » (plusieurs lignes par mesure, avec un AP par ligne).