diff --git a/src/cpm.c b/src/cpm.c
index af225db..649ccc4 100644
--- a/src/cpm.c
+++ b/src/cpm.c
@@ -560,49 +560,51 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len,
         dissemination_reset_timer(facilities->dissemination, &facilities->epv, 0);
     }
 
-    cpm_tx->cpm.cpmParameters.perceivedObjectContainer = calloc(1, sizeof(PerceivedObjectContainer_t));
-    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array = calloc(s_objectControl.u8_numberOfObjects,sizeof(PerceivedObject_t*));
+    if (s_objectControl.u8_numberOfObjects > 0) {
+	    cpm_tx->cpm.cpmParameters.perceivedObjectContainer = calloc(1, sizeof(PerceivedObjectContainer_t));
+	    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array = calloc(s_objectControl.u8_numberOfObjects,sizeof(PerceivedObject_t*));
 
-    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count = s_objectControl.u8_numberOfObjects; 
+	    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count = s_objectControl.u8_numberOfObjects; 
 
-    memcpy(temp, valid_array, NOF_OBJECTS * sizeof(int)); // NOF_OBJECTS * sizeof(int) = size of valid_array
-    memset(valid_array, 0, NOF_OBJECTS * sizeof(int));
+	    memcpy(temp, valid_array, NOF_OBJECTS * sizeof(int)); // NOF_OBJECTS * sizeof(int) = size of valid_array
+	    memset(valid_array, 0, NOF_OBJECTS * sizeof(int));
 
-    for(int i = 0; i < cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;i++){
-        if(temp[as_objects[i].u8_objectID] == 0 ){ // The object is going to be added without comparison (It is a new object) (valid_array[id] = 0)
-            set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array,history_timestamp);
-            j++;
+	    for(int i = 0; i < cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;i++){
+		if(temp[as_objects[i].u8_objectID] == 0 ){ // The object is going to be added without comparison (It is a new object) (valid_array[id] = 0)
+		    set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array,history_timestamp);
+		    j++;
 
-        }else{ // The object is going to be compared (It was included in previous CPMs) (valid_array[id] = 1)
+		}else{ // The object is going to be compared (It was included in previous CPMs) (valid_array[id] = 1)
 
-            // Getting the euclidian distance value from the object detected and the same object in the last cpm (xcurrent - xhistory)^2 + (ycurrent - yhistory)^2
-            euclidian_dist = sqrt( pow(((long)as_objects[i].f_xPoint * 100) - (history_list[(long)as_objects[i].u8_objectID][0]), 2) + pow(((long)as_objects[i].f_yPoint * 100) - (history_list[(long)as_objects[i].u8_objectID][1]) ,2) );
+		    // Getting the euclidian distance value from the object detected and the same object in the last cpm (xcurrent - xhistory)^2 + (ycurrent - yhistory)^2
+		    euclidian_dist = sqrt( pow(((long)as_objects[i].f_xPoint * 100) - (history_list[(long)as_objects[i].u8_objectID][0]), 2) + pow(((long)as_objects[i].f_yPoint * 100) - (history_list[(long)as_objects[i].u8_objectID][1]) ,2) );
 
-            // Getting the absolute speed value from the object detected and the same object in the last cpm (sqrt(x^2 + y^2))
-            abs_speed = sqrt( pow( ((long)as_objects[i].f_xSpeed * 100),2) + pow( ( (long)as_objects[i].f_ySpeed * 100),2) ); 
-            abs_speed_hist = sqrt( pow( history_list[(long)as_objects[i].u8_objectID][2] ,2) + pow( history_list[(long)as_objects[i].u8_objectID][3],2) ); // sqrt(xSpeed^2 + ySpeed^2)
+		    // Getting the absolute speed value from the object detected and the same object in the last cpm (sqrt(x^2 + y^2))
+		    abs_speed = sqrt( pow( ((long)as_objects[i].f_xSpeed * 100),2) + pow( ( (long)as_objects[i].f_ySpeed * 100),2) ); 
+		    abs_speed_hist = sqrt( pow( history_list[(long)as_objects[i].u8_objectID][2] ,2) + pow( history_list[(long)as_objects[i].u8_objectID][3],2) ); // sqrt(xSpeed^2 + ySpeed^2)
 
-            // Getting the angle from the velocity vector detected and the same object in the last cpm 
-            angle = (long)((180 / PI) * atan2( (long)as_objects[i].f_ySpeed * 100 , (long)as_objects[i].f_xSpeed * 100 ));
-            angle_hist = (long)((180 / PI) * atan2( history_list[(long)as_objects[i].u8_objectID][3] , history_list[(long)as_objects[i].u8_objectID][2]) ); // tan(yspeed / xspeed)
-            angle_diff = ((angle - angle_hist) + 180) % 360 - 180;
+		    // Getting the angle from the velocity vector detected and the same object in the last cpm 
+		    angle = (long)((180 / PI) * atan2( (long)as_objects[i].f_ySpeed * 100 , (long)as_objects[i].f_xSpeed * 100 ));
+		    angle_hist = (long)((180 / PI) * atan2( history_list[(long)as_objects[i].u8_objectID][3] , history_list[(long)as_objects[i].u8_objectID][2]) ); // tan(yspeed / xspeed)
+		    angle_diff = ((angle - angle_hist) + 180) % 360 - 180;
 
-            // Requirements to include the object in the CPM (> 4 m or > 0.5 m/s or > 4º or > T_GenCpmMax)
+		    // Requirements to include the object in the CPM (> 4 m or > 0.5 m/s or > 4º or > T_GenCpmMax)
 
-            if(abs(euclidian_dist) > 400 || abs(abs_speed - abs_speed_hist) > 50 || abs(angle_diff) > 4 || abs(generationDeltaTime - history_timestamp[i]) >= facilities->dissemination->T_GenCpmMax){
-                set_values(i,j,generationDeltaTime,cpm_tx, history_list, valid_array,history_timestamp);
-                j++;
+		    if(abs(euclidian_dist) > 400 || abs(abs_speed - abs_speed_hist) > 50 || abs(angle_diff) > 4 || abs(generationDeltaTime - history_timestamp[i]) >= facilities->dissemination->T_GenCpmMax){
+			set_values(i,j,generationDeltaTime,cpm_tx, history_list, valid_array,history_timestamp);
+			j++;
 
-            }else{ //The object is not included but is valid for comparison in the upcoming CPMs
-                valid_array[(long)as_objects[i].u8_objectID] = 1;
-            }	
-        }
+		    }else{ //The object is not included but is valid for comparison in the upcoming CPMs
+			valid_array[(long)as_objects[i].u8_objectID] = 1;
+		    }	
+		}
+	    }
+
+
+	    cpm_tx->cpm.cpmParameters.numberOfPerceivedObjects = cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;	// Object perceived by the Radar (Does not have to match the objects included in the CPM)
+	    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count = j;							// The number of objects that were included in the CPM
+	    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.size = j;
     }
-
-
-    cpm_tx->cpm.cpmParameters.numberOfPerceivedObjects = cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;	// Object perceived by the Radar (Does not have to match the objects included in the CPM)
-    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count = j;							// The number of objects that were included in the CPM
-    cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.size = j;
     cpm_tx->cpm.cpmParameters.numberOfPerceivedObjects = j;