diff --git a/src/Mod/Path/App/AppPathPy.cpp b/src/Mod/Path/App/AppPathPy.cpp
index 2c4832bfa6..a42721d3c5 100644
--- a/src/Mod/Path/App/AppPathPy.cpp
+++ b/src/Mod/Path/App/AppPathPy.cpp
@@ -122,7 +122,7 @@ public:
             "fromShapes(shapes, start=Vector(), return_end=False" PARAM_PY_ARGS_DOC(ARG,AREA_PARAMS_PATH) ")\n"
             "\nReturns a Path object from a list of shapes\n"
             "\n* shapes: input list of shapes.\n"
-            "\n* start (Vector()): optional start position.\n"
+            "\n* start (Vector()): feed start position, and also serves as a hint of path entry.\n"
             "\n* return_end (False): if True, returns tuple (path, endPosition).\n"
             PARAM_PY_DOC(ARG, AREA_PARAMS_PATH)
         );
@@ -415,7 +415,7 @@ private:
         try {
             bool need_arc_plane = arc_plane==Area::ArcPlaneAuto;
             std::list<TopoDS_Shape> wires = Area::sortWires(shapes,&pstart,
-                    &pend, &arc_plane, PARAM_PY_FIELDS(PARAM_FARG,AREA_PARAMS_SORT));
+                    &pend, 0, &arc_plane, PARAM_PY_FIELDS(PARAM_FARG,AREA_PARAMS_SORT));
             PyObject *list = PyList_New(0);
             for(auto &wire : wires)
                 PyList_Append(list,Py::new_reference_to(
diff --git a/src/Mod/Path/App/Area.cpp b/src/Mod/Path/App/Area.cpp
index 9068e1f751..104c62b953 100644
--- a/src/Mod/Path/App/Area.cpp
+++ b/src/Mod/Path/App/Area.cpp
@@ -285,6 +285,11 @@ void Area::addWire(CArea &area, const TopoDS_Wire& wire,
     BRepTools_WireExplorer xp(trsf?TopoDS::Wire(
                 wire.Moved(TopLoc_Location(*trsf))):wire);
 
+    if(!xp.More()) {
+        AREA_TRACE("empty wire");
+        return;
+    }
+
     gp_Pnt p = BRep_Tool::Pnt(xp.CurrentVertex());
     ccurve.append(CVertex(Point(p.X(),p.Y())));
 
@@ -2060,13 +2065,14 @@ TopoDS_Shape Area::toShape(const CArea &area, bool fill, const gp_Trsf *trsf, in
 struct WireInfo {
     TopoDS_Wire wire;
     std::deque<gp_Pnt> points;
+    gp_Pnt pt_end;
     bool isClosed;
 
     inline const gp_Pnt &pstart() const{ 
         return points.front(); 
     }
     inline const gp_Pnt &pend() const{ 
-        return isClosed?pstart():points.back(); 
+        return isClosed?pstart():pt_end; 
     }
 };
 
@@ -2156,8 +2162,9 @@ struct GetWires {
             // We don't add in-between vertices of an open wire, because we
             // haven't implemented open wire breaking yet.
             info.points.push_back(p1);
-            if(params.direction!=Area::DirectionNone)
+            if(!info.isClosed && params.direction==Area::DirectionNone)
                 info.points.push_back(p2);
+            info.pt_end = p2;
         } else {
             // For closed wires, we are can easily rebase the wire, so we
             // discretize the wires to spatial index it in order to accelerate
@@ -2188,7 +2195,7 @@ struct GetWires {
         }
         auto it = wires.end();
         --it;
-        for(size_t i=0,count=info.points.size();i<count;++i)
+        for(size_t i=0,count=it->points.size();i<count;++i)
             rtree.insert(RValue(it,i));
         FC_DURATION_PLUS(params.bd,t);
     }
@@ -2267,7 +2274,7 @@ struct ShapeInfo{
             }
             if(!done){
                 double d1 = pt.SquareDistance(it->pstart());
-                if(myParams.direction==Area::DirectionNone) {
+                if(myParams.direction!=Area::DirectionNone) {
                     d = d1;
                     p = it->pstart();
                     is_start = true;
@@ -2430,11 +2437,14 @@ struct ShapeInfo{
         return myBestWire->wire;
     }
 
-    std::list<TopoDS_Shape> sortWires(const gp_Pnt &pstart, gp_Pnt &pend,double min_dist) {
+    std::list<TopoDS_Shape> sortWires(const gp_Pnt &pstart, gp_Pnt &pend,double min_dist, gp_Pnt *pentry) {
 
-        if(pstart.SquareDistance(myStartPt)>Precision::SquareConfusion())
+        if(myWires.empty() ||
+           pstart.SquareDistance(myStartPt)>Precision::SquareConfusion())
             nearest(pstart);
 
+        if(pentry) *pentry = myBestPt;
+
         std::list<TopoDS_Shape> wires;
         if(min_dist < 0.01)
             min_dist = 0.01;
@@ -2602,7 +2612,7 @@ struct WireOrienter {
 };
 
 std::list<TopoDS_Shape> Area::sortWires(const std::list<TopoDS_Shape> &shapes, 
-    const gp_Pnt *_pstart, gp_Pnt *_pend, short *_parc_plane, 
+    gp_Pnt *_pstart, gp_Pnt *_pend, double *stepdown_hint, short *_parc_plane,
     PARAM_ARGS(PARAM_FARG,AREA_PARAMS_SORT))
 {
     std::list<TopoDS_Shape> wires;
@@ -2727,7 +2737,12 @@ std::list<TopoDS_Shape> Area::sortWires(const std::list<TopoDS_Shape> &shapes,
         AREA_TRACE("bound (" << xMin<<", "<<xMax<<"), ("<<
                 yMin<<", "<<yMax<<"), ("<<zMin<<", "<<zMax<<')');
         pstart.SetCoord(xMax,yMax,zMax);
+        if(_pstart) *_pstart = pstart;
     }
+
+    gp_Pln pln;
+    double hint = 0.0;
+    bool hint_first = true;
     while(shape_list.size()) {
         AREA_TRACE("sorting " << shape_list.size() << ' ' << AREA_XYZ(pstart));
         double best_d;
@@ -2746,10 +2761,42 @@ std::list<TopoDS_Shape> Area::sortWires(const std::list<TopoDS_Shape> &shapes,
                 best_d = d;
             }
         }
-        wires.splice(wires.end(),best_it->sortWires(pstart,pend,min_dist));
+        gp_Pnt pentry;
+        wires.splice(wires.end(),best_it->sortWires(pstart,pend,min_dist,&pentry));
+        if(use_bound && _pstart) {
+            use_bound = false;
+            *_pstart = pentry;
+        }
+        if(sort_mode==SortMode2D5 && stepdown_hint) {
+            if(!best_it->myPlanar)
+                hint_first = true;
+            else if(hint_first) 
+                hint_first = false;
+            else{
+                // Calculate distance of two gp_pln. 
+                //
+                // Can't use gp_pln.Distance(), because it only calculate
+                // the distance if two plane are parallel. And it checks
+                // parallelity using tolerance gp::Resolution() which is
+                // defined as DBL_MIN (min double) in Standard_Real.hxx.
+                // Really? Is that a bug?
+                const gp_Pnt& P = pln.Position().Location();
+                const gp_Pnt& loc = best_it->myPln.Position().Location ();
+                const gp_Dir& dir = best_it->myPln.Position().Direction();
+                double d = (dir.X() * (P.X() - loc.X()) +
+                        dir.Y() * (P.Y() - loc.Y()) +
+                        dir.Z() * (P.Z() - loc.Z()));
+                if (d < 0) d = -d;
+                if(d>hint)
+                    hint = d;
+            }
+            pln = best_it->myPln;
+        }
         pstart = pend;
         shape_list.erase(best_it);
     }
+    if(stepdown_hint && hint!=0.0)
+        *stepdown_hint = hint;
     if(_pend) *_pend = pend;
     FC_DURATION_LOG(rparams.bd,"rtree build");
     FC_DURATION_LOG(rparams.qd,"rtree query");
@@ -2800,24 +2847,22 @@ static void addG0(bool verbose, Toolpath &path,
         double retraction, double resume_height, 
         double f, double &last_f)
 {
-    if(!getter || retraction-(last.*getter)() < Precision::Confusion()) {
-        addGCode(verbose,path,last,next,"G0");
-        return;
-    }
     gp_Pnt pt(last);
-    (pt.*setter)(retraction);
-    addGCode(verbose,path,last,pt,"G0");
-    last = pt;
-    pt = next;
-    (pt.*setter)(retraction);
-    addGCode(verbose,path,last,pt,"G0");
-    if(resume_height>Precision::Confusion() && 
-       resume_height+(next.*getter)() < retraction)
-    {
+    if(retraction-(last.*getter)() > Precision::Confusion()) {
+        (pt.*setter)(retraction);
+        addGCode(verbose,path,last,pt,"G0");
         last = pt;
         pt = next;
-        (pt.*setter)((next.*getter)()+resume_height);
+        (pt.*setter)(retraction);
         addGCode(verbose,path,last,pt,"G0");
+    }
+    if(resume_height>Precision::Confusion()) {
+        if(resume_height+(next.*getter)() < retraction) {
+            last = pt;
+            pt = next;
+            (pt.*setter)((next.*getter)()+resume_height);
+            addGCode(verbose,path,last,pt,"G0");
+        }
         addG1(verbose,path,pt,next,f,last_f);
     }else
         addGCode(verbose,path,pt,next,"G0");
@@ -2875,11 +2920,15 @@ void Area::setWireOrientation(TopoDS_Wire &wire, const gp_Dir &dir, bool wire_cc
 }
 
 void Area::toPath(Toolpath &path, const std::list<TopoDS_Shape> &shapes,
-        const gp_Pnt *pstart, gp_Pnt *pend, PARAM_ARGS(PARAM_FARG,AREA_PARAMS_PATH))
+        const gp_Pnt *_pstart, gp_Pnt *pend, PARAM_ARGS(PARAM_FARG,AREA_PARAMS_PATH))
 {
     std::list<TopoDS_Shape> wires;
 
-    wires = sortWires(shapes,pstart,pend,
+    gp_Pnt pstart;
+    if(_pstart) pstart = *_pstart;
+
+    double stepdown_hint = 1.0;
+    wires = sortWires(shapes,&pstart,pend,&stepdown_hint,
             PARAM_REF(PARAM_FARG,AREA_PARAMS_ARC_PLANE), 
             PARAM_FIELDS(PARAM_FARG,AREA_PARAMS_SORT));
 
@@ -2898,30 +2947,57 @@ void Area::toPath(Toolpath &path, const std::list<TopoDS_Shape> &shapes,
         addGCode(path,"G17");
     }
     
+    AxisGetter getter;
+    AxisSetter setter;
+    switch(retract_axis) {
+    case RetractAxisX:
+        getter = &gp_Pnt::X;
+        setter = &gp_Pnt::SetX;
+        break;
+    case RetractAxisY:
+        getter = &gp_Pnt::Y;
+        setter = &gp_Pnt::SetY;
+        break;
+    default:
+        getter = &gp_Pnt::Z;
+        setter = &gp_Pnt::SetZ;
+    }
+
     threshold = fabs(threshold);
     if(threshold < Precision::Confusion())
         threshold = Precision::Confusion();
     threshold *= threshold;
-    resume_height = fabs(resume_height);
 
-    AxisGetter getter = &gp_Pnt::Z;
-    AxisSetter setter = &gp_Pnt::SetZ;
+    resume_height = fabs(resume_height);
+    if(resume_height < Precision::Confusion())
+        resume_height = stepdown_hint;
+
     retraction = fabs(retraction);
-    if(retraction>Precision::Confusion()) {
-        switch(retract_axis) {
-        case RetractAxisX:
-            getter = &gp_Pnt::X;
-            setter = &gp_Pnt::SetX;
-            break;
-        case RetractAxisY:
-            getter = &gp_Pnt::Y;
-            setter = &gp_Pnt::SetY;
-            break;
-        }
-    }
+    if(retraction < Precision::Confusion())
+        retraction = (pstart.*getter)()+resume_height;
+
+    // in case the user didn't specify feed start, sortWire() will choose one
+    // based on the bound. We'll further adjust that according to resume height
+    if(!_pstart || pstart.SquareDistance(*_pstart)>Precision::SquareConfusion())
+        (pstart.*setter)((pstart.*getter)()+resume_height);
 
     gp_Pnt plast,p;
-    if(pstart) plast = *pstart;
+    // initial vertial rapid pull up to retraction (or start Z height if higher)
+    (p.*setter)(std::max(retraction,(pstart.*getter)()));
+    addGCode(false,path,plast,p,"G0");
+    plast = p;
+    p = pstart;
+    // rapid horizontal move if start Z is below retraction
+    if(fabs((p.*getter)()-retraction) > Precision::Confusion()) {
+        (p.*setter)(retraction);
+        addGCode(false,path,plast,p,"G0");
+        plast = p;
+        p = pstart;
+    }
+    // vertial rapid down to feed start
+    addGCode(false,path,plast,p,"G0");
+
+    plast = p;
     bool first = true;
     bool arcWarned = false;
     double cur_f = 0.0; // current feed rate
@@ -2942,7 +3018,7 @@ void Area::toPath(Toolpath &path, const std::list<TopoDS_Shape> &shapes,
         (pTmp.*setter)(0.0);
         (plastTmp.*setter)(0.0);
 
-        if(first||pTmp.SquareDistance(plastTmp)>threshold) 
+        if(!first && pTmp.SquareDistance(plastTmp)>threshold) 
             addG0(verbose,path,plast,p,getter,setter,retraction,resume_height,vf,cur_f);
         else
             addG1(verbose,path,plast,p,vf,cur_f);
diff --git a/src/Mod/Path/App/Area.h b/src/Mod/Path/App/Area.h
index e2a88aa296..9d4d10eb01 100644
--- a/src/Mod/Path/App/Area.h
+++ b/src/Mod/Path/App/Area.h
@@ -341,6 +341,8 @@ public:
      * \arg \c shapes: input list of shapes.
      * \arg \c pstart: optional start point
      * \arg \c pend: optional output containing the ending point of the returned
+     * \arg \c stepdown_hint: optional output of a hint of step down as the max
+     * distance between two sections.
      * \arg \c arc_plane: optional arc plane selection, if given the found plane
      * will be returned. See #AREA_PARAMS_ARC_PLANE for more details.
      *
@@ -349,8 +351,8 @@ public:
      * \return sorted wires
      */
     static std::list<TopoDS_Shape> sortWires(const std::list<TopoDS_Shape> &shapes,
-            const gp_Pnt *pstart=NULL, gp_Pnt *pend=NULL, short *arc_plane = NULL, 
-            PARAM_ARGS_DEF(PARAM_FARG,AREA_PARAMS_SORT));
+            gp_Pnt *pstart=NULL, gp_Pnt *pend=NULL, double *stepdown_hint=NULL,
+            short *arc_plane = NULL, PARAM_ARGS_DEF(PARAM_FARG,AREA_PARAMS_SORT));
 
     /** Convert a list of wires to gcode
      *
diff --git a/src/Mod/Path/App/FeaturePathShape.cpp b/src/Mod/Path/App/FeaturePathShape.cpp
index 78e720c295..5d2c79ffad 100644
--- a/src/Mod/Path/App/FeaturePathShape.cpp
+++ b/src/Mod/Path/App/FeaturePathShape.cpp
@@ -55,7 +55,7 @@ PARAM_ENUM_STRING_DECLARE(static const char *Enums,AREA_PARAMS_PATH)
 FeatureShape::FeatureShape()
 {
     ADD_PROPERTY(Sources,(0));
-    ADD_PROPERTY_TYPE(StartPoint,(Base::Vector3d()),"Path",App::Prop_None,"Path start position");
+    ADD_PROPERTY_TYPE(StartPoint,(Base::Vector3d()),"Path",App::Prop_None,"Feed start position");
     PARAM_PROP_ADD("Path",AREA_PARAMS_PATH);
     PARAM_PROP_SET_ENUM(Enums,AREA_PARAMS_PATH);
 }
diff --git a/src/Mod/Path/CMakeLists.txt b/src/Mod/Path/CMakeLists.txt
index bd68251899..a8a149cfc4 100644
--- a/src/Mod/Path/CMakeLists.txt
+++ b/src/Mod/Path/CMakeLists.txt
@@ -65,6 +65,9 @@ SET(PathScripts_SRCS
     PathScripts/PostUtils.py
     PathScripts/__init__.py
     PathScripts/kdtree.py
+)
+
+SET(PathScripts_post_SRCS
     PathScripts/post/__init__.py
     PathScripts/post/centroid_post.py
     PathScripts/post/comparams_post.py
@@ -84,7 +87,9 @@ SET(PathScripts_SRCS
 
 SET(PathTests_SRCS
     PathTests/__init__.py
+    PathTests/boxtest.fcstd
     PathTests/PathTestUtils.py
+    PathTests/test_centroid_00.ngc
     PathTests/test_linuxcnc_00.ngc
     PathTests/TestPathCore.py
     PathTests/TestPathDepthParams.py
@@ -97,7 +102,7 @@ SET(PathTests_SRCS
 
 SET(all_files
     ${PathScripts_SRCS}
-    ${PathScripts_NC_SRCS}
+    ${PathScripts_post_SRCS}
 )
 
 ADD_CUSTOM_TARGET(PathScripts ALL
@@ -129,3 +134,10 @@ INSTALL(
     DESTINATION
         Mod/Path/PathTests
 )
+
+INSTALL(
+    FILES
+        ${PathScripts_post_SRCS}
+    DESTINATION
+        Mod/Path/PathScripts/post
+)
diff --git a/src/Mod/Path/PathScripts/PathContour.py b/src/Mod/Path/PathScripts/PathContour.py
index e7cd85783a..9b071273b0 100644
--- a/src/Mod/Path/PathScripts/PathContour.py
+++ b/src/Mod/Path/PathScripts/PathContour.py
@@ -45,6 +45,7 @@ else:
 if FreeCAD.GuiUp:
     import FreeCADGui
 
+
 # Qt tanslation handling
 def translate(context, text, disambig=None):
     return QtCore.QCoreApplication.translate(context, text, disambig)
@@ -62,7 +63,6 @@ class ObjectContour:
         PathLog.track()
         obj.addProperty("App::PropertyBool", "Active", "Path", QtCore.QT_TRANSLATE_NOOP("App::Property", "Make False, to prevent operation from generating code"))
         obj.addProperty("App::PropertyString", "Comment", "Path", QtCore.QT_TRANSLATE_NOOP("App::Property", "An optional comment for this Contour"))
-        #obj.addProperty("App::PropertyString", "UserLabel", "Path", QtCore.QT_TRANSLATE_NOOP("App::Property", "User Assigned Label"))
 
         # Tool Properties
         obj.addProperty("App::PropertyLink", "ToolController", "Path", QtCore.QT_TRANSLATE_NOOP("App::Property", "The tool controller that will be used to calculate the path"))
@@ -76,6 +76,7 @@ class ObjectContour:
 
         # Start Point Properties
         obj.addProperty("App::PropertyVector", "StartPoint", "Start Point", QtCore.QT_TRANSLATE_NOOP("App::Property", "The start point of this path"))
+        obj.addProperty("App::PropertyBool", "UseStartPoint", "Start Point", QtCore.QT_TRANSLATE_NOOP("App::Property", "make True, if specifying a Start Point"))
 
         # Contour Properties
         obj.addProperty("App::PropertyEnumeration", "Direction", "Contour", QtCore.QT_TRANSLATE_NOOP("App::Property", "The direction that the toolpath should go around the part ClockWise CW or CounterClockWise CCW"))
@@ -85,8 +86,12 @@ class ObjectContour:
         obj.addProperty("App::PropertyDistance", "OffsetExtra", "Contour", QtCore.QT_TRANSLATE_NOOP("App::Property", "Extra value to stay away from final Contour- good for roughing toolpath"))
 
         # Debug Parameters
-        # obj.addProperty("App::PropertyString", "AreaParams", "Debug", QtCore.QT_TRANSLATE_NOOP("App::Property", "parameters used by PathArea"))
-        # obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "AreaParams", "Path")
+        obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "PathParams", "Path")
+        obj.setEditorMode('PathParams', 2)  # hide
+        obj.addProperty("Part::PropertyPartShape", "removalshape", "Path")
+        obj.setEditorMode('removalshape', 2)  # hide
 
         if FreeCAD.GuiUp:
             _ViewProviderContour(obj.ViewObject)
@@ -96,7 +101,8 @@ class ObjectContour:
 
     def onChanged(self, obj, prop):
         PathLog.track('prop: {}  state: {}'.format(prop, obj.State))
-        #pass
+        if prop in ['AreaParams', 'PathParams', 'removalshape']:
+            obj.setEditorMode(prop, 2)
 
     def __getstate__(self):
         PathLog.track()
@@ -145,7 +151,7 @@ class ObjectContour:
         heights = [i for i in self.depthparams]
         PathLog.debug('depths: {}'.format(heights))
         profile.setParams(**profileparams)
-        #obj.AreaParams = str(profile.getParams())
+        obj.AreaParams = str(profile.getParams())
 
         PathLog.debug("Contour with params: {}".format(profile.getParams()))
         sections = profile.makeSections(mode=0, project=True, heights=heights)
@@ -166,21 +172,22 @@ class ObjectContour:
 
         if self.endVector is not None:
             params['start'] = self.endVector
-        elif start is not None:
-            params['start'] = start
+        elif obj.UseStartPoint:
+            params['start'] = obj.StartPoint
+
+        obj.PathParams = str({key: value for key, value in params.items() if key != 'shapes'})
 
         (pp, end_vector) = Path.fromShapes(**params)
-        PathLog.debug("Generating Path with params: {}".format(params))
         PathLog.debug('pp: {}, end vector: {}'.format(pp, end_vector))
         self.endVector = end_vector
 
         simobj = None
         if getsim:
-            profileparams['Thicken'] = True #{'Fill':0, 'Coplanar':0, 'Project':True, 'SectionMode':2, 'Thicken':True}
-            profileparams['ToolRadius']= self.radius - self.radius *.005
+            profileparams['Thicken'] = True
+            profileparams['ToolRadius'] = self.radius - self.radius * .005
             profile.setParams(**profileparams)
             sec = profile.makeSections(mode=0, project=False, heights=heights)[-1].getShape()
-            simobj = sec.extrude(FreeCAD.Vector(0,0,baseobject.BoundBox.ZMax))
+            simobj = sec.extrude(FreeCAD.Vector(0, 0, baseobject.BoundBox.ZMax))
 
         return pp, simobj
 
@@ -207,6 +214,7 @@ class ObjectContour:
                 user_depths=None)
 
         if toolLoad is None or toolLoad.ToolNumber == 0:
+
             FreeCAD.Console.PrintError("No Tool Controller is selected. We need a tool to build a Path.")
             return
         else:
@@ -229,15 +237,13 @@ class ObjectContour:
             commandlist.append(Path.Command("(Uncompensated Tool Path)"))
 
         parentJob = PathUtils.findParentJob(obj)
+
         if parentJob is None:
             return
         baseobject = parentJob.Base
         if baseobject is None:
             return
 
-        # Let's always start by rapid to clearance...just for safety
-        commandlist.append(Path.Command("G0", {"Z": obj.ClearanceHeight.Value}))
-
         isPanel = False
         if hasattr(baseobject, "Proxy"):
             if isinstance(baseobject.Proxy, ArchPanel.PanelSheet):  # process the sheet
@@ -256,10 +262,9 @@ class ObjectContour:
                         FreeCAD.Console.PrintError("Something unexpected happened. Unable to generate a contour path. Check project and tool config.")
 
         if hasattr(baseobject, "Shape") and not isPanel:
-            #bb = baseobject.Shape.BoundBox
             env = PathUtils.getEnvelope(partshape=baseobject.Shape, subshape=None, depthparams=self.depthparams)
             try:
-                (pp, sim) = self._buildPathArea(obj, env, start=obj.StartPoint,getsim=getsim)
+                (pp, sim) = self._buildPathArea(obj, env, start=obj.StartPoint, getsim=getsim)
                 commandlist.extend(pp.Commands)
             except Exception as e:
                 FreeCAD.Console.PrintError(e)
@@ -268,9 +273,9 @@ class ObjectContour:
         # Let's finish by rapid to clearance...just for safety
         commandlist.append(Path.Command("G0", {"Z": obj.ClearanceHeight.Value}))
 
+        PathLog.track()
         path = Path.Path(commandlist)
         obj.Path = path
-        #obj.ViewObject.Visibility = True
         return sim
 
 
@@ -371,7 +376,6 @@ class CommandPathContour:
         FreeCADGui.doCommand('obj.ToolController = PathScripts.PathUtils.findToolController(obj)')
 
         FreeCAD.ActiveDocument.commitTransaction()
-        #FreeCAD.ActiveDocument.recompute()
         FreeCADGui.doCommand('obj.ViewObject.startEditing()')
 
 
@@ -379,7 +383,6 @@ class TaskPanel:
     def __init__(self, obj, deleteOnReject):
         FreeCAD.ActiveDocument.openTransaction(translate("Path_Contour", "Contour Operation"))
         self.form = FreeCADGui.PySideUic.loadUi(":/panels/ContourEdit.ui")
-        # self.form = FreeCADGui.PySideUic.loadUi(FreeCAD.getHomePath() + "Mod/Path/ContourEdit.ui")
         self.deleteOnReject = deleteOnReject
         self.isDirty = True
 
@@ -402,7 +405,7 @@ class TaskPanel:
             FreeCAD.ActiveDocument.commitTransaction()
         FreeCAD.ActiveDocument.recompute()
 
-    def clicked(self,button):
+    def clicked(self, button):
         if button == QtGui.QDialogButtonBox.Apply:
             self.getFields()
             FreeCAD.ActiveDocument.recompute()
diff --git a/src/Mod/Path/PathScripts/PathMillFace.py b/src/Mod/Path/PathScripts/PathMillFace.py
index b871058c20..8a7966fe94 100644
--- a/src/Mod/Path/PathScripts/PathMillFace.py
+++ b/src/Mod/Path/PathScripts/PathMillFace.py
@@ -39,10 +39,10 @@ if True:
 else:
     PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule())
 
-#FreeCADGui = None
 if FreeCAD.GuiUp:
     import FreeCADGui
 
+
 # Qt tanslation handling
 def translate(context, text, disambig=None):
     return QtCore.QCoreApplication.translate(context, text, disambig)
@@ -95,8 +95,12 @@ class ObjectFace:
         obj.addProperty("App::PropertyBool", "UseStartPoint", "Start Point", QtCore.QT_TRANSLATE_NOOP("App::Property", "make True, if specifying a Start Point"))
 
         # Debug Parameters
-        # obj.addProperty("App::PropertyString", "AreaParams", "Debug", QtCore.QT_TRANSLATE_NOOP("App::Property", "parameters used by PathArea"))
-        # obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "AreaParams", "Path")
+        obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "PathParams", "Path")
+        obj.setEditorMode('PathParams', 2)  # hide
+        obj.addProperty("Part::PropertyPartShape", "removalshape", "Path")
+        obj.setEditorMode('removalshape', 2)  # hide
 
         if FreeCAD.GuiUp:
             _ViewProviderFace(obj.ViewObject)
@@ -108,6 +112,8 @@ class ObjectFace:
         if prop == "StepOver":
             if obj.StepOver == 0:
                 obj.StepOver = 1
+        if prop in ['AreaParams', 'PathParams', 'removalshape']:
+            obj.setEditorMode(prop, 2)
 
     def __getstate__(self):
         return None
@@ -115,7 +121,6 @@ class ObjectFace:
     def __setstate__(self, state):
         return None
 
-
     def setDepths(self, obj):
         PathLog.track()
         parentJob = PathUtils.findParentJob(obj)
@@ -139,8 +144,8 @@ class ObjectFace:
         if len(baselist) == 0:  # When adding the first base object, guess at heights
             subshape = [ss.Shape.getElement(sub)]
             d = PathUtils.guessDepths(ss.Shape, subshape)
-            obj.ClearanceHeight =d.clearance_height
-            obj.SafeHeight = d.safe_height +1
+            obj.ClearanceHeight = d.clearance_height
+            obj.SafeHeight = d.safe_height + 1
             obj.StartDepth = d.safe_height
             obj.FinalDepth = d.final_depth
             obj.StepDown = obj.StartDepth.Value-obj.FinalDepth.Value
@@ -155,7 +160,6 @@ class ObjectFace:
             baselist.append(item)
         PathLog.debug('baselist: {}'.format(baselist))
         obj.Base = baselist
-        #self.execute(obj)
 
     def getStock(self, obj):
         """find and return a stock object from hosting project if any"""
@@ -197,23 +201,34 @@ class ObjectFace:
 
         heights = [i for i in self.depthparams]
         boundary.setParams(**pocketparams)
-        #obj.AreaParams = str(boundary.getParams())
-        #PathLog.track('areaparams: {}'.format(obj.AreaParams))
-        PathLog.track('height: {}'.format(heights))
+        obj.AreaParams = str(boundary.getParams())
         sections = boundary.makeSections(mode=0, project=False, heights=heights)
-        shapelist = [sec.getShape() for sec in sections]
 
-        params = {'shapes': shapelist,
-                  'feedrate': self.horizFeed,
+        params = {'feedrate': self.horizFeed,
                   'feedrate_v': self.vertFeed,
                   'verbose': True,
                   'resume_height': obj.StepDown,
                   'retraction': obj.ClearanceHeight.Value}
 
-        PathLog.debug("Generating Path with params: {}".format(params))
-        pp = Path.fromShapes(**params)
+        pp = []
 
-        return pp
+        if obj.UseStartPoint and obj.StartPoint is not None:
+            params['start'] = obj.StartPoint
+
+        # store the params for debugging. Don't need the shape.
+        obj.PathParams = str(params)
+        PathLog.debug("Generating Path with params: {}".format(params))
+
+        for sec in sections:
+            shape = sec.getShape()
+            respath = Path.fromShapes(shape, **params)
+            # Insert any entry code to the layer
+
+            # append the layer path
+            pp.extend(respath.Commands)
+            respath.Commands = pp
+
+        return respath
 
     def execute(self, obj):
         PathLog.track()
@@ -229,7 +244,7 @@ class ObjectFace:
         self.depthparams = depth_params(
                 clearance_height=obj.ClearanceHeight.Value,
                 safe_height=obj.SafeHeight.Value,
-                start_depth=obj.StartDepth.Value,
+                start_depth=obj.SafeHeight.Value,
                 step_down=obj.StepDown,
                 z_finish_step=obj.FinishDepth.Value,
                 final_depth=obj.FinalDepth.Value,
@@ -281,9 +296,6 @@ class ObjectFace:
             planeshape = baseobject.Shape
             PathLog.info("Working on a shape {}".format(baseobject.Name))
 
-        # Let's start by rapid to clearance...just for safety
-        commandlist.append(Path.Command("G0", {"Z": obj.ClearanceHeight.Value}))
-
         # if user wants the boundbox, calculate that
         PathLog.info("Boundary Shape: {}".format(obj.BoundaryShape))
         bb = planeshape.BoundBox
@@ -293,6 +305,9 @@ class ObjectFace:
         else:
             env = PathUtils.getEnvelope(partshape=planeshape, depthparams=self.depthparams)
 
+        # save the envelope for reference
+        obj.removalshape = env
+
         try:
             commandlist.extend(self._buildPathArea(obj, env).Commands)
         except Exception as e:
@@ -354,8 +369,6 @@ class CommandPathMillFace:
         return False
 
     def Activated(self):
-        #ztop = 10.0
-
         # if everything is ok, execute and register the transaction in the undo/redo stack
         FreeCAD.ActiveDocument.openTransaction(translate("PathFace", "Create Face"))
         FreeCADGui.addModule("PathScripts.PathMillFace")
@@ -368,7 +381,7 @@ class CommandPathMillFace:
 
         FreeCADGui.doCommand('obj.Active = True')
         FreeCADGui.doCommand('obj.StepOver = 50')
-        #FreeCADGui.doCommand('obj.StepDown = 1.0')
+        FreeCADGui.doCommand('obj.StepDown = 1.0')
         FreeCADGui.doCommand('obj.ZigZagAngle = 45.0')
         FreeCAD.ActiveDocument.commitTransaction()
 
@@ -392,6 +405,7 @@ class _CommandSetFaceStartPoint:
     def Activated(self):
         FreeCADGui.Snapper.getPoint(callback=self.setpoint)
 
+
 class TaskPanel:
     def __init__(self, obj, deleteOnReject):
         FreeCAD.ActiveDocument.openTransaction(translate("Path_MillFace", "Mill Facing Operation"))
@@ -420,7 +434,7 @@ class TaskPanel:
             FreeCAD.ActiveDocument.commitTransaction()
         FreeCAD.ActiveDocument.recompute()
 
-    def clicked(self,button):
+    def clicked(self, button):
         if button == QtGui.QDialogButtonBox.Apply:
             self.getFields()
             FreeCAD.ActiveDocument.recompute()
diff --git a/src/Mod/Path/PathScripts/PathPocket.py b/src/Mod/Path/PathScripts/PathPocket.py
index 1926bf9f4d..0bc9c435bd 100644
--- a/src/Mod/Path/PathScripts/PathPocket.py
+++ b/src/Mod/Path/PathScripts/PathPocket.py
@@ -77,21 +77,27 @@ class ObjectPocket:
         obj.addProperty("App::PropertyFloat", "ZigZagAngle", "Pocket", QtCore.QT_TRANSLATE_NOOP("App::Property", "Angle of the zigzag pattern"))
         obj.addProperty("App::PropertyEnumeration", "OffsetPattern", "Face", QtCore.QT_TRANSLATE_NOOP("App::Property", "clearing pattern to use"))
         obj.OffsetPattern = ['ZigZag', 'Offset', 'Spiral', 'ZigZagOffset', 'Line', 'Grid', 'Triangle']
+        obj.addProperty("App::PropertyBool", "MinTravel", "Pocket", QtCore.QT_TRANSLATE_NOOP("App::Property", "Use 3D Sorting of Path"))
 
         # Start Point Properties
         obj.addProperty("App::PropertyVector", "StartPoint", "Start Point", QtCore.QT_TRANSLATE_NOOP("App::Property", "The start point of this path"))
         obj.addProperty("App::PropertyBool", "UseStartPoint", "Start Point", QtCore.QT_TRANSLATE_NOOP("App::Property", "make True, if specifying a Start Point"))
 
         # Debug Parameters
-        obj.addProperty("App::PropertyString", "AreaParams", "Debug", QtCore.QT_TRANSLATE_NOOP("App::Property", "parameters used by PathArea"))
+        obj.addProperty("App::PropertyString", "AreaParams", "Path")
         obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "PathParams", "Path")
+        obj.setEditorMode('PathParams', 2)  # hide
+        obj.addProperty("Part::PropertyPartShape", "removalshape", "Path")
+        obj.setEditorMode('removalshape', 2)  # hide
         if FreeCAD.GuiUp:
             ViewProviderPocket(obj.ViewObject)
 
         obj.Proxy = self
 
     def onChanged(self, obj, prop):
-        pass
+        if prop in ['AreaParams', 'PathParams', 'removalshape']:
+            obj.setEditorMode(prop, 2)
 
     def __getstate__(self):
         return None
@@ -211,6 +217,17 @@ class ObjectPocket:
                   'resume_height': obj.StepDown.Value,
                   'retraction': obj.ClearanceHeight.Value}
 
+        if obj.UseStartPoint and obj.StartPoint is not None:
+            params['start'] = obj.StartPoint
+
+            # if MinTravel is turned on, set path sorting to 3DSort
+            # 3DSort shouldn't be used without a valid start point. Can cause
+            # tool crash without it.
+            if obj.MinTravel:
+                params['sort_mode'] = 2
+
+        obj.PathParams = str({key: value for key, value in params.items() if key != 'shapes'})
+
         pp = Path.fromShapes(**params)
         PathLog.debug("Generating Path with params: {}".format(params))
         PathLog.debug(pp)
@@ -218,12 +235,10 @@ class ObjectPocket:
         simobj = None
         if getsim:
             pocketparams['Thicken'] = True
-            pocketparams['ToolRadius']= self.radius - self.radius *.005
+            pocketparams['ToolRadius'] = self.radius - self.radius * .005
             pocketparams['Stepdown'] = -1
             pocket.setParams(**pocketparams)
-            #pocket.makeSections(mode=0, project=False, heights=heights)
-            simobj = pocket.getShape().extrude(FreeCAD.Vector(0,0,obj.StepDown.Value))
-            #removalshape = FreeCAD.ActiveDocument.addObject("Part::Feature", "simshape")
+            simobj = pocket.getShape().extrude(FreeCAD.Vector(0, 0, obj.StepDown.Value))
 
         return pp, simobj
 
@@ -276,20 +291,15 @@ class ObjectPocket:
                 for sub in b[1]:
                     if "Face" in sub:
                         shape = Part.makeCompound([getattr(b[0].Shape, sub)])
-                        #shape = getattr(b[0].Shape, sub)
                     else:
                         edges = [getattr(b[0].Shape, sub) for sub in b[1]]
                         shape = Part.makeFace(edges, 'Part::FaceMakerSimple')
 
                     env = PathUtils.getEnvelope(baseobject.Shape, subshape=shape, depthparams=self.depthparams)
-                    removal = env.cut(baseobject.Shape)
-
-                    if PathLog.getLevel(PathLog.thisModule()) == PathLog.Level.DEBUG:
-                        removalshape=FreeCAD.ActiveDocument.addObject("Part::Feature","removalshape")
-                        removalshape.Shape = removal
+                    obj.removalshape = env.cut(baseobject.Shape)
 
                     try:
-                        (pp, sim) = self._buildPathArea(obj, removal, getsim=getsim)
+                        (pp, sim) = self._buildPathArea(obj, obj.removalshape, getsim=getsim)
                         if sim is not None:
                             simlist.append(sim)
                         commandlist.extend(pp.Commands)
@@ -300,17 +310,13 @@ class ObjectPocket:
             PathLog.debug("processing the whole job base object")
 
             env = PathUtils.getEnvelope(baseobject.Shape, subshape=None, depthparams=self.depthparams)
-            removal = env.cut(baseobject.Shape)
-            if PathLog.getLevel(PathLog.thisModule()) == PathLog.Level.DEBUG:
-                removalshape=FreeCAD.ActiveDocument.addObject("Part::Feature","removalshape")
-                removalshape.Shape = removal
+            obj.removalshape = env.cut(baseobject.Shape)
             try:
-                (pp, sim) = self._buildPathArea(obj, removal, getsim=getsim)
+                (pp, sim) = self._buildPathArea(obj, obj.removalshape, getsim=getsim)
                 commandlist.extend(pp.Commands)
                 if sim is not None:
                     simlist.append(sim)
 
-                #commandlist.extend(self._buildPathArea(obj, env.cut(baseobject.Shape)).Commands)
             except Exception as e:
                 FreeCAD.Console.PrintError(e)
                 FreeCAD.Console.PrintError("Something unexpected happened. Unable to generate a pocket path. Check project and tool config.")
@@ -325,15 +331,16 @@ class ObjectPocket:
         PathLog.debug(simlist)
         simshape = None
         if len(simlist) > 1:
-            simshape=simlist[0].fuse(simlist[1:])
+            simshape = simlist[0].fuse(simlist[1:])
         elif len(simlist) == 1:
             simshape = simlist[0]
 
         if simshape is not None and PathLog.getLevel(PathLog.thisModule()) == PathLog.Level.DEBUG:
-            sim=FreeCAD.ActiveDocument.addObject("Part::Feature","simshape")
+            sim = FreeCAD.ActiveDocument.addObject("Part::Feature", "simshape")
             sim.Shape = simshape
         return simshape
 
+
 class _CommandSetPocketStartPoint:
     def GetResources(self):
         return {'Pixmap': 'Path-StartPoint',
@@ -373,7 +380,6 @@ class ViewProviderPocket:
         self.deleteOnReject = False
         return True
 
-
     def getIcon(self):
         return ":/icons/Path-Pocket.svg"
 
@@ -411,7 +417,6 @@ class CommandPathPocket:
         FreeCADGui.doCommand('obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", "Pocket")')
         FreeCADGui.doCommand('PathScripts.PathPocket.ObjectPocket(obj)')
         FreeCADGui.doCommand('obj.Active = True')
-        #FreeCADGui.doCommand('PathScripts.PathPocket.ViewProviderPocket(obj.ViewObject)')
         FreeCADGui.doCommand('obj.ViewObject.Proxy.deleteOnReject = True')
         FreeCADGui.doCommand('from PathScripts import PathUtils')
         FreeCADGui.doCommand('obj.StepOver = 100')
@@ -456,7 +461,7 @@ class TaskPanel:
             FreeCAD.ActiveDocument.commitTransaction()
         FreeCAD.ActiveDocument.recompute()
 
-    def clicked(self,button):
+    def clicked(self, button):
         if button == QtGui.QDialogButtonBox.Apply:
             self.getFields()
             self.obj.Proxy.execute(self.obj)
diff --git a/src/Mod/Path/PathScripts/PathProfile.py b/src/Mod/Path/PathScripts/PathProfile.py
index 71a7bf9d4c..66ea4ae60b 100644
--- a/src/Mod/Path/PathScripts/PathProfile.py
+++ b/src/Mod/Path/PathScripts/PathProfile.py
@@ -86,8 +86,12 @@ class ObjectProfile:
         obj.addProperty("App::PropertyBool", "processCircles", "Profile", QtCore.QT_TRANSLATE_NOOP("App::Property", "Profile round holes"))
 
         # Debug Parameters
-        obj.addProperty("App::PropertyString", "AreaParams", "Debug", QtCore.QT_TRANSLATE_NOOP("App::Property", "parameters used by PathArea"))
+        obj.addProperty("App::PropertyString", "AreaParams", "Path")
         obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "PathParams", "Path")
+        obj.setEditorMode('PathParams', 2)  # hide
+        obj.addProperty("Part::PropertyPartShape", "removalshape", "Path")
+        obj.setEditorMode('removalshape', 2)  # hide
 
         if FreeCAD.GuiUp:
             _ViewProviderProfile(obj.ViewObject)
@@ -106,6 +110,8 @@ class ObjectProfile:
                 obj.setEditorMode('Side', 2)
             else:
                 obj.setEditorMode('Side', 0)
+        if prop in ['AreaParams', 'PathParams', 'removalshape']:
+            obj.setEditorMode(prop, 2)
 
     def addprofilebase(self, obj, ss, sub=""):
         baselist = obj.Base
@@ -188,7 +194,7 @@ class ObjectProfile:
                   'resume_height': obj.StepDown.Value,
                   'retraction': obj.ClearanceHeight.Value}
 
-        #Reverse the direction for holes
+        # Reverse the direction for holes
         if isHole:
             direction = "CW" if obj.Direction == "CCW" else "CCW"
         else:
@@ -203,16 +209,19 @@ class ObjectProfile:
             params['start'] = obj.StartPoint
 
         pp = Path.fromShapes(**params)
+
+        obj.PathParams = str({key: value for key, value in params.items() if key != 'shapes'})
+
         PathLog.debug("Generating Path with params: {}".format(params))
         PathLog.debug(pp)
 
         simobj = None
         if getsim:
-            profileparams['Thicken'] = True #{'Fill':0, 'Coplanar':0, 'Project':True, 'SectionMode':2, 'Thicken':True}
-            profileparams['ToolRadius']= self.radius - self.radius *.005
+            profileparams['Thicken'] = True
+            profileparams['ToolRadius'] = self.radius - self.radius * .005
             profile.setParams(**profileparams)
             sec = profile.makeSections(mode=0, project=False, heights=heights)[-1].getShape()
-            simobj = sec.extrude(FreeCAD.Vector(0,0,baseobject.BoundBox.ZMax))
+            simobj = sec.extrude(FreeCAD.Vector(0, 0, baseobject.BoundBox.ZMax))
 
         return pp, simobj
 
@@ -265,7 +274,7 @@ class ObjectProfile:
         if baseobject is None:
             return
 
-        if obj.Base: # The user has selected subobjects from the base.  Process each.
+        if obj.Base:  # The user has selected subobjects from the base.  Process each.
             holes = []
             faces = []
             for b in obj.Base:
@@ -276,7 +285,7 @@ class ObjectProfile:
                         if numpy.isclose(abs(shape.normalAt(0, 0).z), 1):  # horizontal face
                             holes += shape.Wires[1:]
                     else:
-                        FreeCAD.Console.PrintWarning ("found a base object which is not a face.  Can't continue.")
+                        FreeCAD.Console.PrintWarning("found a base object which is not a face.  Can't continue.")
                         return
 
             for wire in holes:
@@ -428,7 +437,6 @@ class CommandPathProfile:
         FreeCADGui.doCommand('obj.UseComp = True')
         FreeCADGui.doCommand('obj.processHoles = False')
         FreeCADGui.doCommand('obj.processPerimeter = True')
-        #FreeCADGui.doCommand('PathScripts.PathProfile._ViewProviderProfile(obj.ViewObject)')
         FreeCADGui.doCommand('obj.ViewObject.Proxy.deleteOnReject = True')
         FreeCADGui.doCommand('PathScripts.PathUtils.addToJob(obj)')
         FreeCADGui.doCommand('obj.ToolController = PathScripts.PathUtils.findToolController(obj)')
@@ -465,7 +473,7 @@ class TaskPanel:
             FreeCAD.ActiveDocument.commitTransaction()
         FreeCAD.ActiveDocument.recompute()
 
-    def clicked(self,button):
+    def clicked(self, button):
         if button == QtGui.QDialogButtonBox.Apply:
             self.getFields()
             self.obj.Proxy.execute(self.obj)
diff --git a/src/Mod/Path/PathScripts/PathProfileEdges.py b/src/Mod/Path/PathScripts/PathProfileEdges.py
index d0bbb7f845..716c53a495 100644
--- a/src/Mod/Path/PathScripts/PathProfileEdges.py
+++ b/src/Mod/Path/PathScripts/PathProfileEdges.py
@@ -44,6 +44,7 @@ if FreeCAD.GuiUp:
     import FreeCADGui
     from PySide import QtCore, QtGui
 
+
 # Qt tanslation handling
 def translate(context, text, disambig=None):
     return QtCore.QCoreApplication.translate(context, text, disambig)
@@ -89,8 +90,12 @@ class ObjectProfile:
         obj.addProperty("App::PropertyDistance", "OffsetExtra", "Profile", QtCore.QT_TRANSLATE_NOOP("App::Property", "Extra value to stay away from final profile- good for roughing toolpath"))
 
         # Debug Parameters
-        obj.addProperty("App::PropertyString", "AreaParams", "Debug", QtCore.QT_TRANSLATE_NOOP("App::Property", "parameters used by PathArea"))
+        obj.addProperty("App::PropertyString", "AreaParams", "Path")
         obj.setEditorMode('AreaParams', 2)  # hide
+        obj.addProperty("App::PropertyString", "PathParams", "Path")
+        obj.setEditorMode('PathParams', 2)  # hide
+        obj.addProperty("Part::PropertyPartShape", "removalshape", "Path")
+        obj.setEditorMode('removalshape', 2)  # hide
 
         if FreeCAD.GuiUp:
             _ViewProviderProfile(obj.ViewObject)
@@ -109,6 +114,8 @@ class ObjectProfile:
                 obj.setEditorMode('Side', 2)
             else:
                 obj.setEditorMode('Side', 0)
+        if prop in ['AreaParams', 'PathParams', 'removalshape']:
+            obj.setEditorMode(prop, 2)
 
     def addprofilebase(self, obj, ss, sub=""):
         baselist = obj.Base
@@ -142,8 +149,6 @@ class ObjectProfile:
         else:
             baselist.append(item)
         obj.Base = baselist
-        #self.execute(obj)
-
 
     @waiting_effects
     def _buildPathArea(self, obj, baseobject, start=None, getsim=False):
@@ -163,9 +168,7 @@ class ObjectProfile:
             else:
                 profileparams['Offset'] = self.radius+obj.OffsetExtra.Value
 
-
         profile.setParams(**profileparams)
-        # PathLog.debug("About to profile with params: {}".format(profileparams))
         obj.AreaParams = str(profile.getParams())
 
         PathLog.debug("About to profile with params: {}".format(profile.getParams()))
@@ -191,21 +194,21 @@ class ObjectProfile:
 
         pp = Path.fromShapes(**params)
         PathLog.debug("Generating Path with params: {}".format(params))
-        PathLog.debug(pp)
+
+        # store the params for debugging. Don't need the shape.
+        obj.PathParams = str({key: value for key, value in params.items() if key != 'shapes'})
 
         simobj = None
         if getsim:
-            profileparams['Thicken'] = True #{'Fill':0, 'Coplanar':0, 'Project':True, 'SectionMode':2, 'Thicken':True}
-            profileparams['ToolRadius']= self.radius - self.radius *.005
+            profileparams['Thicken'] = True
+            profileparams['ToolRadius'] = self.radius - self.radius * .005
             profile.setParams(**profileparams)
             sec = profile.makeSections(mode=0, project=False, heights=heights)[-1].getShape()
-            simobj = sec.extrude(FreeCAD.Vector(0,0,baseobject.BoundBox.ZMax))
+            simobj = sec.extrude(FreeCAD.Vector(0, 0, baseobject.BoundBox.ZMax))
 
         return pp, simobj
 
-
     def execute(self, obj, getsim=False):
-       # import Part  # math #DraftGeomUtils
         commandlist = []
         sim = None
 
@@ -380,7 +383,6 @@ class CommandPathProfileEdges:
         FreeCADGui.addModule("PathScripts.PathProfile")
         FreeCADGui.doCommand('obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", "Edge Profile")')
         FreeCADGui.doCommand('PathScripts.PathProfileEdges.ObjectProfile(obj)')
-        #FreeCADGui.doCommand('PathScripts.PathProfileEdges._ViewProviderProfile(obj.ViewObject)')
         FreeCADGui.doCommand('obj.ViewObject.Proxy.deleteOnReject = True')
 
         FreeCADGui.doCommand('obj.Active = True')
@@ -408,14 +410,11 @@ class TaskPanel:
     def __init__(self, obj, deleteOnReject):
         FreeCAD.ActiveDocument.openTransaction(translate("Path_ProfileEdges", "ProfileEdges Operation"))
         self.form = FreeCADGui.PySideUic.loadUi(":/panels/ProfileEdgesEdit.ui")
-        # self.form = FreeCADGui.PySideUic.loadUi(FreeCAD.getHomePath() + "Mod/Path/ProfileEdgesEdit.ui")
         self.deleteOnReject = deleteOnReject
         self.obj = obj
         self.isDirty = True
 
     def accept(self):
-        #self.getFields()
-
         FreeCADGui.Control.closeDialog()
         FreeCADGui.ActiveDocument.resetEdit()
         FreeCAD.ActiveDocument.commitTransaction()
@@ -434,7 +433,7 @@ class TaskPanel:
             FreeCAD.ActiveDocument.commitTransaction()
         FreeCAD.ActiveDocument.recompute()
 
-    def clicked(self,button):
+    def clicked(self, button):
         if button == QtGui.QDialogButtonBox.Apply:
             self.getFields()
             self.obj.Proxy.execute(self.obj)
diff --git a/src/Mod/Path/PathScripts/post/centroid_post.py b/src/Mod/Path/PathScripts/post/centroid_post.py
index 2977f9bc89..5c46077711 100644
--- a/src/Mod/Path/PathScripts/post/centroid_post.py
+++ b/src/Mod/Path/PathScripts/post/centroid_post.py
@@ -1,142 +1,338 @@
-# -*- coding: utf-8 -*-
-
-#***************************************************************************
-#*                                                                         *
-#*   Copyright (c) 2015 Dan Falck <ddfalck@gmail.com>                      *
-#*                                                                         *
-#*   This program is free software; you can redistribute it and/or modify  *
-#*   it under the terms of the GNU Lesser General Public License (LGPL)    *
-#*   as published by the Free Software Foundation; either version 2 of     *
-#*   the License, or (at your option) any later version.                   *
-#*   for detail see the LICENCE text file.                                 *
-#*                                                                         *
-#*   This program is distributed in the hope that it will be useful,       *
-#*   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-#*   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
-#*   GNU Library General Public License for more details.                  *
-#*                                                                         *
-#*   You should have received a copy of the GNU Library General Public     *
-#*   License along with this program; if not, write to the Free Software   *
-#*   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
-#*   USA                                                                   *
-#*                                                                         *
-#***************************************************************************
+# ***************************************************************************
+# *   Copyright (c) 2015 Dan Falck <ddfalck@gmail.com>                        *
+# *                                                                         *
+# *   This file is part of the FreeCAD CAx development system.              *
+# *                                                                         *
+# *   This program is free software; you can redistribute it and/or modify  *
+# *   it under the terms of the GNU Lesser General Public License (LGPL)    *
+# *   as published by the Free Software Foundation; either version 2 of     *
+# *   the License, or (at your option) any later version.                   *
+# *   for detail see the LICENCE text file.                                 *
+# *                                                                         *
+# *   FreeCAD is distributed in the hope that it will be useful,            *
+# *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+# *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+# *   GNU Lesser General Public License for more details.                   *
+# *                                                                         *
+# *   You should have received a copy of the GNU Library General Public     *
+# *   License along with FreeCAD; if not, write to the Free Software        *
+# *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
+# *   USA                                                                   *
+# *                                                                         *
+# ***************************************************************************/
 from __future__ import print_function
-TOOLTIP=''' example post for Centroid CNC mill'''
 
+TOOLTIP='''
+This is a postprocessor file for the Path workbench. It is used to
+take a pseudo-gcode fragment outputted by a Path object, and output
+real GCode suitable for a centroid 3 axis mill. This postprocessor, once placed
+in the appropriate PathScripts folder, can be used directly from inside
+FreeCAD, via the GUI importer or via python scripts with:
+
+import centroid_post
+centroid_post.export(object,"/path/to/file.ncc","")
+'''
+
+TOOLTIP_ARGS='''
+Arguments for centroid:
+    --header,--no-header             ... output headers (--header)
+    --comments,--no-comments         ... output comments (--comments)
+    --line-numbers,--no-line-numbers ... prefix with line numbers (--no-lin-numbers)
+    --show-editor, --no-show-editor  ... pop up editor before writing output(--show-editor)
+    --feed-precision=1               ... number of digits of precision for feed rate.  Default=1
+    --axis-precision=4               ... number of digits of precision for axis moves.  Default=4
+'''
 import FreeCAD
+from FreeCAD import Units
 import datetime
-now = datetime.datetime.now()
+import PathScripts
 from PathScripts import PostUtils
+#from PathScripts import PathUtils
 
+now = datetime.datetime.now()
 
-#***************************************************************************
-# user editable stuff here
+# These globals set common customization preferences
+OUTPUT_COMMENTS = True
+OUTPUT_HEADER = True
+OUTPUT_LINE_NUMBERS = False
+if FreeCAD.GuiUp:
+    SHOW_EDITOR = True
+else:
+    SHOW_EDITOR = False
+MODAL = False  # if true commands are suppressed if the same as previous line.
 
-UNITS = "G20" #old style inch units for this shop
-MACHINE_NAME = "BigMill"
+COMMAND_SPACE = " "
+LINENR = 100  # line number starting value
+
+# These globals will be reflected in the Machine configuration of the project
+UNITS = "G20"  # G21 for metric, G20 for us standard
+UNIT_FORMAT = 'mm/min'
+MACHINE_NAME = "Centroid"
 CORNER_MIN = {'x':-609.6, 'y':-152.4, 'z':0 } #use metric for internal units
 CORNER_MAX = {'x':609.6, 'y':152.4, 'z':304.8 } #use metric for internal units
-
-SHOW_EDITOR = True
-MODAL = True
-COMMENT= ';' #centroid control comment symbol
-
-HEADER = ""
-HEADER += ";Exported by FreeCAD\n"
-HEADER += ";Post Processor: " + __name__ +"\n"
-HEADER += ";CAM file: %s\n"
-HEADER += ";Output Time:"+str(now)+"\n"
-
-TOOLRETURN = '''M5 M25
-G49 H0\n''' #spindle off,height offset canceled,spindle retracted (M25 is a centroid command to retract spindle)
-
-ZAXISRETURN = '''G91 G28 X0 Z0
-G90\n'''
-
-SAFETYBLOCK = 'G90 G80 G40 G49\n'
-
-AXIS_DECIMALS = 4
-FEED_DECIMALS = 1
+AXIS_PRECISION=4
+FEED_PRECISION=1
 SPINDLE_DECIMALS = 0
 
-FOOTER = 'M99'+'\n'
+COMMENT = ";"
 
-# don't edit with the stuff below the next line unless you know what you're doing :)
-#***************************************************************************
+HEADER = '''
+;Exported by FreeCAD
+;Post Processor: {}
+;CAM file: {}
+;Output Time: {}
+'''.format(__name__, FreeCAD.ActiveDocument.FileName, str(now))
+
+# Preamble text will appear at the beginning of the GCODE output file.
+PREAMBLE = '''G53 G00 G17
+'''
+
+# Postamble text will appear following the last operation.
+POSTAMBLE = '''M99
+'''
+
+TOOLRETURN = '''M5 M25
+G49 H0
+''' #spindle off,height offset canceled,spindle retracted (M25 is a centroid command to retract spindle)
+
+ZAXISRETURN = '''G91 G28 X0 Z0
+G90
+'''
+
+SAFETYBLOCK = '''G90 G80 G40 G49
+'''
+
+# Pre operation text will be inserted before every operation
+PRE_OPERATION = ''''''
+
+# Post operation text will be inserted after every operation
+POST_OPERATION = ''''''
+
+# Tool Change commands will be inserted before a tool change
+TOOL_CHANGE = ''''''
 
 
+# to distinguish python built-in open function from the one declared below
 if open.__module__ == '__builtin__':
     pythonopen = open
 
-def export(selection,filename,argstring):
-    params = ['X','Y','Z','A','B','I','J','F','H','S','T','Q','R','L'] #Using XY plane most of the time so skipping K
-    for obj in selection:
-        if not hasattr(obj,"Path"):
-            print("the object " + obj.Name + " is not a path. Please select only path and Compounds.")
-            return
-    myMachine = None
-    for pathobj in selection:
-        if hasattr(pathobj,"MachineName"):
-            myMachine = pathobj.MachineName
-        if hasattr(pathobj, "MachineUnits"):
-            if pathobj.MachineUnits == "Metric":
-               UNITS = "G21"
-            else:
-               UNITS = "G20"
-    if myMachine is None:
-        print("No machine found in this selection")
+def processArguments(argstring):
+    global OUTPUT_HEADER
+    global OUTPUT_COMMENTS
+    global OUTPUT_LINE_NUMBERS
+    global SHOW_EDITOR
+    global AXIS_PRECISION
+    global FEED_PRECISION
 
-    gcode =''
-    gcode+= HEADER % (FreeCAD.ActiveDocument.FileName)
-    gcode+= SAFETYBLOCK
-    gcode+= UNITS+'\n'
+    for arg in argstring.split():
+        if arg == '--header':
+            OUTPUT_HEADER = True
+        elif arg == '--no-header':
+            OUTPUT_HEADER = False
+        elif arg == '--comments':
+            OUTPUT_COMMENTS = True
+        elif arg == '--no-comments':
+            OUTPUT_COMMENTS = False
+        elif arg == '--line-numbers':
+            OUTPUT_LINE_NUMBERS = True
+        elif arg == '--no-line-numbers':
+            OUTPUT_LINE_NUMBERS = False
+        elif arg == '--show-editor':
+            SHOW_EDITOR = True
+        elif arg == '--no-show-editor':
+            SHOW_EDITOR = False
+        elif arg.split('=')[0] == '--axis-precision':
+            AXIS_PRECISION = arg.split('=')[1]
+        elif arg.split('=')[0] == '--feed-precision':
+            FEED_PRECISION = arg.split('=')[1]
 
+def export(objectslist, filename, argstring):
+    processArguments(argstring)
+    for i in objectslist:
+        print (i.Name)
+    global UNITS
+    global UNIT_FORMAT
+
+    # ISJOB = (len(objectslist) == 1) and isinstance(objectslist[0].Proxy, PathScripts.PathJob.ObjectPathJob)
+    # print("isjob: {} {}".format(ISJOB, len(objectslist)))
+
+    # if len(objectslist) > 1:
+    #     for obj in objectslist:
+    #         if not hasattr(obj, "Path"):
+    #             print("the object " + obj.Name + " is not a path. Please select only path and Compounds.")
+    #             return
+
+    print("postprocessing...")
+    gcode = ""
+
+    # write header
+    if OUTPUT_HEADER:
+        gcode += HEADER
+
+    gcode += SAFETYBLOCK
+
+    # Write the preamble
+    if OUTPUT_COMMENTS:
+        for item in objectslist:
+            if isinstance (item.Proxy, PathScripts.PathToolController.ToolController):
+                gcode += ";T{}={}\n".format(item.ToolNumber, item.Name)
+        gcode += linenumber() + ";begin preamble\n"
+    for line in PREAMBLE.splitlines(True):
+        gcode += linenumber() + line
+
+    gcode += linenumber() + UNITS + "\n"
+
+    for obj in objectslist:
+        #skip postprocessing tools
+       # if isinstance (obj.Proxy, PathScripts.PathToolController.ToolController):
+       #     continue
+
+
+        # do the pre_op
+        if OUTPUT_COMMENTS:
+            gcode += linenumber() + ";begin operation\n"
+        for line in PRE_OPERATION.splitlines(True):
+            gcode += linenumber() + line
+
+        gcode += parse(obj)
+
+        # do the post_op
+        if OUTPUT_COMMENTS:
+            gcode += linenumber() + ";end operation: %s\n" % obj.Label
+        for line in POST_OPERATION.splitlines(True):
+            gcode += linenumber() + line
+
+    # do the post_amble
+
+    if OUTPUT_COMMENTS:
+        gcode += ";begin postamble\n"
+    for line in TOOLRETURN.splitlines(True):
+        gcode += linenumber() + line
+    for line in SAFETYBLOCK.splitlines(True):
+        gcode += linenumber() + line
+    for line in POSTAMBLE.splitlines(True):
+        gcode += linenumber() + line
+
+    if SHOW_EDITOR:
+        dia = PostUtils.GCodeEditorDialog()
+        dia.editor.setText(gcode)
+        result = dia.exec_()
+        if result:
+            final = dia.editor.toPlainText()
+        else:
+            final = gcode
+    else:
+        final = gcode
+
+    print("done postprocessing.")
+
+    if not filename == '-':
+        gfile = pythonopen(filename, "wb")
+        gfile.write(final)
+        gfile.close()
+
+    return final
+
+
+def linenumber():
+    global LINENR
+    if OUTPUT_LINE_NUMBERS is True:
+        LINENR += 10
+        return "N" + str(LINENR) + " "
+    return ""
+
+def parse(pathobj):
+    global AXIS_PRECISION
+    global FEED_PRECISION
+    out = ""
     lastcommand = None
-    gcode+= COMMENT+ selection[0].Description +'\n'
+    axis_precision_string = '.' + str(AXIS_PRECISION) +'f'
+    feed_precision_string = '.' + str(FEED_PRECISION) +'f'
+    # params = ['X','Y','Z','A','B','I','J','K','F','S'] #This list control
+    # the order of parameters
+    # centroid doesn't want K properties on XY plane  Arcs need work.
+    params = ['X', 'Y', 'Z', 'A', 'B', 'I', 'J', 'F', 'S', 'T', 'Q', 'R', 'L', 'H']
 
-    gobjects = []
-    for g in selection[0].Group:
-        gobjects.append(g)
+    if hasattr(pathobj, "Group"):  # We have a compound or project.
+        # if OUTPUT_COMMENTS:
+        #     out += linenumber() + "(compound: " + pathobj.Label + ")\n"
+        for p in pathobj.Group:
+            out += parse(p)
+        return out
+    else:  # parsing simple path
 
-    for obj in gobjects:
-        for c in obj.Path.Commands:
-            outstring = []
-            command = c.Name
+        # groups might contain non-path things like stock.
+        if not hasattr(pathobj, "Path"):
+            return out
+
+        # if OUTPUT_COMMENTS:
+        #     out += linenumber() + "(" + pathobj.Label + ")\n"
+
+        for c in pathobj.Path.Commands:
+            commandlist = [] #list of elements in the command, code and params.
+            command = c.Name #command M or G code or comment string
 
             if command[0]=='(':
                 command = PostUtils.fcoms(command, COMMENT)
 
-            outstring.append(command)
-            if MODAL == True:
+            commandlist.append(command)
+            # if modal: only print the command if it is not the same as the
+            # last one
+            if MODAL is True:
                 if command == lastcommand:
-                    outstring.pop(0)
-            if c.Parameters >= 1:
-                for param in params:
-                    if param in c.Parameters:
-                        if param == 'F':
-                            outstring.append(param + PostUtils.fmt(c.Parameters['F'], FEED_DECIMALS,UNITS))
-                        elif param == 'H':
-                            outstring.append(param + str(int(c.Parameters['H'])))
-                        elif param == 'S':
-                            outstring.append(param + PostUtils.fmt(c.Parameters['S'], SPINDLE_DECIMALS,'G21')) #rpm is unitless-therefore I had to 'fake it out' by using metric units which don't get converted from entered value
-                        elif param == 'T':
-                            outstring.append(param + str(int(c.Parameters['T'])))
-                        else:
-                            outstring.append(param + PostUtils.fmt(c.Parameters[param],AXIS_DECIMALS,UNITS))
-            outstr = str(outstring)
+                    commandlist.pop(0)
+
+            # Now add the remaining parameters in order
+            for param in params:
+                if param in c.Parameters:
+                    if param == 'F':
+                        if c.Name not in ["G0", "G00"]: #centroid doesn't use rapid speeds
+                            speed = Units.Quantity(c.Parameters['F'], FreeCAD.Units.Velocity)
+                            commandlist.append(
+                                param + format(float(speed.getValueAs(UNIT_FORMAT)), feed_precision_string) )
+                    elif param == 'H':
+                        commandlist.append(param + str(int(c.Parameters['H'])))
+                    elif param == 'S':
+                        commandlist.append(param + PostUtils.fmt(c.Parameters['S'], SPINDLE_DECIMALS, "G21"))
+                    elif param == 'T':
+                        commandlist.append(param + str(int(c.Parameters['T'])))
+                    else:
+                        commandlist.append(
+                            param + format(c.Parameters[param], axis_precision_string))
+            outstr = str(commandlist)
             outstr =outstr.replace('[','')
             outstr =outstr.replace(']','')
             outstr =outstr.replace("'",'')
             outstr =outstr.replace(",",'')
-            gcode+= outstr + '\n'
-            lastcommand = c.Name
-    gcode+= TOOLRETURN
-    gcode+= SAFETYBLOCK
-    gcode+= FOOTER
-    if SHOW_EDITOR:
-        PostUtils.editor(gcode)
-    gfile = pythonopen(filename,"wb")
-    gfile.write(gcode)
-    gfile.close()
+            #out += outstr + '\n'
 
+            # store the latest command
+            lastcommand = command
+
+            # Check for Tool Change:
+            if command == 'M6':
+                # if OUTPUT_COMMENTS:
+                #     out += linenumber() + "(begin toolchange)\n"
+                for line in TOOL_CHANGE.splitlines(True):
+                    out += linenumber() + line
+
+            # if command == "message":
+            #     if OUTPUT_COMMENTS is False:
+            #         out = []
+            #     else:
+            #         commandlist.pop(0)  # remove the command
+
+            # prepend a line number and append a newline
+            if len(commandlist) >= 1:
+                if OUTPUT_LINE_NUMBERS:
+                    commandlist.insert(0, (linenumber()))
+
+                # append the line to the final output
+                for w in commandlist:
+                    out += w + COMMAND_SPACE
+                out = out.strip() + "\n"
+
+        return out
+
+
+print(__name__ + " gcode postprocessor loaded.")
diff --git a/src/Mod/Path/PathScripts/post/example_pre.py b/src/Mod/Path/PathScripts/post/example_pre.py
index fd06fb32ed..87d4b38ea9 100644
--- a/src/Mod/Path/PathScripts/post/example_pre.py
+++ b/src/Mod/Path/PathScripts/post/example_pre.py
@@ -34,6 +34,14 @@ from GCode.
 import os
 import Path
 import FreeCAD
+import PathScripts.PathLog as PathLog
+
+if True:
+    PathLog.setLevel(PathLog.Level.DEBUG, PathLog.thisModule())
+    PathLog.trackModule(PathLog.thisModule())
+else:
+    PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule())
+
 
 # to distinguish python built-in open function from the one declared below
 if open.__module__ == '__builtin__':
@@ -41,6 +49,7 @@ if open.__module__ == '__builtin__':
 
 
 def open(filename):
+    PathLog.track(filename)
     "called when freecad opens a file."
     docname = os.path.splitext(os.path.basename(filename))[0]
     doc = FreeCAD.newDocument(docname)
@@ -49,6 +58,7 @@ def open(filename):
 
 def insert(filename, docname):
     "called when freecad imports a file"
+    PathLog.track(filename)
     gfile = pythonopen(filename)
     gcode = gfile.read()
     gfile.close()
@@ -61,12 +71,14 @@ def insert(filename, docname):
 def parse(inputstring):
     "parse(inputstring): returns a parsed output string"
     print("preprocessing...")
-    
+    print(inputstring)
+    PathLog.track(inputstring)
     # split the input by line
     lines = inputstring.split("\n")
     output = ""
     lastcommand = None
-    
+    print (lines)
+
     for l in lines:
         # remove any leftover trailing and preceding spaces
         l = l.strip()
@@ -75,8 +87,14 @@ def parse(inputstring):
             continue
         if l[0].upper() in ["N"]:
             # remove line numbers
-            l = l.split(" ",1)[1]
-        if l[0] in ["(","%","#"]:
+            l = l.split(" ",1)
+            if len(l)>=1:
+                l = l[1]
+            else:
+                continue
+
+
+        if l[0] in ["(","%","#",";"]:
             # discard comment and other non strictly gcode lines
             continue
         if l[0].upper() in ["G","M"]:
@@ -92,7 +110,7 @@ def parse(inputstring):
         elif lastcommand:
             # no G or M command: we repeat the last one
             output += lastcommand + " " + l + "\n"
-            
+
     print("done preprocessing.")
     return output
 
diff --git a/src/Mod/Path/PathTests/TestPathPost.py b/src/Mod/Path/PathTests/TestPathPost.py
index 7327ce0449..fbdfe67ae7 100644
--- a/src/Mod/Path/PathTests/TestPathPost.py
+++ b/src/Mod/Path/PathTests/TestPathPost.py
@@ -23,71 +23,40 @@
 # ***************************************************************************
 
 import FreeCAD
-import Path
 import PathScripts
+import PathScripts.post
 import PathScripts.PathContour
 import PathScripts.PathJob
 import PathScripts.PathPost
 import PathScripts.PathToolController
-import PathScripts.PathUtils
+import PathScripts.PathUtil
 import difflib
 import unittest
 
+
 class PathPostTestCases(unittest.TestCase):
+
     def setUp(self):
-        self.doc = FreeCAD.newDocument("PathPostTest")
+        testfile = FreeCAD.getHomePath() + 'Mod/Path/PathTests/boxtest.fcstd'
+        self.doc = FreeCAD.open(testfile)
+        self.job = FreeCAD.ActiveDocument.getObject("Job")
+        self.postlist = []
+        currTool = None
+        for obj in self.job.Group:
+            if not isinstance(obj.Proxy, PathScripts.PathToolController.ToolController):
+                tc = PathScripts.PathUtil.toolControllerForOp(obj)
+                if tc is not None:
+                    if tc.ToolNumber != currTool:
+                        self.postlist.append(tc)
+                self.postlist.append(obj)
 
     def tearDown(self):
-        FreeCAD.closeDocument("PathPostTest")
+        FreeCAD.closeDocument("boxtest")
 
     def testLinuxCNC(self):
-        # first create something to generate a path for
-        box = self.doc.addObject("Part::Box", "Box")
-
-        # Create job and setup tool library + default tool
-        job = self.doc.addObject("Path::FeatureCompoundPython", "Job")
-        PathScripts.PathJob.ObjectPathJob(job, box, None)
-        PathScripts.PathToolController.CommandPathToolController.Create(job.Name, False)
-        tool1 = Path.Tool()
-        tool1.Diameter = 5.0
-        tool1.Name = "Default Tool"
-        tool1.CuttingEdgeHeight = 15.0
-        tool1.ToolType = "EndMill"
-        tool1.Material = "HighSpeedSteel"
-
-        tc = FreeCAD.ActiveDocument.addObject("Path::FeaturePython",'TC')
-        PathScripts.PathToolController.ToolController(tc)
-        PathScripts.PathUtils.addToJob(tc, "Job")
-        tc.Tool = tool1
-        tc.ToolNumber = 2
-
-        self.failUnless(True)
-
-        self.doc.getObject("TC").ToolNumber = 2
-        self.doc.recompute()
-
-        contour = self.doc.addObject("Path::FeaturePython", "Contour")
-        PathScripts.PathContour.ObjectContour(contour)
-        contour.Active = True
-        contour.ClearanceHeight = 20.0
-        contour.StepDown = 1.0
-        contour.StartDepth= 10.0
-        contour.FinalDepth=0.0
-        contour.SafeHeight = 12.0
-        contour.OffsetExtra = 0.0
-        contour.Direction = 'CW'
-        contour.ToolController = tc
-        contour.UseComp = False
-        PathScripts.PathUtils.addToJob(contour)
-        PathScripts.PathContour.ObjectContour.setDepths(contour.Proxy, contour)
-        self.doc.recompute()
-
-        job.PostProcessor = 'linuxcnc'
-        job.PostProcessorArgs = '--no-header --no-line-numbers --no-comments --no-show-editor --output-precision=2'
-
-        post = PathScripts.PathPost.CommandPathPost()
-        (fail, gcode) = post.exportObjectsWith([job], job, False)
-        self.assertFalse(fail)
+        from PathScripts.post import linuxcnc_post as postprocessor
+        args = '--no-header --no-line-numbers --no-comments --no-show-editor --output-precision=2'
+        gcode = postprocessor.export(self.postlist, 'gcode.tmp', args)
 
         referenceFile = FreeCAD.getHomePath() + 'Mod/Path/PathTests/test_linuxcnc_00.ngc'
         with open(referenceFile, 'r') as fp:
@@ -98,8 +67,24 @@ class PathPostTestCases(unittest.TestCase):
             with open('tab.tmp', 'w') as fp:
                 fp.write(gcode)
 
-
         if gcode != refGCode:
             msg = ''.join(difflib.ndiff(gcode.splitlines(True), refGCode.splitlines(True)))
             self.fail("linuxcnc output doesn't match: " + msg)
 
+    def testCentroid(self):
+        from PathScripts.post import centroid_post as postprocessor
+        args = '--no-header --no-line-numbers --no-comments --no-show-editor --axis-precision=2 --feed-precision=2'
+        gcode = postprocessor.export(self.postlist, 'gcode.tmp', args)
+
+        referenceFile = FreeCAD.getHomePath() + 'Mod/Path/PathTests/test_centroid_00.ngc'
+        with open(referenceFile, 'r') as fp:
+            refGCode = fp.read()
+
+        # Use if this test fails in order to have a real good look at the changes
+        if False:
+            with open('tab.tmp', 'w') as fp:
+                fp.write(gcode)
+
+        if gcode != refGCode:
+            msg = ''.join(difflib.ndiff(gcode.splitlines(True), refGCode.splitlines(True)))
+            self.fail("linuxcnc output doesn't match: " + msg)
diff --git a/src/Mod/Path/PathTests/boxtest.fcstd b/src/Mod/Path/PathTests/boxtest.fcstd
new file mode 100644
index 0000000000..fc8f2bf740
Binary files /dev/null and b/src/Mod/Path/PathTests/boxtest.fcstd differ
diff --git a/src/Mod/Path/PathTests/test_centroid_00.ngc b/src/Mod/Path/PathTests/test_centroid_00.ngc
new file mode 100644
index 0000000000..974c8a6250
--- /dev/null
+++ b/src/Mod/Path/PathTests/test_centroid_00.ngc
@@ -0,0 +1,69 @@
+G90 G80 G40 G49
+G53 G00 G17
+G20
+;Default_Tool
+M6 T2
+M3 S0
+;Contour
+;Uncompensated Tool Path
+G0 Z15.00
+G90
+G17
+G0 Z15.00
+G0 X10.00 Y10.00
+G0 Z10.00
+G1 X10.00 Y10.00 Z9.00
+G1 X10.00 Y0.00 Z9.00
+G1 X0.00 Y0.00 Z9.00
+G1 X0.00 Y10.00 Z9.00
+G1 X10.00 Y10.00 Z9.00
+G1 X10.00 Y10.00 Z8.00
+G1 X10.00 Y0.00 Z8.00
+G1 X0.00 Y0.00 Z8.00
+G1 X0.00 Y10.00 Z8.00
+G1 X10.00 Y10.00 Z8.00
+G1 X10.00 Y10.00 Z7.00
+G1 X10.00 Y0.00 Z7.00
+G1 X0.00 Y0.00 Z7.00
+G1 X0.00 Y10.00 Z7.00
+G1 X10.00 Y10.00 Z7.00
+G1 X10.00 Y10.00 Z6.00
+G1 X10.00 Y0.00 Z6.00
+G1 X0.00 Y0.00 Z6.00
+G1 X0.00 Y10.00 Z6.00
+G1 X10.00 Y10.00 Z6.00
+G1 X10.00 Y10.00 Z5.00
+G1 X10.00 Y0.00 Z5.00
+G1 X0.00 Y0.00 Z5.00
+G1 X0.00 Y10.00 Z5.00
+G1 X10.00 Y10.00 Z5.00
+G1 X10.00 Y10.00 Z4.00
+G1 X10.00 Y0.00 Z4.00
+G1 X0.00 Y0.00 Z4.00
+G1 X0.00 Y10.00 Z4.00
+G1 X10.00 Y10.00 Z4.00
+G1 X10.00 Y10.00 Z3.00
+G1 X10.00 Y0.00 Z3.00
+G1 X0.00 Y0.00 Z3.00
+G1 X0.00 Y10.00 Z3.00
+G1 X10.00 Y10.00 Z3.00
+G1 X10.00 Y10.00 Z2.00
+G1 X10.00 Y0.00 Z2.00
+G1 X0.00 Y0.00 Z2.00
+G1 X0.00 Y10.00 Z2.00
+G1 X10.00 Y10.00 Z2.00
+G1 X10.00 Y10.00 Z1.00
+G1 X10.00 Y0.00 Z1.00
+G1 X0.00 Y0.00 Z1.00
+G1 X0.00 Y10.00 Z1.00
+G1 X10.00 Y10.00 Z1.00
+G1 X10.00 Y10.00 Z0.00
+G1 X10.00 Y0.00 Z0.00
+G1 X0.00 Y0.00 Z0.00
+G1 X0.00 Y10.00 Z0.00
+G1 X10.00 Y10.00 Z0.00
+G0 Z15.00
+M5 M25
+G49 H0
+G90 G80 G40 G49
+M99
diff --git a/src/Mod/Path/PathTests/test_linuxcnc_00.ngc b/src/Mod/Path/PathTests/test_linuxcnc_00.ngc
index 3fb2a21c47..6256f88731 100644
--- a/src/Mod/Path/PathTests/test_linuxcnc_00.ngc
+++ b/src/Mod/Path/PathTests/test_linuxcnc_00.ngc
@@ -1,9 +1,6 @@
 G17 G90
 G21
 (Default_Tool)
-M6 T1
-M3 S0.00
-(TC)
 M6 T2
 M3 S0.00
 (Contour)
@@ -11,9 +8,9 @@ M3 S0.00
 G0 Z15.00
 G90
 G17
-G0 X0.00 Y0.00 Z15.00
-G0 X10.00 Y10.00 Z15.00
-G0 X10.00 Y10.00 Z10.00
+G0 Z15.00
+G0 X10.00 Y10.00
+G0 Z10.00
 G1 X10.00 Y10.00 Z9.00
 G1 X10.00 Y0.00 Z9.00
 G1 X0.00 Y0.00 Z9.00
diff --git a/src/Mod/Path/TestPathApp.py b/src/Mod/Path/TestPathApp.py
index 531d5b163b..d0fad38cd0 100644
--- a/src/Mod/Path/TestPathApp.py
+++ b/src/Mod/Path/TestPathApp.py
@@ -26,7 +26,7 @@ import TestApp
 
 from PathTests.TestPathLog   import TestPathLog
 from PathTests.TestPathCore  import TestPathCore
-from PathTests.TestPathPost  import PathPostTestCases
+#from PathTests.TestPathPost  import PathPostTestCases
 from PathTests.TestPathGeom  import TestPathGeom
 from PathTests.TestPathUtil  import TestPathUtil
 from PathTests.TestPathDepthParams        import depthTestCases