diff --git a/examples/v3c_receiver.cc b/examples/v3c_receiver.cc
index 038493a..3d527a4 100644
--- a/examples/v3c_receiver.cc
+++ b/examples/v3c_receiver.cc
@@ -73,7 +73,7 @@ int main(void)
 
     std::this_thread::sleep_for(RECEIVE_TIME_S); // lets this example run for some time
     std::cout << "V3C Total bytes received " << vbytes_received << std::endl;
-    std::cout << "AVC Total bytes received " << abytes_received << std::endl;
+    std::cout << "Video Total bytes received " << abytes_received << std::endl;
 
     cleanup(ctx, sess, v3c);
     cleanup(ctx, sess, avc);
@@ -95,7 +95,7 @@ void v3c_receive_hook(void* arg, uvgrtp::frame::rtp_frame* frame)
 }
 void avc_receive_hook(void* arg, uvgrtp::frame::rtp_frame* frame)
 {
-    std::cout << "Received AVC frame, size: " << frame->payload_len << " bytes" << std::endl;
+    std::cout << "Received video frame, size: " << frame->payload_len << " bytes" << std::endl;
     abytes_received += frame->payload_len;
     /* Now we own the frame. Here you could give the frame to the application
      * if f.ex "arg" was some application-specific pointer
diff --git a/examples/v3c_sender.cc b/examples/v3c_sender.cc
index 6cf163e..675ceb7 100644
--- a/examples/v3c_sender.cc
+++ b/examples/v3c_sender.cc
@@ -15,7 +15,7 @@ constexpr int    AMOUNT_OF_TEST_PACKETS = 100;
 constexpr auto   END_WAIT = std::chrono::seconds(5);
 
 //std::string PATH = "C:\\Users\\ngheta\\Documents\\TMIV_A3_C_QP3.bit";
-std::string PATH = "C:\\Users\\ngheta\\Documents\\test_seq3.vpcc";
+std::string PATH = "C:\\Users\\ngheta\\Documents\\v3c_test_seq_2.vpcc";
 
 int main(void)
 {
@@ -23,51 +23,57 @@ int main(void)
 
     /* A V3C Sample stream is divided into 6 types of 'sub-bitstreams' + parameters.
     - The ad_map vector holds the locations and sizes of Atlas NAL units in the file (both AD and CAD)
-    - The vd_map holds the locations and sizes of all video V3C units (OVD, GVD, AVD, PVD)
+    - The vd_map holds the locations and sizes of all video NAL units (OVD, GVD, AVD, PVD)
     - First uint64_t is the start position of the unit, second is the size
     - With this info you can send the data via different uvgRTP media streams */
 
     std::vector<std::pair<uint64_t, uint64_t>> ad_map = {};
     std::vector<std::pair<uint64_t, uint64_t>> vd_map = {};
 
+    /* Fetch the file and its size */
     uint64_t len = get_size(PATH);
     uint64_t ptr = 0;
     char* cbuf = nullptr;
     cbuf = get_cmem(PATH, len);
 
+    /* Map the locations and sizes of Atlas and video NAL units with the mmap_v3c_file function */
     vuh_vps parameters = {};
     mmap_v3c_file(cbuf, len, parameters, ad_map, vd_map);
 
     std::cout << "Sending Atlas NAL units via uvgRTP" << std::endl;
 
+    /* Create the necessary uvgRTP media streams */
     uvgrtp::context ctx;
     uvgrtp::session* sess = ctx.create_session(REMOTE_ADDRESS, REMOTE_ADDRESS);
     int flags = RCE_SEND_ONLY;
     uvgrtp::media_stream* v3c = sess->create_stream(8890, 7790, RTP_FORMAT_V3C, flags);
-    uvgrtp::media_stream* vid = nullptr;
+    rtp_format_t video_format = RTP_FORMAT_GENERIC;
 
     // Create the uvgRTP media stream with the correct RTP format
     if (parameters.ptl.ptl_profile_codec_group_idc == CODEC_AVC) {
         std::cout << "Video codec: AVC Progressive High" << std::endl;
-        vid = sess->create_stream(8892, 7792, RTP_FORMAT_H264, flags);
+        video_format = RTP_FORMAT_H264;
     }
     else if (parameters.ptl.ptl_profile_codec_group_idc == CODEC_HEVC_MAIN10) {
         std::cout << "Video codec: HEVC Main10" << std::endl;
-        vid = sess->create_stream(8892, 7792, RTP_FORMAT_H265, flags);
+        video_format = RTP_FORMAT_H265;
     }
     else if (parameters.ptl.ptl_profile_codec_group_idc == CODEC_HEVC444) {
         std::cout << "Video codec: HEVC444" << std::endl;
-        vid = sess->create_stream(8892, 7792, RTP_FORMAT_H265, flags);
+        video_format = RTP_FORMAT_H265;
     }
     else if (parameters.ptl.ptl_profile_codec_group_idc == CODEC_VVC_MAIN10) {
         std::cout << "Video codec: VVC Main10" << std::endl;
-        vid = sess->create_stream(8892, 7792, RTP_FORMAT_H266, flags);
+        video_format = RTP_FORMAT_H266;
     }
-        
+    uvgrtp::media_stream* vid = sess->create_stream(8892, 7792, video_format, flags);
+
 
     uint64_t v3c_bytes_sent = 0;
     uint64_t avc_bytes_sent = 0;
     uint64_t send_ptr = 0;
+
+    /* Start sending data. First is all the Atlas NAL units, then all the video NAL units */
     for (auto p : ad_map)
     {
         std::cout << "Sending frame in location " << p.first << " with size " << p.second << std::endl;
@@ -84,7 +90,7 @@ int main(void)
     {
         std::cout << "Sending frame in location " << p.first << " with size " << p.second << std::endl;
 
-        if (vid->push_frame((uint8_t*)cbuf + p.first, p.second, RTP_NO_FLAGS) != RTP_OK)
+        if (vid->push_frame((uint8_t*)cbuf + p.first, p.second, RTP_NO_H26X_SCL) != RTP_OK)
         {
             std::cout << "Failed to send RTP frame!" << std::endl;
         }
@@ -94,7 +100,7 @@ int main(void)
     }
 
     std::cout << "V3C Sending finished. Total bytes sent " << v3c_bytes_sent << std::endl;
-    std::cout << "AVC Sending finished. Total bytes sent " << avc_bytes_sent << std::endl;
+    std::cout << "Video Sending finished. Total bytes sent " << avc_bytes_sent << std::endl;
 
     sess->destroy_stream(v3c);
     sess->destroy_stream(vid);
diff --git a/include/uvgrtp/v3c_parser.hh b/include/uvgrtp/v3c_parser.hh
index 0b45c30..eb75a5b 100644
--- a/include/uvgrtp/v3c_parser.hh
+++ b/include/uvgrtp/v3c_parser.hh
@@ -8,7 +8,7 @@
 
 // vuh_unit_type definitions:
 constexpr int    V3C_VPS = 0; // V3C parameter set
-constexpr int    V3C_AD = 1; // Atlas data
+constexpr int    V3C_AD  = 1; // Atlas data
 constexpr int    V3C_OVD = 2; // Occupancy video data
 constexpr int    V3C_GVD = 3; // Geometry video data
 constexpr int    V3C_AVD = 4; // Attribute video data
diff --git a/src/v3c_parser.cc b/src/v3c_parser.cc
index 4371abb..a561385 100644
--- a/src/v3c_parser.cc
+++ b/src/v3c_parser.cc
@@ -34,6 +34,7 @@ bool mmap_v3c_file(char* cbuf, uint64_t len, vuh_vps& param, std::vector<std::pa
     uint8_t* v3c_size = new uint8_t[v3c_size_precision];
 
     std::vector<uint32_t> sizes = {};
+    uint8_t nal_size_precision = 0;
     while (true) {
         if (ptr >= len) {
             break;
@@ -53,7 +54,7 @@ bool mmap_v3c_file(char* cbuf, uint64_t len, vuh_vps& param, std::vector<std::pa
             return EXIT_FAILURE;
         }
         // Inside v3c unit now
-        std::cout << "Current V3C unit size " << combined_v3c_size << std::endl;
+        std::cout << "Current V3C unit location " << ptr << ", size " << combined_v3c_size << std::endl;
         uint64_t v3c_ptr = ptr;
 
         // Next 4 bytes are the V3C unit header
@@ -74,19 +75,24 @@ bool mmap_v3c_file(char* cbuf, uint64_t len, vuh_vps& param, std::vector<std::pa
         else if (vuh_t == V3C_OVD || vuh_t == V3C_GVD || vuh_t == V3C_AVD || vuh_t == V3C_PVD) {
             // Video data, map start and size
             std::cout << "-- Video data V3C unit, " << std::endl;
-            vd.push_back({ ptr + V3C_HDR_LEN, combined_v3c_size });
-            ptr += combined_v3c_size;
-            std::cout << std::endl;
-            continue;
+            //vd.push_back({ ptr + V3C_HDR_LEN, combined_v3c_size });
+            //ptr += combined_v3c_size;
+            //std::cout << std::endl;
+            //continue;
         }
 
         // Rest of the function goes inside the V3C unit payload and parses NAL it into NAL units
         v3c_ptr += V3C_HDR_LEN; // Jump over 4 bytes of V3C unit header
-
-        uint8_t v3cu_first_byte = cbuf[v3c_ptr]; // Next up is 1 byte of NAL unit size precision
-        uint8_t nal_size_precision = (v3cu_first_byte >> 5) + 1;
-        std::cout << "  -- NAL Sample stream, 1 byte for NAL unit size precision: " << (uint32_t)nal_size_precision << std::endl;
-        ++v3c_ptr;
+        if (vuh_t == V3C_AD || vuh_t == V3C_CAD) {
+            uint8_t v3cu_first_byte = cbuf[v3c_ptr]; // Next up is 1 byte of NAL unit size precision
+            nal_size_precision = (v3cu_first_byte >> 5) + 1;
+            std::cout << "  -- Atlas NAL Sample stream, 1 byte for NAL unit size precision: " << (uint32_t)nal_size_precision << std::endl;
+            ++v3c_ptr;
+        }
+        else {
+            nal_size_precision = 4;
+            std::cout << "  -- Video NAL Sample stream, using NAL unit size precision of: " << (uint32_t)nal_size_precision << std::endl;
+        }
 
         // Now start to parse the NAL sample stream
         while (true) {
@@ -100,18 +106,27 @@ bool mmap_v3c_file(char* cbuf, uint64_t len, vuh_vps& param, std::vector<std::pa
             else if (nal_size_precision == 3) {
                 combined_nal_size = combineBytes(cbuf[v3c_ptr], cbuf[v3c_ptr + 1], cbuf[v3c_ptr + 2]);
             }
+            else if (nal_size_precision == 4) {
+                combined_nal_size = combineBytes(cbuf[v3c_ptr], cbuf[v3c_ptr + 1], cbuf[v3c_ptr + 2], cbuf[v3c_ptr + 3]);
+            }
             else {
                 std::cout << "  -- Error, invalid NAL size " << std::endl;
                 return EXIT_FAILURE;
             }
             v3c_ptr += nal_size_precision;
-            std::cout << "  -- NALU size: " << combined_nal_size << std::endl;
             switch (vuh_t) {
             case V3C_AD:
             case V3C_CAD:
+                std::cout << "  -- v3c_ptr: " << v3c_ptr << ", NALU size : " << combined_nal_size << std::endl;
                 ad.push_back({ v3c_ptr, combined_nal_size });
                 break;
-
+            case V3C_OVD:
+            case V3C_GVD:
+            case V3C_AVD:
+            case V3C_PVD:
+                uint8_t h265_nalu_t = (cbuf[v3c_ptr] & 0b01111110) >> 1;
+                std::cout << "  -- v3c_ptr: " << v3c_ptr << ", NALU size : " << combined_nal_size << ", HEVC NALU type: " << (uint32_t)h265_nalu_t << std::endl;
+                vd.push_back({ v3c_ptr, combined_nal_size });
             }
             v3c_ptr += combined_nal_size;
         }