diff --git a/CHANGELOG.md b/CHANGELOG.md
index 44c2c7f..35d42e2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+1.3.4
+
+- fixed: bake keys with better cycle compatibility
+
 1.3.3
 
 - changed: `Set Time Keys` in NLA do not remove keys if exists but offset to match start of strip (if has moved) to resync
diff --git a/OP_expand_cycle_step.py b/OP_expand_cycle_step.py
index b126e2b..592ff6d 100644
--- a/OP_expand_cycle_step.py
+++ b/OP_expand_cycle_step.py
@@ -10,6 +10,8 @@ from time import time
 def bake_cycle(on_selection=True, end=None):
     print(fn.helper())
     end = end or bpy.context.scene.frame_end
+    end += 20 # add an hardcoded margin !
+    print('end: ', end)
     debug = fn.get_addon_prefs().debug
     obj = bpy.context.object
     if obj.type != 'ARMATURE':
@@ -28,6 +30,12 @@ def bake_cycle(on_selection=True, end=None):
     ct = 0
     ct_no_cycle = 0
 
+    ## TODO calculate offset only once to avoid errors !
+    all_keys = [k.co.x for fc in act.fcurves if not '.offset' in fc.data_path for k in fc.keyframe_points]
+    first = int(min(all_keys))
+    last = int(max(all_keys))
+    offset = last - first
+
     for fcu in act.fcurves:
         
         ## if a curve is not cycled don't touch
@@ -69,13 +77,17 @@ def bake_cycle(on_selection=True, end=None):
             k_dic['type'] = k.type
             fcu_kfs.append(k_dic)
 
-        first = fcu_kfs[0]['co'][0]
+        ## not used
         # second = fcu_kfs[1]['co'][0] 
         # before_last= fcu_kfs[-2]['co'][0]
-        last = fcu_kfs[-1]['co'][0]
         # first_offset = second - first
-        
-        current_offset = offset = last - first
+
+        ## old
+        # first = fcu_kfs[0]['co'][0]
+        # last = fcu_kfs[-1]['co'][0]
+        # current_offset = offset = last - first
+
+        current_offset = offset
 
         keys_num = len(fcu_kfs)
         if debug >= 2: print(keys_num)
@@ -84,8 +96,12 @@ def bake_cycle(on_selection=True, end=None):
             if debug >= 2: print(b_name, f'{keys_num} key')
             continue
 
-        ## ! important: delete last after computing offset IF cycle have first frame repeatead as last !
-        fcu_kfs.pop()
+        ## delete last after computing offset IF cycle have first frame repeatead as last !
+        
+        # fcu_kfs_without_last = fcu_kfs.copy()
+        # fcu_kfs_without_last.pop()
+
+        # last_kf = fcu_kfs.pop() (or just iterate with slicing [:-1])
         # print('offset: ', offset)
 
         if debug >= 2: print('keys', len(fcu_kfs))
@@ -93,11 +109,21 @@ def bake_cycle(on_selection=True, end=None):
         
         # maybe add possibility define target manually ?
 
-        end += 20 # add an hardcoded margin !
-        iterations = ((end - last) // offset) + 1
+        iterations = int( ((end - last) // offset) + 1 )
         if debug >= 2: print('iterations: ', iterations)
-        for _i in range(int(iterations)):
-            for kf in fcu_kfs:
+        
+        for i in range(iterations):
+            # if i == iterations - 1: # last
+            #     kfs = fcu_kfs
+            # else:
+            #     kfs = fcu_kfs_without_last
+            # for kf in kfs:
+
+            for count, kf in enumerate(fcu_kfs):
+                if count == keys_num and i < iterations - 1:
+                   # last key of fcurves, to use only if on last iteration
+                   continue
+
                 # create a new key, adding offset to keys  
                 fcu.keyframe_points.add(1)
                 new = fcu.keyframe_points[-1]
@@ -107,6 +133,9 @@ def bake_cycle(on_selection=True, end=None):
                     else:
                         setattr(new, att, val)
             current_offset += offset
+        
+        # FIXME on last cycle - re-add last keyframe to "close" the cycle
+        
 
         ct += 1
     
@@ -268,7 +297,7 @@ class AW_OT_bake_cycle_and_step(bpy.types.Operator):
 
     def execute(self, context):
         
-        err = bake_cycle(context.scene.anim_cycle_settings.expand_on_selected_bones, end=self.endframe)
+        err = bake_cycle(context.scene.anim_cycle_settings.expand_on_selected_bones, end=self.end_frame)
         if err:
             self.report({err[0]}, err[1])
             if err[0] == 'ERROR':
diff --git a/__init__.py b/__init__.py
index 2dca564..17c9be7 100644
--- a/__init__.py
+++ b/__init__.py
@@ -4,7 +4,7 @@ bl_info = {
     "name": "Auto Walk",
     "description": "Develop a walk/run cycles along a curve and pin feets",
     "author": "Samuel Bernou",
-    "version": (1, 3, 2),
+    "version": (1, 3, 4),
     "blender": (3, 0, 0),
     "location": "View3D",
     "warning": "",