L.L.
Cut down on milk during his day a child should only have water in their cups if they aren't eating..Keep all meals at the same time everyday.Instead of dry cereal,crackers offer fresh fruit,is he eating more snack foods than regular foods cut them out of his diet & give him his breakfast,lunch & dinner.I don't see where he could be picky you didn't mentioned his dislikes.Rotate his choices daily & get new foods in his diet that are nutritional.For the food that ends up on the floor your probably giving him to much on his plate only give him a few pieces of cut up meat a few veggies at a time less waste & less cleaning the floor.Most kids aren't big eaters they eat when they are hungry but make it a meal time when you feed them if it has to be a snack make it a good choice not empty calories.