diff --git a/owlps-ardrone/owlps-drone.c b/owlps-ardrone/owlps-drone.c
index 8fdea39..d0feb32 100644
--- a/owlps-ardrone/owlps-drone.c
+++ b/owlps-ardrone/owlps-drone.c
@@ -93,13 +93,13 @@ double share_t_cons=-999.00;
 
 int main(int argc, char *argv[])
 {
+  FILE* log = NULL;
   float angle, distance, speed_pitch, distance_total;
   struct sigaction action;
 
   program_name = argv[0] ;
   parse_command_line(argc, argv) ;
 
-
   action.sa_flags = 0;
   sigemptyset(&action.sa_mask);
   action.sa_handler = drone_handler_sigint;
@@ -141,39 +141,49 @@ int main(int argc, char *argv[])
   drone_socket_create() ;
   pthread_t drone_watchdog ;
   pthread_create(&drone_watchdog, NULL, drone_socket_watchdog, NULL) ;
-  while(start==0) usleep(200000);
-  speed_pitch=-1;
-
-  if(read_position(TYPE)<0)
-    drone_err(1);
-
-  if(cmd_drone_take_off()<0)
-    drone_err(2);
-
-  if(cmd_drone_init_direction()<0)
-    drone_err(3);
-
-  calcul_trajectory(&angle, &distance);
-  distance_total = distance;
-  while(!check_destination(share_gps, share_gps_cons))
+  while(run)
     {
+      while(start==0) usleep(200000);
+      while(share_gps.lat==0||share_gps.lon==0);
+      log = fopen("vol.log", "w");
+      fprintf(log, "Date;Heure;Latitude;Longitude;DistanceTotal;Distance;SpeedPitch;angle\n");
+      printf("[GPS] GPS fix OK!\n");
+      speed_pitch=-1;
+
       if(read_position(TYPE)<0)
         drone_err(1);
 
-      calcul_trajectory(&angle, &distance);
+      if(cmd_drone_take_off()<0)
+        drone_err(2);
 
-      if(speed_pitch < -1) speed_pitch = -1;
-      else if(speed_pitch > 1) speed_pitch = 1;
+      distance_total=fabs(oc_distance_between(share_gps, share_gps_cons));
 
-      if(speed_pitch<-(distance/distance_total))
-        speed_pitch=speed_pitch;
-      else
-        speed_pitch=-(distance/distance_total);
+      if(cmd_drone_init_direction()<0)
+        drone_err(3);
 
-      cmd_drone_move(speed_pitch, angle);
-      sleep(1);
+      while(start==1&&!check_destination(share_gps, share_gps_cons))
+        {
+          if(read_position(TYPE)<0)
+            drone_err(1);
+
+          calcul_trajectory(&angle, &distance);
+
+          if(speed_pitch < -1) speed_pitch = -1;
+          else if(speed_pitch > 1) speed_pitch = 1;
+
+          if(speed_pitch<-(distance/distance_total))
+            speed_pitch=speed_pitch;
+          else
+            speed_pitch=-(distance/distance_total);
+
+          cmd_drone_move(speed_pitch, angle);
+          sleep(1);
+          fprintf(log,"%d;%f;%f;%f;%f;%f;%f;%f\n",share_gps.date, share_gps.time, share_gps.lat, share_gps.lon, distance_total, distance, speed_pitch, angle);
+          printf("[DEBUG] Vitesse %f Angle %f\n",speed_pitch, angle);
+        }
+      fclose(log);
+      cmd_drone_landing();
     }
-
   (void) close(socksendfd) ;
   (void) close(sockreceivefd) ;
 
@@ -291,9 +301,11 @@ void traficGPS(int gps) {
         share_gps_retro.lon=share_gps.lon;
         share_gps.lat=datagps.latitude;
         share_gps.lon=datagps.longitude;
+        share_gps.date=datagps.date;
+        share_gps.time=datagps.time;
         printf("lat %s lon %s\n",data[3], data[5]);
 
-        printf("Time : %f | State : %c | Latitude : %.10f%c | Longitude %.10f%c | Speed : %f km/h | Cap : %f° | Date : %d | DecMagn : %f maps %.10f %.10f\n",datagps.time, datagps.state, datagps.latitude, datagps.orilat, datagps.longitude, datagps.orilon, datagps.speed, datagps.cap, datagps.date, datagps.decmag, share_gps.lat, share_gps.lon);
+        //printf("Time : %f | State : %c | Latitude : %.10f%c | Longitude %.10f%c | Speed : %f km/h | Cap : %f° | Date : %d | DecMagn : %f maps %.10f %.10f\n",datagps.time, datagps.state, datagps.latitude, datagps.orilat, datagps.longitude, datagps.orilon, datagps.speed, datagps.cap, datagps.date, datagps.decmag, share_gps.lat, share_gps.lon);
 
       }
   }
@@ -351,17 +363,17 @@ void* thread_control(void* NULL_value)
       perror("ERROR on accept");
     //       while ( strcmp(request,"end")!=0) {
     n = read(newsockfd,request,1500);
-    printf("\ntaille %d\n", n);
+    //printf("\ntaille %d\n", n);
     fflush(NULL);
     if (n < 0) perror("ERROR reading from socket");
-    printf("%s", request);
+    //printf("%s", request);
     // Add command processing
     c=strtok(request,"=");
-    printf("val 1 %s\n",c);
+    //printf("val 1 %s\n",c);
     c=strtok(NULL,"=");
-    printf("val 2 %s\n",c);
+    //printf("val 2 %s\n",c);
     cmd=strtok(c,";");
-    printf("val 3 %s\n",cmd);
+    //printf("val 3 %s\n",cmd);
     sx=strtok(NULL,";");
     sy=strtok(NULL,";");
     sz=strtok(NULL,";");
@@ -378,6 +390,7 @@ void* thread_control(void* NULL_value)
       share_gps_cons.alt=atof(sz);
       share_t_cons=atof(st);
       sprintf(response,"%sGeoSetpoint;OK;%.15f;%.15f;%f;%f\n",response,share_gps_cons.lat,share_gps_cons.lon,share_gps_cons.alt,share_t_cons);
+      printf("[Consigne] Latitude %f Lontitude %f défini!\n",share_gps_cons.lat, share_gps_cons.lon);
     }
     else if (strcmp(cmd, "SendSetpoint")==0) {
       share_relatif_cons.x=atof(sx);
@@ -394,7 +407,7 @@ void* thread_control(void* NULL_value)
     else if(strcmp(cmd, "SendLanding")==0)
       {
         start=0;
-        cmd_drone_landing();
+        //cmd_drone_landing();
         sprintf(response,"%sLanding;OK;",response);
       }
     else
@@ -1000,7 +1013,7 @@ int read_position(char *type)
       share_relatif_retro = oc_convert(share_gps_origin, share_gps_retro);
       share_relatif_cons = oc_convert(share_gps_origin, share_gps_cons);
 
-      printf("X current : %f Y current : %f X old : %f Y old : %f X target : %f Y target : %f\n",share_relatif.x, share_relatif.y, -share_relatif_retro.x, share_relatif_retro.y, share_relatif_cons.x, share_relatif_cons.y);
+      //printf("X current : %f Y current : %f X old : %f Y old : %f X target : %f Y target : %f\n",share_relatif.x, share_relatif.y, -share_relatif_retro.x, share_relatif_retro.y, share_relatif_cons.x, share_relatif_cons.y);
 
     }
   else return -1;
@@ -1037,7 +1050,13 @@ int cmd_drone_init_direction(void)
     {
       int *floatint_speed = (int32_t*) &speed ;
       sprintf(sendline,"AT*PCMD=%d,0,0,%d,0,0\r", i, *floatint_speed);
+      sendto(sockcmdfd,sendline,strlen(sendline),0,
+             (struct sockaddr *)&servcmd,sizeof(servcmd));
+      usleep(100000);
     }
+  sprintf(sendline,"AT*PCMD=%d,0,0,0,0,0\r", i);
+  sendto(sockcmdfd,sendline,strlen(sendline),0,
+         (struct sockaddr *)&servcmd,sizeof(servcmd));
   lock=0;
   return 1;
 }
@@ -1058,7 +1077,6 @@ int cmd_drone_move(float speed_pitch, float angle)
       i++;
       sendto(sockcmdfd,sendline,strlen(sendline),0,
              (struct sockaddr *)&servcmd,sizeof(servcmd));
-
     }
   lock=0;
   return 0;