diff --git a/owlps-ardrone/owlps-drone.c b/owlps-ardrone/owlps-drone.c
index 4d4b482..8c7a65d 100644
--- a/owlps-ardrone/owlps-drone.c
+++ b/owlps-ardrone/owlps-drone.c
@@ -16,40 +16,6 @@
 #include <time.h>
 #include <pthread.h>
 
-#define DEBUG
-
-/* Error codes */
-#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
-
-/* Number of packets to send */
-#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
-#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position
-
-/* Delay between two packet transmissions (in microseconds) */
-#define DEFAULT_DELAY_CALIB 50000 // Calibration request
-#define DEFAULT_DELAY_NORMAL 25000 // Localisation request
-
-/* Program arguments (getopt string) */
-#define OPTIONS "d:hi:l::n:p:t:"
-
-
-/* Function headers */
-void parse_command_line(int argc, char **argv) ;
-void parse_main_options(int argc, char **argv) ;
-void check_destination_ip(void) ;
-void parse_calibration_data(int argc, char **argv) ;
-void check_configuration(void) ;
-#ifdef DEBUG
-void print_configuration(void) ;
-#endif // DEBUG
-void create_socket(void) ;
-void make_packet(void) ;
-void send_request(void) ;
-void receive_position(void) ;
-void print_usage(void) ;
-void send_labview(char*) ;
-void string2data(char*) ;
-void* thread_send(void*) ;
 
 /* Options */
 struct timespec timestamp ;
@@ -105,7 +71,7 @@ int main(int argc, char *argv[])
     }
   (void) close(socksendfd) ;
   (void) close(sockreceivefd) ;
-  //(void) close(socksendlvfd) ;
+  //(void) close(socksendlvfd) ; //Use for close labview socket ; for next use
   return 0 ;
 }
 
@@ -408,106 +374,150 @@ void receive_position()
 {
   // Position of the mobile as computed by the infrastructure:
   char timestampXYZ[128] ;
+  char *data_cpy ;
   recvfrom(sockreceivefd, &timestampXYZ, 128, 0, NULL, NULL) ;
-  //printf("%s", timestampXYZ) ;
-  //send_labview(timestampXYZ) ;
-  string2data(timestampXYZ) ;
+  //send_labview(timestampXYZ) ; // Use for future
+  data_cpy = strdup(timestampXYZ) ;
+  string2data(data_cpy) ;
 }
 
 void string2data(char* string_data)
 {
+  /*Découpage de la chaine de caractère reçu du serveur de positionnement
+    sous forme de addrMAC;TypeRequete;Timestamp1.Timestamp2;Algo;X;Y;Z
+    en variables séparées
+  */
+
   char *mac = NULL ;
-  int type_req ;
-  int i ;
-  int y ;
-  char *ptr= NULL ;
+  char *ptr = NULL ;
+
   char *delims = ";" ;
 
-  //Lecture Adresse Mac
-  ptr = strtok(string_data, delims) ;
-  mac = ptr ;
- 
-  //Lecture Type Request
-  ptr = strtok(NULL, delims) ;
-  type_req = atoi(ptr) ;
+  int type_req = 0 ; 
+  int count_algo= 0 ; 
+  int count_print = 0 ; 
+  int onetime = 0 ;
+  
 
-  //Lecture TimeStamp1
-  ptr = strtok(NULL, ".") ;
-  sscanf(ptr, "%ld", &timestamp.tv_sec) ;
+  while(onetime<1)
+    {
+      
+      //Lecture Adresse Mac
+      ptr = strtok(string_data, delims) ;
+      if(ptr==NULL) 
+        {
+          print_error("mac") ;
+          break ;
+        }
+      mac = ptr ;
 
-  //Lecture TimeStamp2
-  ptr = strtok(NULL, ";") ;
-  sscanf(ptr, "%ld", &timestamp.tv_nsec) ;
+      //Lecture Type Request
+      ptr = strtok(NULL, delims) ;
+      if (ptr==NULL) 
+        {
+          print_error("request") ;
+          break ;
+        }
+      type_req = atoi(ptr) ;
 
+      //Lecture TimeStamp1
+      ptr = strtok(NULL, ".") ;
+      if (ptr==NULL) 
+        {
+          print_error("timestamp") ;
+          break ;
+        }
+      sscanf(ptr, "%ld", &timestamp.tv_sec) ;
+
+      //Lecture TimeStamp2
+      ptr = strtok(NULL, ";") ;
+      if (ptr==NULL) 
+        {
+          print_error("timestamp") ;
+          break ;
+        }
+      sscanf(ptr, "%ld", &timestamp.tv_nsec) ;
+      onetime++;
+    }
   result results[10];
-  i=0;
+
   while(1)
     {
+      //Lecture de l'algorythme utilisé
       ptr = strtok(NULL, delims) ;
-      if(ptr==NULL) break;
-      sscanf(ptr, "%s", results[i].algo) ;
+      if(ptr==NULL) break ;
+      sscanf(ptr, "%s", results[count_algo].algo) ;
+
+      //Lecture du point X
       ptr = strtok(NULL, delims) ;
-      if(ptr==NULL) break;
-      results[i].x = atof(ptr) ;
+       if(ptr==NULL) 
+         {
+           if(count_algo==0) 
+             {
+               print_error ("trame");
+               break ;
+             }
+           else
+             {
+               print_error ("algo");
+               count_algo-- ;
+               break ;
+             }
+         }
+      results[count_algo].x = atof(ptr) ;
+
+      //Lecture du point Y
       ptr = strtok(NULL, delims) ;
-      if(ptr==NULL) break;
-      results[i].y = atof(ptr) ;
+      if(ptr==NULL) 
+         {
+           if(count_algo==0) 
+             {
+               print_error ("trame");
+               break ;
+             }
+           else
+             {
+               print_error ("algo");
+               count_algo--;
+               break ;
+             }
+         }
+      results[count_algo].y = atof(ptr) ;
+
+      //Lecture du point Z
       ptr = strtok(NULL, delims) ;
-      if(ptr==NULL) break;
-      results[i].z = atof(ptr) ;
-      i++;
+ if(ptr==NULL) 
+         {
+           if(count_algo==0) 
+             {
+               print_error ("trame");
+               break ;
+             }
+           else
+             {
+               perror ("algo");
+               count_algo--;
+               break ;
+             }
+         }
+      results[count_algo].z = atof(ptr) ;
+
+      count_algo++;
+
     }
-  for(y=0;y<i;y++)
+
+  for(count_print=0;count_print<count_algo;count_print++)
     {
       printf("\n----------------\n"
              " Adresse Mac : %s\n"
              " Type de requete : %d\n"
-             " Timestamp : %ld . %ld\n"
+             " Timestamp : %ld.%ld\n"
              " Algo : %s\n"
              " X : %f\n "
              " Y : %f\n"
              " Z : %f\n"
-             "------------------\n", mac, type_req, timestamp.tv_sec, timestamp.tv_nsec, results[y].algo, results[y].x, results[y].y, results[y].z);
+             "------------------\n", mac, type_req, timestamp.tv_sec, timestamp.tv_nsec, results[count_print].algo, results[count_print].x, results[count_print].y, results[count_print].z);
     }
-
-  //printf("\nsec : %ld nsec : %ld \n", timestamp.tv_sec, timestamp.tv_nsec) ;
-  /*
-   while(1)
-    {
-      switch(i)
-        {
-
-        case 0:
-          ptr = strtok(NULL, delims) ;
-          sscanf(ptr, "%s", &algo) ;
-          i++ ;
-          break;
-
-        case 1:
-          ptr = strtok(NULL, delims) ;
-          sscanf(ptr, "%f", &x) ;
-          i++;
-          break;
-      
-        case 2:
-          ptr = strtok(NULL, delims) ;
-          sscanf(ptr, "%f", &y) ;
-          i++;
-          break;
-
-        case 3:
-          ptr = strtok(NULL, delims) ;
-          sscanf(ptr, "%f", &z) ;
-          i++;
-          break;
-
-        default:
-          i++;
-          break;
-        }
-    }
-  */
-  // printf("\nReceive position.......\n\tTimestamp : %ld.%ld \n\tX : %f \n\tY : %f \n\tZ : %f\n", timestamp.tv_sec, timestamp.tv_nsec, x, y , z) ;
 }
 
 void send_labview(char* string_data)
@@ -517,6 +527,13 @@ void send_labview(char* string_data)
   //printf("Send to labView : %s", string_data) ;
 }
 
+void print_error(char* merror)
+{
+  if(!strcmp(merror,"trame")) printf("Impossible à lire la trame : Abandon") ;
+  else if (!strcmp(merror,"algo")) printf("Impossible à lire les coordonnées de l'algo : Abandon") ;
+  else printf("Erreur inconnu : Abandon") ;
+}
+
 void print_usage()
 {
   printf("Usage:\n"
diff --git a/owlps-ardrone/owlps-drone.h b/owlps-ardrone/owlps-drone.h
index 42a6e13..f16112d 100644
--- a/owlps-ardrone/owlps-drone.h
+++ b/owlps-ardrone/owlps-drone.h
@@ -1,7 +1,46 @@
 #include <stdio.h>
-#define ALGO_STRLEN 15
 
+#define DEBUG
+
+/* Lenght of string algo */
+#define ALGO_STRLEN 15
+/* Error codes */
+#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
+
+/* Number of packets to send */
+#define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
+#define DEFAULT_NBPKT_NORMAL 10 // 10 packets when requesting the position
+
+/* Delay between two packet transmissions (in microseconds) */
+#define DEFAULT_DELAY_CALIB 50000 // Calibration request
+#define DEFAULT_DELAY_NORMAL 25000 // Localisation request
+
+/* Program arguments (getopt string) */
+#define OPTIONS "d:hi:l::n:p:t:"
+
+
+/* Function headers */
+void parse_command_line(int argc, char **argv) ;
+void parse_main_options(int argc, char **argv) ;
+void check_destination_ip(void) ;
+void parse_calibration_data(int argc, char **argv) ;
+void check_configuration(void) ;
+#ifdef DEBUG
+void print_configuration(void) ;
+#endif // DEBUG
+void create_socket(void) ;
+void make_packet(void) ;
+void send_request(void) ;
+void receive_position(void) ;
+void print_usage(void) ;
+void send_labview(char*) ;
+void string2data(char*) ;
+void* thread_send(void*) ;
+void print_error(char*) ;
 typedef struct result result;
+
+/* Struct */
+
 struct result 
 {
   char algo[ALGO_STRLEN];