diff --git a/owlps-ardrone/Makefile b/owlps-ardrone/Makefile
index 6ac4292..a7cfff8 100644
--- a/owlps-ardrone/Makefile
+++ b/owlps-ardrone/Makefile
@@ -27,8 +27,10 @@ DEPS = oc.o
 # Flags
 LIBOWLPS_DIR = ../libowlps
 LIBOWLPSCLIENT_DIR = ../libowlps-client
+LIBOWLPSRESULTREADER_DIR = ../libowlps-resultreader
 CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
-	-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR)
+	-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR) \
+	-I$(LIBOWLPSRESULTREADER_DIR)
 #CFLAGS += -g -O0
 DEPFLAGS = -MMD
 XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
@@ -37,9 +39,17 @@ OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
 OWLPSFLAGS += -D DEBUG
 LIBS = -L$(LIBOWLPS_DIR) -lowlps \
 	-L$(LIBOWLPSCLIENT_DIR) -lowlps-client \
-	-lrt -lm -pthread
+	-L$(LIBOWLPSRESULTREADER_DIR) -lowlps-resultreader \
+	-lm -pthread
+
+OS := $(shell uname)
+ifeq ("$(OS)", "Linux")
+	LIBS += -lrt
+endif
+
 STATIC_LIBS =
 
+
 ## Cibles de compilation standard ##
 
 .PHONY : all dynamic static install uninstall clean purge help
diff --git a/owlps-ardrone/owlps-drone.c b/owlps-ardrone/owlps-drone.c
index 6dcd7a9..b20a116 100644
--- a/owlps-ardrone/owlps-drone.c
+++ b/owlps-ardrone/owlps-drone.c
@@ -5,6 +5,7 @@
 #include "owlps-drone.h"
 
 #include <owlps-client.h>
+#include <owlps-resultreader.h>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -785,209 +786,24 @@ void send_request()
 void* receive_position(void* NULL_value)
 {
   // Position of the mobile as computed by the infrastructure:
-  char timestampXYZ[128] ;
-  char *data_cpy ;
-  while(run)
-    {
-      recvfrom(sockreceivefd, &timestampXYZ, 128, 0, NULL, NULL) ;
-      data_cpy = strdup(timestampXYZ) ;
-      string2data(data_cpy) ;
-      usleep(100000);
-    }
-  pthread_exit(NULL_value);
-}
-
-
-/* Split the string received from OwlPS Positioning and store the fields
- * in a result structure.
- *
- * Handled CSV format:
- *  Mobile_MAC;Request_type;Request_timestamp;Algorithm;X;Y;Z;Error;Area
- * The Request_timestamp format is: seconds.nanoseconds
- */
-void string2data(char* string_data)
-{
-  char *mac = NULL ;
-  char *ptr = NULL ;
-
-  const char delims[] = ";" ;
-
-  int type_req = 0 ;
-  int count_algo= 0 ;
-  int count_print = 0 ;
-  int onetime = 0 ;
-  owl_bool error_present = owl_false ;
-
-  while(onetime<1)
-    {
-      // Mobile MAC address
-      ptr = strtok(string_data, delims) ;
-      if(ptr==NULL)
-        {
-          print_error("mac") ;
-          break ;
-        }
-      mac = ptr ;
-
-      // Request type
-      ptr = strtok(NULL, delims) ;
-      if (ptr==NULL)
-        {
-          print_error("request") ;
-          break ;
-        }
-      type_req = atoi(ptr) ;
-
-      // Timestamp (seconds)
-      ptr = strtok(NULL, ".") ;
-      if (ptr==NULL)
-        {
-          print_error("timestamp") ;
-          break ;
-        }
-      sscanf(ptr, "%ld", &timestamp.tv_sec) ;
-
-      // Timestamp (nanoseconds)
-      ptr = strtok(NULL, ";") ;
-      if (ptr==NULL)
-        {
-          print_error("timestamp") ;
-          break ;
-        }
-      sscanf(ptr, "%ld", &timestamp.tv_nsec) ;
-      ++onetime ;
-    }
-  result results[10];
+  owl_result *result ;
 
   while(run)
     {
-      // Algorithm name
-      ptr = strtok(NULL, delims) ;
-      if (ptr == NULL)
-        break ;
-      strncpy(results[count_algo].algo, ptr, ALGO_STRLEN) ;
-      if(!strcmp(results[count_algo].algo,"Real"))
-        error_present = owl_true ;
-
-      // X coordinate
-      ptr = strtok(NULL, delims) ;
-      if(ptr==NULL)
+      result = owl_receive_position(sockreceivefd) ;
+      if (result)
         {
-          if(count_algo==0)
-            {
-              print_error ("trame");
-              break ;
-            }
-          else
-            {
-              print_error ("algo");
-              count_algo-- ;
-              break ;
-            }
+          owl_print_result(result) ;
+          owl_free_result(result) ;
         }
-      results[count_algo].x = atof(ptr) ;
-
-      // Y coordinate
-      ptr = strtok(NULL, delims) ;
-      if(ptr==NULL)
-        {
-          if(count_algo==0)
-            {
-              print_error ("trame");
-              break ;
-            }
-          else
-            {
-              print_error ("algo");
-              count_algo--;
-              break ;
-            }
-        }
-      results[count_algo].y = atof(ptr) ;
-
-      // Z coordinate
-      ptr = strtok(NULL, delims) ;
-      if(ptr==NULL)
-        {
-          if(count_algo==0)
-            {
-              print_error ("trame");
-              break ;
-            }
-          else
-            {
-              print_error("algo") ;
-              count_algo--;
-              break ;
-            }
-        }
-      results[count_algo].z = atof(ptr) ;
-
-      // Distance error
-      if (error_present)
-        {
-          ptr = strtok(NULL, delims) ;
-          if(ptr==NULL)
-            {
-              if(count_algo==0)
-                {
-                  print_error ("trame");
-                  break ;
-                }
-              else
-                {
-                  print_error ("algo");
-                  count_algo--;
-                  break ;
-                }
-            }
-          results[count_algo].error = atof(ptr) ;
-        }
-      ++count_algo ;
-
-      // Area name
-      ptr = strtok(NULL, delims) ;
-      if (ptr == NULL)
-        {
-          if (count_algo == 0)
-            {
-              print_error("trame") ;
-              break ;
-            }
-          else
-            {
-              print_error("algo") ;
-              count_algo-- ;
-              break ;
-            }
-        }
-      strncpy(results[count_algo].area, ptr, AREA_STRLEN) ;
+      usleep(100000) ;
     }
 
-  for (count_print = 0 ; count_print < count_algo ; ++count_print)
-    printf("\n----------------\n"
-           " Mobile's MAC address: %s\n"
-           " Request type: %d\n"
-           " Timestamp: %ld.%ld\n"
-           " Algorithm: %s\n"
-           " X: %f\n"
-           " Y: %f\n"
-           " Z: %f\n"
-           " Distance error: %f\n"
-           " Area: %s\n"
-           "------------------\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,
-           results[count_print].error,
-           results[count_print].area) ;
+  pthread_exit(NULL_value) ;
 }
 
 
+
 void print_error(char* merror)
 {
   if (! strcmp(merror,"trame"))
diff --git a/owlps-ardrone/owlps-drone.h b/owlps-ardrone/owlps-drone.h
index bae6da7..221de2d 100644
--- a/owlps-ardrone/owlps-drone.h
+++ b/owlps-ardrone/owlps-drone.h
@@ -39,17 +39,6 @@
 #define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
 
 
-/* Result from OwlPS Positioning (parsed string structure) */
-typedef struct _result
-{
-  char algo[ALGO_STRLEN];
-  float x;
-  float y;
-  float z;
-  float error ;
-  char area[AREA_STRLEN] ;
-} result ;
-
 typedef struct _gps
 {
   float time;