diff --git a/owlps-ardrone/owlps-drone.c b/owlps-ardrone/owlps-drone.c
index 35bd6a0..84c2df6 100644
--- a/owlps-ardrone/owlps-drone.c
+++ b/owlps-ardrone/owlps-drone.c
@@ -2,15 +2,20 @@
  * This file is part of the rtap localisation project.
  */
 
-#include "../libowlps-client/owlps-client.h"
 #include "owlps-drone.h"
 
+#include <owlps-client.h>
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <inttypes.h>
 #include <string.h>
+#include <math.h>
 
+#include <pthread.h>
+
+#include <arpa/inet.h>
 #include <net/if.h>
 
 #include <time.h>
@@ -20,13 +25,11 @@
 #include <sys/time.h>
 #include <fcntl.h>
 
-#include <assert.h>
-
 #include <signal.h>
 #include <semaphore.h>
-#define SEPARATOR ','
-#define EOL '$'
-#define TYPE "GPS"
+
+#include <assert.h>
+
 
 /* Options */
 
diff --git a/owlps-ardrone/owlps-drone.h b/owlps-ardrone/owlps-drone.h
index 895c0aa..427f714 100644
--- a/owlps-ardrone/owlps-drone.h
+++ b/owlps-ardrone/owlps-drone.h
@@ -1,13 +1,11 @@
-#include <stdio.h>
-#include <pthread.h>
-#include <math.h>
+#ifndef _OWLPS_ARDRONE_H_
+#define _OWLPS_ARDRONE_H_
 
 #include "oc.h"
 
-/* Lenght of string algo */
-#define ALGO_STRLEN 15
-/* Error codes */
-#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
+
+/* Program arguments (getopt string) */
+#define OPTIONS "d:hi:l::n:p:t:V"
 
 /* Number of packets to send */
 #define DEFAULT_NBPKT_CALIB 20 // 20 packets when calibrating
@@ -17,48 +15,31 @@
 #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:V"
+/* Maximum length of the algorithm name */
+#define ALGO_STRLEN 15
 
+/* GPS inputs */
+#define SEPARATOR ','
+#define EOL '$'
+#define TYPE "GPS"
 
-//Define send command
+/* Drone commands */
 #define LENSTR 1000
 #define ATREF "AT*REF="
 #define LANDING ",290717696"
 #define TAKEOFF ",290718208"
-//Define socket
-//#define IP "172.20.105.4"
+
+/* Socket parameters */
 #define IP "192.168.1.1"
 #define PORT 5556
 
 
-/* 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 string2data(char*) ;
-void traficGPS(int);
-void* thread_gps(void*) ;
-void* thread_send(void*) ;
-void* thread_control(void*) ;
-void print_error(char*) ;
-void print_version(void) ;
-void drone_handler_sigint(const int);
-typedef struct result result;
-typedef struct gps gps;
-/* Struct */
+/* Error codes */
+#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
 
-struct result
+
+/* Received result */
+typedef struct _result
 {
   char algo[ALGO_STRLEN];
   float x;
@@ -66,9 +47,9 @@ struct result
   float z;
   char *check;
   float err;
-};
+} result ;
 
-struct gps
+typedef struct _gps
 {
   float time;
   char state;
@@ -80,7 +61,7 @@ struct gps
   float cap;
   int date;
   float decmag;
-};
+} gps ;
 
 typedef struct _consigne
 {
@@ -91,33 +72,59 @@ typedef struct _consigne
   struct _consigne *next;
 } consigne ;
 
-typedef struct _point
+typedef struct _point_consigne
 {
   double lat;
   double lon;
   double alt;
 } point_consigne ;
 
-/* Prototype drone */
+
+/* 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 print_usage(void) ;
+void print_version(void) ;
+
+void drone_handler_sigint(const int) ;
+
+void create_socket(void) ;
+void make_packet(void) ;
+void send_request(void) ;
+void* receive_position(void*) ;
+
+void string2data(char*) ;
+void traficGPS(int);
+void* thread_gps(void*) ;
+void* thread_send(void*) ;
+void* thread_control(void*) ;
+void print_error(char*) ;
 
 void drone_err(int);
-//Position
 int read_position(char*);
-//Socket
 int drone_socket_create(void);
 void* drone_socket_watchdog(void*);
 int drone_socket_close(void);
-//Commands drone
+
 int cmd_drone_take_off(void); //Add socket
 int cmd_drone_landing(void); //Add socket
 int cmd_drone_move(float, int);
 int cmd_drone_init_direction(void); //Add socket
-//Algo
+
 void calcul_trajectory(float*, float*);
 float calcul_speed(float);
 int check_destination(struct point, struct point);
 float calcul_angle(void);
-//Liste chaine
+
 consigne* list_add_front(consigne*, double, double, double);
 consigne* list_add_back(consigne*, double, double, double); 
 void list_print(consigne*);
+
+#endif //_OWLPS_ARDRONE_H_