diff --git a/launch/rosbuzzm100.launch b/launch/rosbuzzm100.launch
index a5b5f4a..5f62007 100644
--- a/launch/rosbuzzm100.launch
+++ b/launch/rosbuzzm100.launch
@@ -8,7 +8,7 @@
 		<param name="fcclient_name" value="/dji_mavcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
-		<param name="robot_id" value="1"/>
+		<param name="robot_id" value="3"/>
 		</node>
 		
 		
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 11b27f7..0c970e5 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -175,7 +175,10 @@ namespace buzz_utility{
 		buzzvm_pushs(VM,  buzzvm_string_register(VM, "print", 1));
    		buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
    		buzzvm_gstore(VM);
-   		buzzvm_pushs(VM,  buzzvm_string_register(VM, "uav_goto", 1));
+   		buzzvm_pushs(VM,  buzzvm_string_register(VM, "log", 1));
+                buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzros_print));
+                buzzvm_gstore(VM);
+                buzzvm_pushs(VM,  buzzvm_string_register(VM, "uav_goto", 1));
    		buzzvm_pushcc(VM, buzzvm_function_register(VM, buzzuav_closures::buzzuav_goto));
    		buzzvm_gstore(VM);
    		buzzvm_pushs(VM,  buzzvm_string_register(VM, "uav_takeoff", 1));
diff --git a/src/test1.bzz b/src/test1.bzz
index 3b4af86..fe425cc 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -26,13 +26,23 @@ function barrier_set(threshold, transf) {
 # Make yourself ready
 #
 function barrier_ready() {
+ 
   barrier.put(id, 1)
+  print ("before put")
+  barrier.get(id)
+  print("barrier put : ")
 }
 
 #
 # Executes the barrier
 #
+function table_print(t) {
+  foreach(t, function(key, value) {
+      log(key, " -> ", value)
+    })
+}
 function barrier_wait(threshold, transf) {
+ table_print(barrier)
   barrier.get(id)
   extradbg = barrier.size()
   if(barrier.size() >= threshold) {
@@ -44,6 +54,16 @@ function barrier_wait(threshold, transf) {
 # flight status
 
 function idle() {
+neighbors.listen("cmd",
+   function(vid, value, rid) {
+      print("Got (", vid, ",", value, ") from robot #", rid)
+	if(value==22) {
+		statef=takeoff
+	} else if(value==21) {
+		statef=land
+	}
+   }
+)
 }
 
 function takeoff() {
@@ -86,20 +106,6 @@ statef=idle
 # Executed at each time step.
 function step() {
 
-neighbors.listen("cmd",
-   function(vid, value, rid) {
-      print("Got (", vid, ",", value, ") from robot #", rid)
-	if(value==22) {
-		statef=takeoff
-	} else if(value==21) {
-		statef=land
-	}
-   }
-)
-
-
-print("Flight status: ",flight.status)
-
 if(flight.rc_cmd!=oldcmd) {
 	
 	if(flight.rc_cmd==22) {