diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index d4f0830..26f5508 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -150,7 +150,8 @@ namespace rosbzz_node{
   		if(!xbeeplugged){
                     if(n_c.getParam("name", robot_name));
                     else {ROS_ERROR("Provide the xbee plugged boolean in Launch file"); system("rosnode kill rosbuzz_node");}
-                }
+                }else
+			n_c.getParam("xbee_status_srv", xbeesrv_name);
 
 		GetSubscriptionParameters(n_c);
 		// initialize topics to null?
diff --git a/src/testflockfev.bzz b/src/testflockfev.bzz
index 30e5b80..1845eb9 100644
--- a/src/testflockfev.bzz
+++ b/src/testflockfev.bzz
@@ -43,15 +43,15 @@ function hexagon() {
     math.vec2.scale(accum, 1.0 / neighbors.count())
   # Move according to vector
   #print("Robot ", id, "must push ",accum.length, "; ", accum.angle)
-#  uav_moveto(accum.x,accum.y)
+  uav_moveto(accum.x,accum.y)
 
-  if(timeW>=WAIT_TIMEOUT) {	#FOR MOVETO TESTS
-  	timeW =0
-  	statef=land
-  	} else {
-  	timeW = timeW+1
-  	uav_moveto(0.0,0.0)
-  	}
+#  if(timeW>=WAIT_TIMEOUT) {	#FOR MOVETO TESTS
+#  	timeW =0
+#  	statef=land
+#  	} else {
+#  	timeW = timeW+1
+#  	uav_moveto(0.0,0.0)
+#  	}
 }
  
 ########################################