diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index 222f4db..885615f 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -2,12 +2,12 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test.bzz" />
+		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
                 <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="rc_cmd" />
 		<param name="fcclient_name" value="/djicmd" />
-		<param name="in_payload" value="outMavlink"/>
-		<param name="out_payload" value="outMavlink"/>
+		<param name="in_payload" value="/inMavlink"/>
+		<param name="out_payload" value="/outMavlink"/>
 		<param name="robot_id" value="1"/>
 		</node>
 		
diff --git a/src/test.basm b/src/test.basm
new file mode 100644
index 0000000..849b53d
--- /dev/null
+++ b/src/test.basm
@@ -0,0 +1,117 @@
+!16
+'init
+'i
+'step
+'neighbors
+'listen
+'Take
+'print
+'Got (
+',
+') from robot #
+'key
+'broadcast
+'yes
+'no
+'reset
+'destroy
+
+	pushs 0
+	pushcn @__label_1
+	gstore
+	pushs 2
+	pushcn @__label_2
+	gstore
+	pushs 14
+	pushcn @__label_7
+	gstore
+	pushs 15
+	pushcn @__label_8
+	gstore
+	nop
+
+@__label_0
+
+@__exitpoint
+	done
+
+@__label_1
+	pushs 1	|3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 1	|3,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gstore	|3,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	ret0	|4,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_2
+	pushs 1	|9,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|9,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 0	|9,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	eq	|9,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	jumpz @__label_3	|9,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 3	|10,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|10,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 4	|10,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	tget	|10,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 5	|10,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushl @__label_5	|11,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 2	|14,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|14,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 3	|15,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|15,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 4	|15,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	tget	|15,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 10	|15,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushl @__label_6	|16,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 2	|19,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|19,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	jump @__label_4	|21,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+@__label_3	|21,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 3	|22,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|22,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 11	|22,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	tget	|22,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 10	|22,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 12	|22,27,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 2	|22,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|22,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 3	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 11	|23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	tget	|23,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 5	|23,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 13	|23,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 2	|23,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|23,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+@__label_4	|24,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	ret0	|26,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_5
+	pushs 6	|12,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|12,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 7	|12,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 1	|12,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 8	|12,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 2	|12,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 9	|12,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 3	|12,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 6	|12,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|12,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	ret0	|13,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_6
+	pushs 6	|17,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|17,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 7	|17,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 1	|17,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 8	|17,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 2	|17,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 9	|17,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	lload 3	|17,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 6	|17,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|17,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	ret0	|18,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_7
+	ret0	|30,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_8
+	ret0	|34,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
diff --git a/src/test.bdbg b/src/test.bdbg
new file mode 100644
index 0000000..2630c1f
Binary files /dev/null and b/src/test.bdbg differ
diff --git a/src/test.bo b/src/test.bo
new file mode 100644
index 0000000..83617d5
Binary files /dev/null and b/src/test.bo differ
diff --git a/src/test.bzz.save b/src/test.bzz.save
new file mode 100644
index 0000000..db067b4
--- /dev/null
+++ b/src/test.bzz.save
@@ -0,0 +1,31 @@
+# Executed once at init time.
+function init() {
+i=0
+#uav_takeoff()
+}
+ 
+# Executed at each time step.
+function step() {
+
+#print("bzz print: remaining: ", battery.capacity)
+#print("latitude : ",position.latitude," longitude: ",position.longitude," altitude : ", position.altitude)
+#print("flight status: ",flight.status)
+#if(i==10){uav_land()}
+#i=i+1
+
+
+neighbors.listen("key",
+	function(vid, value, rid) {
+		print("Got msg ", value, "from ", rid)
+		uav_takeoff()
+  	})
+}
+ 
+# Executed once when the robot (or the simulator) is reset.
+function reset() {
+}
+ 
+# Executed once at the end of experiment.
+function destroy() {
+}
+
diff --git a/src/test1.basm b/src/test1.basm
new file mode 100644
index 0000000..fd7fc25
--- /dev/null
+++ b/src/test1.basm
@@ -0,0 +1,175 @@
+!19
+'init
+'i
+'a
+'val
+'step
+'neighbors
+'listen
+'Take
+'print
+'Got (
+',
+') from robot #
+'key
+'uav_takeoff
+'uav_land
+'broadcast
+'no
+'reset
+'destroy
+
+	pushs 0
+	pushcn @__label_1
+	gstore
+	pushs 4
+	pushcn @__label_2
+	gstore
+	pushs 17
+	pushcn @__label_13
+	gstore
+	pushs 18
+	pushcn @__label_14
+	gstore
+	nop
+
+@__label_0
+
+@__exitpoint
+	done
+
+@__label_1
+	pushs 1	|3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|3,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|3,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|4,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|4,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|4,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 3	|5,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|5,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|5,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|6,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_2
+	pushs 1	|11,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|11,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|11,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|11,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_3	|11,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 5	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 6	|12,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|12,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 7	|12,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushl @__label_5	|13,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|16,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|16,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 5	|17,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|17,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 6	|17,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|17,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 12	|17,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushl @__label_6	|18,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|22,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|22,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 8	|23,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|23,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 3	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 1	|23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 3	|24,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|24,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 23	|24,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|24,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|24,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|24,25,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	and	|24,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_7	|24,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 13	|25,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|25,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|25,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|25,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|26,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 1	|26,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|26,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_7	|28,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|28,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|28,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 10	|28,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_9	|28,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 14	|28,27,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|28,27,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|28,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|28,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_9	|29,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|29,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	neq	|29,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_11	|29,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|29,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|29,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|29,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 1	|29,25,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	add	|29,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|29,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_11	|30,0,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jump @__label_4	|31,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_3	|31,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 5	|32,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|32,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|32,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|32,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 12	|32,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 23	|32,27,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|32,30,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|32,30,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 5	|33,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|33,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|33,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|33,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 7	|33,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|33,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|33,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|33,33,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_4	|34,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|36,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_5
+	pushs 8	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 9	|14,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 1	|14,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 10	|14,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|14,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 11	|14,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 3	|14,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 6	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|15,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_6
+	pushs 8	|19,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|19,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 9	|19,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 1	|19,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 10	|19,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|19,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 11	|19,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 3	|19,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 6	|19,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|19,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 3	|20,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|20,23,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|20,23,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|21,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_13
+	ret0	|40,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_14
+	ret0	|44,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
diff --git a/src/test1.bdbg b/src/test1.bdbg
new file mode 100644
index 0000000..a98925f
Binary files /dev/null and b/src/test1.bdbg differ
diff --git a/src/test1.bo b/src/test1.bo
new file mode 100644
index 0000000..3709d18
Binary files /dev/null and b/src/test1.bo differ
diff --git a/src/test1.bzz b/src/test1.bzz
index fa34edb..476c852 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -1,6 +1,8 @@
 # Executed once at init time.
 function init() {
 i = 0
+a = 0
+val = 0
 }
  
 # Executed at each time step.
@@ -15,12 +17,19 @@ neighbors.listen("Take",
 neighbors.listen("key",
    function(vid, value, rid) {
       print("Got (", vid, ",", value, ") from robot #", rid)
+      val = value      
    }
 )
+print(val)
+if ((val==23) and (a == 0)) { 
+	uav_takeoff()
+	a=1
+	}
+      if (a == 10) uav_land()
+      if (a != 0)  a = a+1
 }
-
 else{
-neighbors.broadcast("key", "yes")
+neighbors.broadcast("key", 23)
 neighbors.broadcast("Take", "no")
 }
 
@@ -33,4 +42,3 @@ function reset() {
 # Executed once at the end of experiment.
 function destroy() {
 }
-