diff --git a/buzz_scripts/include/barrier.bzz b/buzz_scripts/include/barrier.bzz
index 8c55806..dbf5978 100644
--- a/buzz_scripts/include/barrier.bzz
+++ b/buzz_scripts/include/barrier.bzz
@@ -8,6 +8,7 @@
 # Constants
 #
 BARRIER_VSTIG = 11
+BARRIER_TIMEOUT = 200 # in steps
 
 #
 # Sets a barrier
@@ -29,14 +30,12 @@ function barrier_ready() {
 #
 # Executes the barrier
 #
-BARRIER_TIMEOUT = 200
 timeW=0
 function barrier_wait(threshold, transf, resumef, bdt) {
-  #barrier.get(id)
   barrier.put(id, 1)
   UAVSTATE = "BARRIERWAIT"
-  if(bdt!=-1)
-    neighbors.broadcast("cmd", brd)
+
+  barrier.get(id)
   if(barrier.size() >= threshold) {
 #    getlowest()
     transf()
@@ -44,14 +43,16 @@ function barrier_wait(threshold, transf, resumef, bdt) {
     barrier = nil
     resumef()
     timeW=0
-  }
+  } else if(bdt!=-1)
+    neighbors.broadcast("cmd", bdt)
+
   timeW = timeW+1
 }
 
-# get the lowest id of the fleet, but requires too much bandwidth
+# get the lowest id of the fleet, but requires too much bandwidth...
 function getlowest(){
-  Lid = 20;
-  u=20
+  Lid = 15;
+  u=15
   while(u>=0){
 				tab = barrier.get(u)
 				if(tab!=nil){
diff --git a/buzz_scripts/include/uavstates.bzz b/buzz_scripts/include/uavstates.bzz
index 180c6cc..8b5a9dd 100644
--- a/buzz_scripts/include/uavstates.bzz
+++ b/buzz_scripts/include/uavstates.bzz
@@ -28,7 +28,7 @@ function takeoff() {
 	statef=takeoff
 	
 	if( flight.status == 2 and position.altitude >= TARGET_ALTITUDE-TARGET_ALTITUDE/20.0) {
-		barrier_set(ROBOTS,action,land,22)
+		barrier_set(ROBOTS,action,land,-1)
 		barrier_ready()
 	}
 	else {
diff --git a/buzz_scripts/include/vstigenv.bzz b/buzz_scripts/include/vstigenv.bzz
index c983fcc..7fd8e42 100644
--- a/buzz_scripts/include/vstigenv.bzz
+++ b/buzz_scripts/include/vstigenv.bzz
@@ -1,16 +1,29 @@
-STATUS_VSTIG = 10
-GROUND_VSTIG = 11
+########################################
+#
+# FLEET V.STIGMERGY-RELATED FUNCTIONS
+#
+########################################
+#
+# Constants
+#
+STATUS_VSTIG = 20
+GROUND_VSTIG = 21
+HIGHEST_ROBOTID = 14
 WAIT4STEP = 10
-v_status = {}
-v_ground = {}
+
+#
+# Init var
+#
+var v_status = {}
+var v_ground = {}
 b_updating = 0
+counter=WAIT4STEP
 
 function uav_initstig() {
 	v_status = stigmergy.create(STATUS_VSTIG)
 	v_ground = stigmergy.create(GROUND_VSTIG)
 }
 
-counter=WAIT4STEP
 function uav_updatestig() {
 	# TODO: Push values on update only.
 	if(counter<=0) {
@@ -78,7 +91,7 @@ function stattab_print() {
 	if(v_status.size()>0) {
 		if(b_updating==0) {
 			u=0
-			while(u<8){
+			while(u<HIGHEST_ROBOTID){
 				tab = v_status.get(u)
 				if(tab!=nil)
 					unpackstatus(tab)
@@ -92,7 +105,7 @@ function stattab_send() {
 	if(v_status.size()>0) {
 		if(b_updating==0) {
 			u=0
-			while(u<8){
+			while(u<HIGHEST_ROBOTID){
 				tab = v_status.get(u)
 				if(tab!=nil){
 					recv_value=tab
diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh
index a41c787..b519148 100644
--- a/misc/cmdlinectr.sh
+++ b/misc/cmdlinectr.sh
@@ -31,13 +31,5 @@ function stoprobot {
 }
 function updaterobot {
 #	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
-}
-function updaterobot {
-#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
-}
-function updaterobot {
-#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
+	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100buzzy.launch
 }