diff --git a/include/roscontroller.h b/include/roscontroller.h
index 74db7ae..bb4d938 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -38,6 +38,7 @@
 #define XBEE_MESSAGE_CONSTANT 586782343
 #define XBEE_STOP_TRANSMISSION 4355356352
 #define TIMEOUT	60
+#define BUZZRATE 50
 
 using namespace std;
 
diff --git a/script/testflocksim.bzz b/script/testflocksim.bzz
index 48f47dd..a100066 100644
--- a/script/testflocksim.bzz
+++ b/script/testflocksim.bzz
@@ -16,7 +16,7 @@ CURSTATE = "TURNEDOFF"
  
 # Lennard-Jones parameters
 TARGET     = 12.0
-EPSILON    = 12.0
+EPSILON    = 0.5
  
 # Lennard-Jones interaction magnitude
 function lj_magnitude(dist, target, epsilon) {
@@ -224,13 +224,13 @@ neighbors.listen("cmd",
 	log("Swarm size: ",ROBOTS)
 	
 	# Read a value from the structure
-				log(users)      
+		#		log(users)      
 				#users_print(users.dataG)
 				if(size(users.dataG)>0)
 					vt.put("p", users.dataG)
 				
         # Get the number of keys in the structure
-        log("The vstig has ", vt.size(), " elements")
+        #log("The vstig has ", vt.size(), " elements")
 				users_save(vt.get("p"))
 				table_print(users.dataL)
 }
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index eb07080..7c89c2b 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -124,7 +124,7 @@ namespace buzz_utility{
 		/* Save entry into data table */
 		buzzvm_push(VM, entry);
 		buzzvm_tput(VM);
-		ROS_INFO("Buzz_utility saved new user: %i (%f,%f,%f)", id, latitude, longitude, altitude);
+		//ROS_INFO("Buzz_utility saved new user: %i (%f,%f,%f)", id, latitude, longitude, altitude);
 		// forcing the new table into the stigmergy....
 		/*buzzobj_t newt = buzzvm_stack_at(VM, 0);
 		buzzvm_pushs(VM, buzzvm_string_register(VM, "vt", 1));
diff --git a/src/buzzuav_closures.cpp b/src/buzzuav_closures.cpp
index 72b42e5..658d206 100644
--- a/src/buzzuav_closures.cpp
+++ b/src/buzzuav_closures.cpp
@@ -125,8 +125,8 @@ namespace buzzuav_closures{
 	   printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
 	   gps_from_rb(d, b, goto_pos);
 	   cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;*/
-       printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
-	   printf(" Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f  \n",goto_pos[0], goto_pos[1], goto_pos[2]);
+       //printf(" Vector for Goto: %.7f,%.7f\n",dx,dy);
+	   //printf(" Buzz requested Move To: x: %.7f , y: %.7f, z: %.7f  \n",goto_pos[0], goto_pos[1], goto_pos[2]);
 	   buzz_cmd= COMMAND_MOVETO; // TO DO what should we use
 	   return buzzvm_ret0(vm);
 	}
@@ -189,7 +189,7 @@ namespace buzzuav_closures{
 
 	   rb_from_gps(tmp, rb, cur_pos);
 	   if(fabs(rb[0])<100.0) {
-	   	printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
+	   	//printf("\tGot new user from bzz stig: %i - %f, %f\n", uid, rb[0], rb[1]);
 		return users_add2localtable(vm, uid, rb[0], rb[1]);
 	   } else
 		printf(" ---------- User too far %f\n",rb[0]);
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index dd2cfa1..ae08f99 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -118,17 +118,17 @@ namespace rosbzz_node{
 	    			/*run once*/
 	    			ros::spinOnce();
 				/*loop rate of ros*/
-				 ros::Rate loop_rate(10);
+				 ros::Rate loop_rate(BUZZRATE);
 				 loop_rate.sleep();
 				 if(fcu_timeout<=0)
 					buzzuav_closures::rc_call(mavros_msgs::CommandCode::NAV_LAND);
 				 else
-					fcu_timeout -= 1/10;
+					fcu_timeout -= 1/BUZZRATE;
  				/*sleep for the mentioned loop rate*/
     			timer_step+=1;
    				maintain_pos(timer_step);
 
-   				std::cout<< "HOME: " << home.latitude << ", " << home.longitude;
+   				//std::cout<< "HOME: " << home.latitude << ", " << home.longitude;
 			}
 			/* Destroy updater and Cleanup */
     			//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
@@ -513,7 +513,7 @@ namespace rosbzz_node{
 	/Refresh neighbours Position for every ten step
 	/---------------------------------------------*/
 	void roscontroller::maintain_pos(int tim_step){
-		if(timer_step >=10){
+		if(timer_step >=BUZZRATE){
 		neighbours_pos_map.clear();
 		//raw_neighbours_pos_map.clear(); // TODO: currently not a problem, but have to clear !
 		timer_step=0;
@@ -732,10 +732,10 @@ namespace rosbzz_node{
 		moveMsg.pose.orientation.w = 1;
 
                 // To prevent drifting from stable position.
-		if(fabs(x)>0.05 || fabs(y)>0.05) {
+		//if(fabs(x)>0.005 || fabs(y)>0.005) {
                     localsetpoint_nonraw_pub.publish(moveMsg);
-                    ROS_INFO("Sent local NON RAW position message!");
-                }
+                    //ROS_INFO("Sent local NON RAW position message!");
+        //        }
 	}
 
 	void roscontroller::SetMode(std::string mode, int delay_miliseconds){
@@ -827,7 +827,7 @@ namespace rosbzz_node{
 			gps_rb(nei_pos, cvt_neighbours_pos_payload);
 			/*Extract robot id of the neighbour*/
 	 		uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t)*(message_obt+3));
-			cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[1] << ", "<< cvt_neighbours_pos_payload[2] << endl;
+			//cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[1] << ", "<< cvt_neighbours_pos_payload[2] << endl;
 			/*pass neighbour position to local maintaner*/
 			buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);
 			/*Put RID and pos*/