diff --git a/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.gcd b/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.gcd
old mode 100644
new mode 100755
index bef5a6821b0effdcf3e879751c243bbc187e059d..ec348ca0bdf0860a2714a93c26b1ecb9709b8e7b
--- a/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.gcd
+++ b/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.gcd
@@ -1,6 +1,6 @@
 %SYMBOLIC_NO
 begin dimensions
-fenetre1  1354 573 0 
+fenetre1  2560 1371 0 
 fenetre2  400 300 0 
 image1  709 372 0 
 image2  637 300 0 
@@ -9,13 +9,13 @@ groupe = 2
 p_posx = 24 , p_posy = 28
 debug = 0
 groupe = axis 
-p_posx = 544 , p_posy = 39
+p_posx = 2026 , p_posy = 424
 debug = 1
 groupe = throttle 
-p_posx = 236 , p_posy = 977
+p_posx = 1833 , p_posy = 930
 debug = 1
 groupe = buttons 
-p_posx = 403 , p_posy = 1180
+p_posx = 2117 , p_posy = 613
 debug = 1
 groupe = centering 
 p_posx = 664 , p_posy = 28
@@ -27,7 +27,7 @@ groupe = inhib_for_low
 p_posx = 984 , p_posy = 28
 debug = 0
 groupe = axis_centered 
-p_posx = 709 , p_posy = 57
+p_posx = 2169 , p_posy = 155
 debug = 1
 groupe = rotation_centered 
 p_posx = 184 , p_posy = 196
@@ -48,7 +48,7 @@ groupe = high
 p_posx = 984 , p_posy = 196
 debug = 0
 groupe = motors 
-p_posx = 1126 , p_posy = 58
+p_posx = 1849 , p_posy = 627
 debug = 1
 groupe = 4 
 p_posx = 184 , p_posy = 364
@@ -123,10 +123,7 @@ groupe = compass
 p_posx = 75 , p_posy = 35
 debug = 1
 groupe = compass_error 
-p_posx = 244 , p_posy = 218
-debug = 1
-groupe = compass_error2 
-p_posx = 455 , p_posy = 228
+p_posx = 209 , p_posy = 942
 debug = 1
 groupe = 9 
 p_posx = 984 , p_posy = 868
@@ -141,7 +138,7 @@ groupe = 11
 p_posx = 344 , p_posy = 1036
 debug = 0
 groupe = desired_compass 
-p_posx = 239 , p_posy = 35
+p_posx = 250 , p_posy = 179
 debug = 1
 groupe = rotation_to_axis 
 p_posx = 626 , p_posy = 246
@@ -153,7 +150,7 @@ groupe = 6
 p_posx = 984 , p_posy = 1036
 debug = 0
 groupe = axis_centered2 
-p_posx = 915 , p_posy = 57
+p_posx = 1883 , p_posy = 265
 debug = 1
 groupe = 24 
 p_posx = 184 , p_posy = 1204
@@ -200,9 +197,21 @@ debug = 1
 groupe = save 
 p_posx = 1142 , p_posy = 425
 debug = 1
+groupe = modulo_360 
+p_posx = 184 , p_posy = 1540
+debug = 1
+groupe = bias_for_mod 
+p_posx = 344 , p_posy = 1540
+debug = 1
+groupe = error_modulo 
+p_posx = 504 , p_posy = 1540
+debug = 1
+groupe = 8 
+p_posx = 664 , p_posy = 1540
+debug = 0
 Begin positions
-fenetre1  0 46 
+fenetre1  1080 235 
 fenetre2  443 706 
-image1  647 362 
+image1  371 362 
 image2  0 434 
 End positions
diff --git a/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.symb b/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.symb
old mode 100644
new mode 100755
index 782a6803d20ebae4db7fa7d7cbeddd43749d4960..70d52510e5d61702a33de0cf708e9bcfc14af20e
--- a/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.symb
+++ b/Promethe_scripts/examples/drone_joyRemote/drone_joyRemote.symb
@@ -1038,7 +1038,7 @@ liaison entre 0   et 1 , type = 5 , nbre = 1 , norme = 0.100000
                          temps de memorisation sortie= 0.000000 
                          mode de calcul        = 0 
                          secondaire            = 0 
-                         nom = -t5000
+                         nom = -t20000
                          proba = 1.000000 
 %Les commentaires doivent etre mis ici.
 liaison entre attitude   et 18 , type = 3 , nbre = 1 , norme = 0.300000