Index: trunk/lib/FlairCore/src/FrameworkManager.cpp
===================================================================
--- trunk/lib/FlairCore/src/FrameworkManager.cpp	(revision 180)
+++ trunk/lib/FlairCore/src/FrameworkManager.cpp	(revision 186)
@@ -81,6 +81,5 @@
   for (vector<const Object *>::iterator it = Childs()->begin();
        it < Childs()->end(); it++) {
-    // Printf("child %i %s
-    // %s\n",Childs()->size(),(*it)->ObjectName().c_str(),(*it)->ObjectType().c_str());
+     //Printf("child %i %s %s\n",Childs()->size(),(*it)->ObjectName().c_str(),(*it)->ObjectType().c_str());
     if ((*it)->ObjectType() == "Thread") {
       if (*it != pimpl_) {
@@ -102,6 +101,5 @@
   for (vector<const Object *>::iterator it = Childs()->begin();
        it < Childs()->end(); it++) {
-    // Printf("child %i %s
-    // %s\n",Childs()->size(),(*it)->ObjectName().c_str(),(*it)->ObjectType().c_str());
+     //Printf("child %i %s %s\n",Childs()->size(),(*it)->ObjectName().c_str(),(*it)->ObjectType().c_str());
     if ((*it)->ObjectType() == "IODevice") {
       // Printf("del\n");
@@ -122,6 +120,5 @@
   // permet de garder l'uicom pour notifer des destructions
   while (Childs()->size() != 0) {
-    // Printf("child %i %s
-    // %s\n",Childs()->size(),Childs()->back()->ObjectName().c_str(),Childs()->back()->ObjectType().c_str());
+     //Printf("child %i %s %s\n",Childs()->size(),Childs()->back()->ObjectName().c_str(),Childs()->back()->ObjectType().c_str());
     if (Childs()->back() != NULL)
       delete Childs()->back();
@@ -135,5 +132,5 @@
 void FrameworkManager::SetupConnection(string address, uint16_t port,Time watchdogTimeout,
                                        size_t rcv_buf_size) {
-  pimpl_->SetupConnection(address, port, rcv_buf_size);
+  pimpl_->SetupConnection(address, port, watchdogTimeout,rcv_buf_size);
 }
 
Index: trunk/lib/FlairCore/src/FrameworkManager_impl.cpp
===================================================================
--- trunk/lib/FlairCore/src/FrameworkManager_impl.cpp	(revision 180)
+++ trunk/lib/FlairCore/src/FrameworkManager_impl.cpp	(revision 186)
@@ -239,5 +239,5 @@
   gcs_watchdog = new Watchdog(
       this, std::bind(&FrameworkManager_impl::ConnectionLost, this),
-      (Time)1000000000);
+      watchdogTimeout);
   gcs_watchdog->Start();
 }
Index: trunk/lib/FlairCore/src/OneAxisRotation_impl.cpp
===================================================================
--- trunk/lib/FlairCore/src/OneAxisRotation_impl.cpp	(revision 180)
+++ trunk/lib/FlairCore/src/OneAxisRotation_impl.cpp	(revision 186)
@@ -22,4 +22,5 @@
 #include <Euler.h>
 #include <Quaternion.h>
+#include <math.h>
 
 using std::string;
@@ -41,11 +42,18 @@
 OneAxisRotation_impl::~OneAxisRotation_impl() {}
 
-// compute rotation of each axis through ComputeRotation(Vector3D& vector)
 void OneAxisRotation_impl::ComputeRotation(Quaternion &quat) const {
-  Vector3Df rot = Vector3Df(quat.q1, quat.q2, quat.q3);
-  ComputeRotation(rot);
-  quat.q1 = rot.x;
-  quat.q2 = rot.y;
-  quat.q3 = rot.z;
+  Quaternion rot;
+  switch (rot_axe->CurrentIndex()) {
+    case 0:
+      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),sinf(Euler::ToRadian(rot_value->Value()/2)), 0,0);
+      break;
+    case 1:
+      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,sinf(Euler::ToRadian(rot_value->Value()/2)),0);
+      break;
+    case 2:
+      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,0,sinf(Euler::ToRadian(rot_value->Value()/2)));
+      break;
+  }
+  quat=quat*rot;
 }
 
Index: trunk/lib/FlairCore/src/Thread_impl.cpp
===================================================================
--- trunk/lib/FlairCore/src/Thread_impl.cpp	(revision 180)
+++ trunk/lib/FlairCore/src/Thread_impl.cpp	(revision 186)
@@ -57,7 +57,7 @@
   this->priority = priority;
   period = 100 * 1000 * 1000; // 100ms par defaut
-  min_jitter = 1000 * 1000 * 1000;
-  max_jitter = 0;
-  mean_jitter = 0;
+  min_latency = 1000 * 1000 * 1000;
+  max_latency = 0;
+  mean_latency = 0;
   last = 0;
   cpt = 0;
@@ -234,5 +234,5 @@
   next_time += period;
 #endif
-  ComputeJitter(GetTime());
+  ComputeLatency(GetTime());
 }
 
@@ -324,5 +324,5 @@
   {
 #ifndef __XENO__
-// if(last!=0)
+  if(last!=0)
 #endif
     { Printf("Thread::%s :\n", self->ObjectName().c_str()); }
@@ -346,7 +346,7 @@
 #endif
     if (last != 0) {
-      Printf("    min jitter (ns): %lld\n", min_jitter);
-      Printf("    max jitter (ns): %lld\n", max_jitter);
-      Printf("    jitter moy (ns): %lld\n", mean_jitter / cpt);
+      Printf("    min latency (ns): %lld\n", min_latency);
+      Printf("    max latency (ns): %lld\n", max_latency);
+      Printf("    latency moy (ns): %lld\n", mean_latency / cpt);
       Printf("    itertions: %lld\n", cpt);
     }
@@ -370,5 +370,5 @@
 }
 
-void Thread_impl::ComputeJitter(Time time) {
+void Thread_impl::ComputeLatency(Time time) {
   Time diff, delta;
   diff = time - last;
@@ -384,13 +384,13 @@
     return;
 
-  if (delta > max_jitter)
-    max_jitter = delta;
-  if (delta < min_jitter)
-    min_jitter = delta;
-  mean_jitter += delta;
+  if (delta > max_latency)
+    max_latency = delta;
+  if (delta < min_latency)
+    min_latency = delta;
+  mean_latency += delta;
   cpt++;
 
-  // Printf("Thread::%s jitter moy (ns):
-  // %lld\n",self->ObjectName().c_str(),mean_jitter/cpt);
+  // Printf("Thread::%s latency moy (ns):
+  // %lld\n",self->ObjectName().c_str(),mean_latency/cpt);
 }
 
Index: trunk/lib/FlairCore/src/unexported/FrameworkManager_impl.h
===================================================================
--- trunk/lib/FlairCore/src/unexported/FrameworkManager_impl.h	(revision 180)
+++ trunk/lib/FlairCore/src/unexported/FrameworkManager_impl.h	(revision 186)
@@ -44,5 +44,5 @@
   ~FrameworkManager_impl();
   void SetupConnection(std::string address, uint16_t port,flair::core::Time watchdogTimeout,
-                       size_t rcv_buf_size = 10000);
+                       size_t rcv_buf_size);
   void SetupUserInterface(std::string xml_file);
   void SetupLogger(std::string log_path);
Index: trunk/lib/FlairCore/src/unexported/Thread_impl.h
===================================================================
--- trunk/lib/FlairCore/src/unexported/Thread_impl.h	(revision 180)
+++ trunk/lib/FlairCore/src/unexported/Thread_impl.h	(revision 186)
@@ -55,5 +55,5 @@
   flair::core::ConditionVariable *cond;
   uint8_t priority;
-  flair::core::Time max_jitter, min_jitter, mean_jitter;
+  flair::core::Time max_latency, min_latency, mean_latency;
   flair::core::Time last;
   uint64_t cpt;
@@ -62,5 +62,5 @@
   bool is_suspended;
   void PrintStats(void);
-  void ComputeJitter(flair::core::Time time);
+  void ComputeLatency(flair::core::Time time);
 #ifdef __XENO__
   RT_TASK task_rt;
