diff --git a/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino b/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino
index 8573539..ed9beed 100644
--- a/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino
+++ b/Arduino/BROBOT_EVO2/BROBOT_EVO2.ino
@@ -5,8 +5,8 @@
 // This code doesn´t need external libraries
 // Author: JJROBOTS.COM
 // Date: 02/09/2014
-// Updated: 08/03/2017
-// Version: 2.8
+// Updated: 06/05/2017
+// Version: 2.81
 // License: GPL v2
 // Project URL: http://jjrobots.com/b-robot (Features,documentation,build instructions,how it works, SHOP,...)
 // New updates:
@@ -214,8 +214,7 @@ void setup()
 #else
   delay(1000);
 #endif
-  Serial.println("BROBOT by JJROBOTS v2.8");
-
+  Serial.println("JJROBOTS");
   delay(200);
   Serial.println("Don't move for 10 sec...");
   MPU6050_setup();  // setup MPU6050 IMU
@@ -264,19 +263,14 @@ void setup()
   ESPsendCommand(cmd, "OK", 6);
 #endif
   // Start UDP SERVER on port 2222, telemetry port 2223
-  //Serial.println("Start UDP server");
-  //ESPsendCommand("AT+CIPMUX=0", "OK", 3);  // Single connection mode
-  //ESPsendCommand("AT+CIPMODE=1", "OK", 3); // Transparent mode
-  //char Telemetry[80];
-  //strcpy(Telemetry,"AT+CIPSTART=\"UDP\",\"");
-  //strcat(Telemetry,TELEMETRY);
-  //strcat(Telemetry,"\",2223,2222,0");
-  //ESPsendCommand(Telemetry, "OK", 3);
-
-  // Start TCP SERVER
-  ESPsendCommand("AT+CIPMUX=1", "OK", 3);  // Single connection mode
+  Serial.println("Start UDP server");
+  ESPsendCommand("AT+CIPMUX=0", "OK", 3);  // Single connection mode
   ESPsendCommand("AT+CIPMODE=1", "OK", 3); // Transparent mode
-  ESPsendCommand("AT+CIPSERVER=1,2222", "OK", 3); // TCP server
+  char Telemetry[80];
+  strcpy(Telemetry,"AT+CIPSTART=\"UDP\",\"");
+  strcat(Telemetry,TELEMETRY);
+  strcat(Telemetry,"\",2223,2222,0");
+  ESPsendCommand(Telemetry, "OK", 3); 
 
   // Calibrate gyros
   MPU6050_calibrate();
@@ -330,7 +324,7 @@ void setup()
   Serial.print("BATT:");
   Serial.println(BatteryValue);
 #endif
-
+  Serial.println("BROBOT by JJROBOTS v2.81");
   Serial.println("Start...");
   timer_old = micros();
 }
diff --git a/Arduino/BROBOT_EVO2/MPU6050.ino b/Arduino/BROBOT_EVO2/MPU6050.ino
index d126a70..4efb5da 100644
--- a/Arduino/BROBOT_EVO2/MPU6050.ino
+++ b/Arduino/BROBOT_EVO2/MPU6050.ino
@@ -576,8 +576,8 @@ void MPU6050_read_3axis()
   // read 14 bytes (gyros, temp and accels)
   error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
   if (error != 0) {
-    //Serial.print("MPU6050 Error:");
-    //Serial.println(error);
+    Serial.print("MPU6050 Error:");
+    Serial.println(error);
   }
   // swap bytes
   SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
@@ -617,14 +617,14 @@ void MPU6050_read_1axis()
   // read X accel
   error = MPU6050_read(MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro.reg.x_accel_h, 6);
   if (error != 0) {
-    //Serial.print("MPU6050 Error:");
-    //Serial.println(error);
+    Serial.print("MPU6050 Error:");
+    Serial.println(error);
   }
   // read X gyro
   error = MPU6050_read(MPU6050_GYRO_XOUT_H, (uint8_t *) &accel_t_gyro.reg.x_gyro_h, 2);
   if (error != 0) {
-    //Serial.print("MPU6050 Error:");
-    //Serial.println(error);
+    Serial.print("MPU6050 Error:");
+    Serial.println(error);
   }
   SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.y_accel_l);
   SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
@@ -645,8 +645,8 @@ bool MPU6050_newData()
 
   error = MPU6050_read(MPU6050_INT_STATUS, &status, 1);
   if (error != 0) {
-    //Serial.print("MPU6050 Error:");
-    //Serial.println(error);
+    Serial.print("MPU6050 Error:");
+    Serial.println(error);
   }
   if (status & (0b00000001)) // Data ready?
     return true;
diff --git a/Arduino/BROBOT_EVO2/OSC.ino b/Arduino/BROBOT_EVO2/OSC.ino
index d61592f..acf737c 100644
--- a/Arduino/BROBOT_EVO2/OSC.ino
+++ b/Arduino/BROBOT_EVO2/OSC.ino
@@ -15,7 +15,7 @@
 
 
 // for DEBUG uncomment this lines...
-//#define OSCDEBUG 3
+//#define OSCDEBUG 0
 
 
 char UDPBuffer[8]; // input message buffer
@@ -105,7 +105,6 @@ void OSC_MsgRead()
       UDPBuffer[i] = UDPBuffer[i - 1];
     }
     UDPBuffer[0] = Serial1.read();
-    Serial.print(UDPBuffer[0]);
 #ifdef OSCDEBUG3
     Serial.print(UDPBuffer[0]);
 #endif