diff --git a/dfall_ws/src/dfall_pkg/launch/Config.sh b/dfall_ws/src/dfall_pkg/launch/Config.sh
index 1aa9fac55309112314225d41b7ebaf8eef0cbec1..fcd2c5ea00d30d57632f7bbf60b9ac336d4470fd 100755
--- a/dfall_ws/src/dfall_pkg/launch/Config.sh
+++ b/dfall_ws/src/dfall_pkg/launch/Config.sh
@@ -1,7 +1,9 @@
 # TO RUN THE SYSTEM FULLY ON THE LOCAL COMPUTER:
 #export ROS_MASTER_URI=http://localhost:11311
-# TO RUN THE SYSTEM ON A DEFAULT CONFIGURATION OF THE NETWROK:
+# TO RUN THE SYSTEM AS AN AGENT ON A DEFAULT CONFIGURATION OF THE NETWROK:
 export ROS_MASTER_URI=http://dfallmaster:11311
+# TO RUN THE SYSTEM AS A ROS-MASTER ON A DEFAULT CONFIGURATION OF THE NETWROK:
+#export ROS_HOSTNAME=teacher
 # OTHER NECESSARY ENVIRONMENT VARIABLES:
 export ROS_IP=$(hostname -I | awk '{print $1;}')
 export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id)
diff --git a/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp b/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
index 92e45dc945abba32ad47ec2876193fd73fb59093..4741dde7ffc5fafbbd15e1499d43a1e5bcb5dd48 100644
--- a/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
+++ b/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
@@ -464,7 +464,7 @@ void QuadrotorSimulator::subscribe_to_commanding_agent_id( int commanding_agent_
 float QuadrotorSimulator::convert_16_bit_motor_command_to_newtons( int motor_command )
 {
 	// Convert the command to a float
-	float cmd = float( motor_command );
+	float cmd = fmod( float( motor_command ) , 65535.0 );
 
 	// Saturate it
 	if (cmd < this->m_command_sixteenbit_min)