diff --git a/src/modelec_strat/src/action_executor.cpp b/src/modelec_strat/src/action_executor.cpp
index 3e7aa26..62bad23 100644
--- a/src/modelec_strat/src/action_executor.cpp
+++ b/src/modelec_strat/src/action_executor.cpp
@@ -78,6 +78,7 @@ namespace Modelec
 
     void ActionExecutor::Update()
     {
+        RCLCPP_INFO(node_->get_logger(), "ActionExecutor::Update()");
         if (step_.empty())
         {
             action_ = NONE;
@@ -85,12 +86,17 @@ namespace Modelec
             return;
         }
 
-        if (step_running_ == 0)
+        RCLCPP_INFO(node_->get_logger(), "ActionExecutor::Update() - action_ = %d", action_);
+        RCLCPP_INFO(node_->get_logger(), "is the right one = %d", step_.front() == DEPLOY_BANNER_STEP);
+        RCLCPP_INFO(node_->get_logger(), "step running = %d", step_running_);
+
+        if (step_running_ <= 0)
         {
             switch (step_.front())
             {
             case DEPLOY_BANNER_STEP:
                 {
+                    RCLCPP_INFO(node_->get_logger(), "ActionExecutor::Update() - DEPLOY_BANNER_STEP");
                     modelec_interfaces::msg::ActionServoPos msg;
                     msg.id = 5; // TODO : to define
                     msg.pos = 1;
@@ -100,9 +106,10 @@ namespace Modelec
                 }
 
                 break;
-
             case ASC_GO_DOWN:
                 {
+                    RCLCPP_INFO(node_->get_logger(), "is the right one = %d", step_.front() == ASC_GO_DOWN);
+
                     modelec_interfaces::msg::ActionAscPos asc_msg;
                     asc_msg.pos = 1;
                     asc_move_pub_->publish(asc_msg);
@@ -321,6 +328,8 @@ namespace Modelec
         {
             action_ = DEPLOY_BANNER;
             action_done_ = false;
+            step_running_ = 0;
+
             step_.push(DEPLOY_BANNER_STEP);
 
             Update();
@@ -333,6 +342,7 @@ namespace Modelec
         {
             action_ = TAKE_POT;
             action_done_ = false;
+            step_running_ = 0;
 
             if (two_floor)
             {
@@ -361,6 +371,7 @@ namespace Modelec
         {
             action_ = PLACE_POT;
             action_done_ = false;
+            step_running_ = 0;
 
             if (two_floor)
             {
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index b0b80ff..928ec6f 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -27,11 +27,23 @@ namespace Modelec
 
     void BannerMission::Update()
     {
-        if (status_ != MissionStatus::RUNNING) return;
+        if (status_ != MissionStatus::RUNNING)
+        {
+            RCLCPP_INFO(node_->get_logger(), "Mission not running");
+            return;
+        }
 
-        if (!action_executor_->IsActionDone()) return;
+        if (!action_executor_->IsActionDone())
+        {
+            RCLCPP_INFO(node_->get_logger(), "Waiting for action to finish");
+            return;
+        }
 
-        if (!nav_->HasArrived()) return;
+        if (!nav_->HasArrived())
+        {
+            RCLCPP_INFO(node_->get_logger(), "Waiting for navigation to finish");
+            return;
+        }
 
         switch (step_)
         {
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index 629066d..76339ee 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -15,7 +15,13 @@ namespace Modelec
     {
         node_ = node;
 
-        mission_score_ = Config::get<int>("config.mission_score.concert.niv_2", 0);
+        if (two_floor_)
+        {
+            mission_score_ = Config::get<int>("config.mission_score.concert.niv_2", 0);
+        } else
+        {
+            mission_score_ = Config::get<int>("config.mission_score.concert.niv_1", 0);
+        }
 
         score_pub_ = node_->create_publisher<std_msgs::msg::Int64>("/strat/score", 10);
 
diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp
index 5479816..9a3f9d1 100644
--- a/src/modelec_strat/src/strat_fms.cpp
+++ b/src/modelec_strat/src/strat_fms.cpp
@@ -10,8 +10,6 @@ namespace Modelec
         tir_sub_ = create_subscription<std_msgs::msg::Empty>(
             "/action/tir/start", 10, [this](const std_msgs::msg::Empty::SharedPtr)
             {
-                RCLCPP_INFO(get_logger(), "TIR started");
-
                 if (setup_ && !started_)
                 {
                     started_ = true;
@@ -40,14 +38,12 @@ namespace Modelec
         reset_strat_sub_ = create_subscription<std_msgs::msg::Empty>(
             "/strat/reset", 10, [this](const std_msgs::msg::Empty::SharedPtr)
             {
-                RCLCPP_INFO(get_logger(), "Resetting strat");
                 Reset();
             });
 
         tir_arm_sub_ = create_subscription<std_msgs::msg::Empty>(
             "/action/tir/arm", 10, [this](const std_msgs::msg::Empty::SharedPtr)
             {
-                RCLCPP_INFO(get_logger(), "TIR armed");
                 setup_ = true;
             });
 
@@ -80,6 +76,7 @@ namespace Modelec
     {
         nav_ = std::make_shared<NavigationHelper>(shared_from_this());
         action_executor_ = std::make_unique<ActionExecutor>(shared_from_this());
+        ResetStrat();
 
         RCLCPP_INFO(this->get_logger(), "StratFMS fully initialized");
     }