diff --git a/include/model_car_drivers_act.h b/include/model_car_drivers_act.h
index 11e024f50640c032a57eb9a51f4af08feae099ef..df0fa22e9c805df2b4e50e9e5123370c581395d0 100644
--- a/include/model_car_drivers_act.h
+++ b/include/model_car_drivers_act.h
@@ -29,7 +29,7 @@ class CModel_Car_Drivers_Act: public CModel_Car_Drivers_Base
   protected:
     
   public:
-    CModel_Car_Drivers_Act(std::string &name);
+    CModel_Car_Drivers_Act(std::string name);
     void send_speed(float speed);
     void send_steering(float angle);
     void send_watchdog();
diff --git a/include/model_car_drivers_base.h b/include/model_car_drivers_base.h
index 0af5fff4439bd374a849209d45ee23d8d7dea947..e0cb86d40bb3a6e5e78836455c32ac1dd8bcf8af 100644
--- a/include/model_car_drivers_base.h
+++ b/include/model_car_drivers_base.h
@@ -62,7 +62,7 @@ class CModel_Car_Drivers_Base
     void delete_thread_and_events(void);
     
   public:
-    CModel_Car_Drivers_Base(std::string &name, ARDUINO_ID arduino_id);
+    CModel_Car_Drivers_Base(std::string name, ARDUINO_ID arduino_id);
     void start();
     bool open(std::string &serial_dev);
     void stop(void);
diff --git a/include/model_car_drivers_bat.h b/include/model_car_drivers_bat.h
index e0d5c2037460b459a0821d7723e95f6fd4395392..db898b7fa3a1839bad05778057a04bc78e970b2f 100644
--- a/include/model_car_drivers_bat.h
+++ b/include/model_car_drivers_bat.h
@@ -1,5 +1,5 @@
-#ifndef _MODEL_CAR_DRIVERS_USS_H
-#define _MODEL_CAR_DRIVERS_USS_H
+#ifndef _MODEL_CAR_DRIVERS_BAT_H
+#define _MODEL_CAR_DRIVERS_BAT_H
 
 #include "rs232.h"
 #include "commexceptions.h"
@@ -30,7 +30,7 @@ class CModel_Car_Drivers_Bat: public CModel_Car_Drivers_Base
   protected:
     
   public:
-    CModel_Car_Drivers_Bat(std::string &name);
+    CModel_Car_Drivers_Bat(std::string name);
     bool get_bat(SENSOR_ID id, float & value);
     ~CModel_Car_Drivers_Bat(void);
 };
diff --git a/include/model_car_drivers_egomotion.h b/include/model_car_drivers_egomotion.h
index 9fcb0bce1748e18346c585ea68f04d5b9caa6fdf..1991171d999f24acc5de341e1495ff805e5c4d3c 100644
--- a/include/model_car_drivers_egomotion.h
+++ b/include/model_car_drivers_egomotion.h
@@ -32,7 +32,7 @@ class CModel_Car_Drivers_Egomotion: public CModel_Car_Drivers_Base
   protected:
     
   public:
-    CModel_Car_Drivers_Egomotion(std::string &name);
+    CModel_Car_Drivers_Egomotion(std::string name);
     bool get_left_wheel(tSensWheelData & data);
     bool get_right_wheel(tSensWheelData & data);
     bool get_imu(tImuData & data);
diff --git a/include/model_car_drivers_uss.h b/include/model_car_drivers_uss.h
index 82b77ca347fcb8ee93853c95e2ce3d752e57ab9f..3883e0652a698e8314eadceec372d5ea490e4067 100644
--- a/include/model_car_drivers_uss.h
+++ b/include/model_car_drivers_uss.h
@@ -30,7 +30,7 @@ class CModel_Car_Drivers_Uss: public CModel_Car_Drivers_Base
   protected:
     
   public:
-    CModel_Car_Drivers_Uss(std::string &name);
+    CModel_Car_Drivers_Uss(std::string name);
     bool get_uss(SENSOR_ID id, float & value);
     ~CModel_Car_Drivers_Uss(void);
 };
diff --git a/src/model_car_drivers_act.cpp b/src/model_car_drivers_act.cpp
index 4904942694366bc56cde9f7874e82ca05e08a955..e3335aff7b38f4c75078c40f83a9dab5cede253d 100644
--- a/src/model_car_drivers_act.cpp
+++ b/src/model_car_drivers_act.cpp
@@ -1,6 +1,6 @@
 #include "model_car_drivers_act.h"
 
-CModel_Car_Drivers_Act::CModel_Car_Drivers_Act(std::string &name) : CModel_Car_Drivers_Base(name, ARDUINO_CENTER_ACTUATORS)
+CModel_Car_Drivers_Act::CModel_Car_Drivers_Act(std::string name) : CModel_Car_Drivers_Base(name, ARDUINO_CENTER_ACTUATORS)
 {
 
 }
diff --git a/src/model_car_drivers_base.cpp b/src/model_car_drivers_base.cpp
index ef8a7aca03e9f089655640e42abd4d7402ceef9c..b9236c208c79ff263ea39e691cccdca9e5f5790c 100644
--- a/src/model_car_drivers_base.cpp
+++ b/src/model_car_drivers_base.cpp
@@ -28,7 +28,7 @@ inline HexCharStruct hex(unsigned char _c)
   return HexCharStruct(_c);
 }
 
-CModel_Car_Drivers_Base::CModel_Car_Drivers_Base(std::string &name, ARDUINO_ID arduino_id)
+CModel_Car_Drivers_Base::CModel_Car_Drivers_Base(std::string name, ARDUINO_ID arduino_id)
 {
   this->name=name;
   this->arduino_id=arduino_id;
diff --git a/src/model_car_drivers_bat.cpp b/src/model_car_drivers_bat.cpp
index 85503f095e8bd764edc78850d865939a5e08002d..ab14f911c74c59dcf1113af32f4e4c365bdb1fb5 100644
--- a/src/model_car_drivers_bat.cpp
+++ b/src/model_car_drivers_bat.cpp
@@ -1,6 +1,6 @@
 #include "model_car_drivers_bat.h"
 
-CModel_Car_Drivers_Bat::CModel_Car_Drivers_Bat(std::string &name) : CModel_Car_Drivers_Base(name, ARDUINO_CENTER_MEASUREMENT)
+CModel_Car_Drivers_Bat::CModel_Car_Drivers_Bat(std::string name) : CModel_Car_Drivers_Base(name, ARDUINO_CENTER_MEASUREMENT)
 {
   tVoltageData v;
   m_bat_values.insert(std::make_pair(ID_ARD_SENS_VOLT_ACTUATOR, v));
diff --git a/src/model_car_drivers_egomotion.cpp b/src/model_car_drivers_egomotion.cpp
index bc58ad87122c6cfd9d3baf5a2869de12318c1ce6..13f20c8450317ce8fad4a030be4e51b86d1f6d05 100644
--- a/src/model_car_drivers_egomotion.cpp
+++ b/src/model_car_drivers_egomotion.cpp
@@ -1,6 +1,6 @@
 #include "model_car_drivers_egomotion.h"
 
-CModel_Car_Drivers_Egomotion::CModel_Car_Drivers_Egomotion(std::string &name) : CModel_Car_Drivers_Base(name, ARDUINO_REAR_IMU_WHEELENC)
+CModel_Car_Drivers_Egomotion::CModel_Car_Drivers_Egomotion(std::string name) : CModel_Car_Drivers_Base(name, ARDUINO_REAR_IMU_WHEELENC)
 {
 
 }
diff --git a/src/model_car_drivers_uss.cpp b/src/model_car_drivers_uss.cpp
index 46f61eade7c56a4af68bf409ef1e5dd0ef4a09e8..cbb1a340bb8175b70491ea86f806c20dbbbf7297 100644
--- a/src/model_car_drivers_uss.cpp
+++ b/src/model_car_drivers_uss.cpp
@@ -1,6 +1,6 @@
 #include "model_car_drivers_uss.h"
 
-CModel_Car_Drivers_Uss::CModel_Car_Drivers_Uss(std::string &name) : CModel_Car_Drivers_Base(name, ARDUINO_REAR_US)
+CModel_Car_Drivers_Uss::CModel_Car_Drivers_Uss(std::string name) : CModel_Car_Drivers_Base(name, ARDUINO_REAR_US)
 {
   tUsData us;
   m_uss_values.insert(std::make_pair(ID_ARD_SENS_US_SIDE_RIGHT, us));