diff --git a/platforms/parrot/bebop/client/client.go b/platforms/parrot/bebop/client/client.go
index 08451c1b4..6813fe773 100644
--- a/platforms/parrot/bebop/client/client.go
+++ b/platforms/parrot/bebop/client/client.go
@@ -107,50 +107,6 @@ func NewNetworkFrame(buf []byte) NetworkFrame {
 	return frame
 }
 
-func networkFrameGenerator() func(*bytes.Buffer, byte, byte) *bytes.Buffer {
-	// func networkFrameGenerator() func(*bytes.Buffer, byte, byte) NetworkFrame {
-	//
-	// ARNETWORKAL_Frame_t
-	//
-	// uint8  type  - frame type ARNETWORK_FRAME_TYPE
-	// uint8  id    - identifier of the buffer sending the frame
-	// uint8  seq   - sequence number of the frame
-	// uint32 size  - size of the frame
-	//
-
-	// each frame id has it's own sequence number
-	seq := make(map[byte]byte)
-
-	hlen := 7 // size of ARNETWORKAL_Frame_t header
-
-	return func(cmd *bytes.Buffer, frameType byte, id byte) *bytes.Buffer {
-		if _, ok := seq[id]; !ok {
-			seq[id] = 0
-		}
-
-		seq[id]++
-
-		if seq[id] > 255 {
-			seq[id] = 0
-		}
-
-		ret := &bytes.Buffer{}
-		ret.WriteByte(frameType)
-		ret.WriteByte(id)
-		ret.WriteByte(seq[id])
-
-		size := &bytes.Buffer{}
-		if err := binary.Write(size, binary.LittleEndian, uint32(cmd.Len()+hlen)); err != nil {
-			panic(err)
-		}
-
-		ret.Write(size.Bytes())
-		ret.Write(cmd.Bytes())
-
-		return ret
-	}
-}
-
 type Pcmd struct {
 	Flag  int
 	Roll  int
@@ -161,33 +117,33 @@ type Pcmd struct {
 }
 
 type Bebop struct {
-	IP                    string
-	NavData               map[string]string
-	Pcmd                  Pcmd
-	tmpFrame              tmpFrame
-	C2dPort               int
-	D2cPort               int
-	RTPStreamPort         int
-	RTPControlPort        int
-	DiscoveryPort         int
-	c2dClient             *net.UDPConn
-	d2cClient             *net.UDPConn
-	discoveryClient       *net.TCPConn
-	networkFrameGenerator func(*bytes.Buffer, byte, byte) *bytes.Buffer
-	video                 chan []byte
-	writeChan             chan []byte
+	IP               string
+	NavData          map[string]string
+	Pcmd             Pcmd
+	tmpFrame         tmpFrame
+	C2dPort          int
+	D2cPort          int
+	RTPStreamPort    int
+	RTPControlPort   int
+	DiscoveryPort    int
+	c2dClient        *net.UDPConn
+	d2cClient        *net.UDPConn
+	discoveryClient  *net.TCPConn
+	nwFrameGenerator *nwFrameGenerator
+	video            chan []byte
+	writeChan        chan []byte
 }
 
 func New() *Bebop {
 	return &Bebop{
-		IP:                    "192.168.42.1",
-		NavData:               make(map[string]string),
-		C2dPort:               54321,
-		D2cPort:               43210,
-		RTPStreamPort:         55004,
-		RTPControlPort:        55005,
-		DiscoveryPort:         44444,
-		networkFrameGenerator: networkFrameGenerator(),
+		IP:               "192.168.42.1",
+		NavData:          make(map[string]string),
+		C2dPort:          54321,
+		D2cPort:          43210,
+		RTPStreamPort:    55004,
+		RTPControlPort:   55005,
+		DiscoveryPort:    44444,
+		nwFrameGenerator: newNetworkFrameGenerator(),
 		Pcmd: Pcmd{
 			Flag:  0,
 			Roll:  0,
@@ -332,7 +288,7 @@ func (b *Bebop) FlatTrim() error {
 
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) GenerateAllStates() error {
@@ -352,7 +308,7 @@ func (b *Bebop) GenerateAllStates() error {
 
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) TakeOff() error {
@@ -372,7 +328,7 @@ func (b *Bebop) TakeOff() error {
 
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) Land() error {
@@ -392,7 +348,7 @@ func (b *Bebop) Land() error {
 
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) Up(val int) error {
@@ -516,7 +472,7 @@ func (b *Bebop) generatePcmd() *bytes.Buffer {
 	}
 	cmd.Write(tmp.Bytes())
 
-	return b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID)
+	return b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID)
 }
 
 func (b *Bebop) createAck(frame NetworkFrame) *bytes.Buffer {
@@ -528,14 +484,14 @@ func (b *Bebop) createAck(frame NetworkFrame) *bytes.Buffer {
 	// libARNetwork/Sources/ARNETWORK_Manager.h#ARNETWORK_Manager_IDOutputToIDAck
 	//
 
-	return b.networkFrameGenerator(bytes.NewBuffer([]byte{uint8(frame.Seq)}),
+	return b.nwFrameGenerator.generate(bytes.NewBuffer([]byte{uint8(frame.Seq)}),
 		ARNETWORKAL_FRAME_TYPE_ACK,
 		byte(uint16(frame.Id)+(ARNETWORKAL_MANAGER_DEFAULT_ID_MAX/2)),
 	)
 }
 
 func (b *Bebop) createPong(frame NetworkFrame) *bytes.Buffer {
-	return b.networkFrameGenerator(bytes.NewBuffer(frame.Data),
+	return b.nwFrameGenerator.generate(bytes.NewBuffer(frame.Data),
 		ARNETWORKAL_FRAME_TYPE_DATA,
 		ARNETWORK_MANAGER_INTERNAL_BUFFER_ID_PONG,
 	)
@@ -579,13 +535,13 @@ func (b *Bebop) packetReceiver(buf []byte) {
 func (b *Bebop) StartRecording() error {
 	buf := b.videoRecord(ARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD_START)
 
-	return b.write(b.networkFrameGenerator(buf, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(buf, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) StopRecording() error {
 	buf := b.videoRecord(ARCOMMANDS_ARDRONE3_MEDIARECORD_VIDEO_RECORD_STOP)
 
-	return b.write(b.networkFrameGenerator(buf, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(buf, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) videoRecord(state byte) *bytes.Buffer {
@@ -650,7 +606,7 @@ func (b *Bebop) HullProtection(protect bool) error {
 	}
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) Outdoor(outdoor bool) error {
@@ -679,7 +635,7 @@ func (b *Bebop) Outdoor(outdoor bool) error {
 	}
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) VideoEnable(enable bool) error {
@@ -704,7 +660,7 @@ func (b *Bebop) VideoEnable(enable bool) error {
 	}
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func (b *Bebop) VideoStreamMode(mode int8) error {
@@ -729,7 +685,7 @@ func (b *Bebop) VideoStreamMode(mode int8) error {
 	}
 	cmd.Write(tmp.Bytes())
 
-	return b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return b.write(b.nwFrameGenerator.generate(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
 }
 
 func bool2int8(b bool) int8 {
@@ -826,5 +782,5 @@ func (b *Bebop) createARStreamACK(frame ARStreamFrame) *bytes.Buffer {
 	}
 	ackPacket.Write(tmp.Bytes())
 
-	return b.networkFrameGenerator(ackPacket, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_VIDEO_ACK_ID)
+	return b.nwFrameGenerator.generate(ackPacket, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_VIDEO_ACK_ID)
 }
diff --git a/platforms/parrot/bebop/client/networkframegenerator.go b/platforms/parrot/bebop/client/networkframegenerator.go
new file mode 100644
index 000000000..af06e356b
--- /dev/null
+++ b/platforms/parrot/bebop/client/networkframegenerator.go
@@ -0,0 +1,63 @@
+package client
+
+import (
+	"bytes"
+	"encoding/binary"
+	"sync"
+)
+
+type nwFrameGenerator struct {
+	seq   map[byte]byte
+	hlen  int
+	mutex *sync.Mutex
+}
+
+func newNetworkFrameGenerator() *nwFrameGenerator {
+	nwg := nwFrameGenerator{
+		seq:   make(map[byte]byte), // each frame id has it's own sequence number
+		hlen:  7,                   // size of ARNETWORKAL_Frame_t header
+		mutex: &sync.Mutex{},
+	}
+	return &nwg
+}
+
+// generate the "NetworkFrame" as bytes buffer
+func (nwg *nwFrameGenerator) generate(cmd *bytes.Buffer, frameType byte, id byte) *bytes.Buffer {
+	nwg.mutex.Lock()
+	defer nwg.mutex.Unlock()
+
+	// func networkFrameGenerator() func(*bytes.Buffer, byte, byte) NetworkFrame {
+	//
+	// ARNETWORKAL_Frame_t
+	//
+	// uint8  type  - frame type ARNETWORK_FRAME_TYPE
+	// uint8  id    - identifier of the buffer sending the frame
+	// uint8  seq   - sequence number of the frame
+	// uint32 size  - size of the frame
+	//
+
+	if _, ok := nwg.seq[id]; !ok {
+		nwg.seq[id] = 0
+	}
+
+	nwg.seq[id]++
+
+	if nwg.seq[id] > 255 {
+		nwg.seq[id] = 0
+	}
+
+	ret := &bytes.Buffer{}
+	ret.WriteByte(frameType)
+	ret.WriteByte(id)
+	ret.WriteByte(nwg.seq[id])
+
+	size := &bytes.Buffer{}
+	if err := binary.Write(size, binary.LittleEndian, uint32(cmd.Len()+nwg.hlen)); err != nil {
+		panic(err)
+	}
+
+	ret.Write(size.Bytes())
+	ret.Write(cmd.Bytes())
+
+	return ret
+}