1) Instalar los paquetes necesarios.

sudo apt-get install pi-bluetooth

sudo apt-get install bluetooth bluez
sudo apt-get install bluez python-bluez
sudo hciconfig hci0 piscan



2) Edit "/lib/systemd/system/bluetooth.service"

and change the line :

ExecStart=/usr/lib/bluetooth/bluetoothd

To :

ExecStart=/usr/lib/bluetooth/bluetoothd --compa1