diff --git a/api/public/img/droneimage_2023-05-30_14-55-57.jpg b/api/public/img/droneimage_2023-05-30_14-55-57.jpg
new file mode 100644
index 00000000..96579256
Binary files /dev/null and b/api/public/img/droneimage_2023-05-30_14-55-57.jpg differ
diff --git a/drone_scripts/restart_services.sh b/drone_scripts/restart_services.sh
new file mode 100755
index 00000000..cd24d583
--- /dev/null
+++ b/drone_scripts/restart_services.sh
@@ -0,0 +1,14 @@
+echo "waiting 5 secs before restarting..."
+sleep 5
+echo "restarting"
+
+sudo systemctl restart drone_api.service
+sudo systemctl restart drone_camera.service
+sudo systemctl restart drone_failsafe.service
+sudo systemctl restart drone_find_usb_devices.service
+sudo systemctl restart drone_height_sensor.service
+sudo systemctl restart drone_lidar.service
+sudo systemctl restart drone_positionchanger.service
+sudo systemctl restart drone_px4_connection.service
+sudo systemctl restart drone_relais.service
+sudo systemctl restart drone_status.service
diff --git a/drone_scripts/start_api.sh b/drone_scripts/start_api.sh
new file mode 100755
index 00000000..8749d0aa
--- /dev/null
+++ b/drone_scripts/start_api.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+. /home/ubuntu/source_ros2.sh
+
+ros2 run api_communication api_listener
+
+
diff --git a/drone_scripts/start_failsafe.sh b/drone_scripts/start_failsafe.sh
new file mode 100755
index 00000000..c2b2f28a
--- /dev/null
+++ b/drone_scripts/start_failsafe.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+. /home/ubuntu/source_ros2.sh
+
+ros2 run failsafe failsafe
+
+
diff --git a/drone_scripts/start_positionchanger.sh b/drone_scripts/start_positionchanger.sh
new file mode 100755
index 00000000..e6491daa
--- /dev/null
+++ b/drone_scripts/start_positionchanger.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+. /home/ubuntu/source_ros2.sh
+
+ros2 run drone_controls position_changer
+
+
diff --git a/drone_scripts/start_px4_connection.sh b/drone_scripts/start_px4_connection.sh
new file mode 100755
index 00000000..dbe44392
--- /dev/null
+++ b/drone_scripts/start_px4_connection.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+. /home/ubuntu/source_ros2.sh
+
+ros2 launch px4_connection px4_controller_heardbeat_launch.py
+
+
diff --git a/drone_scripts/stop_services.sh b/drone_scripts/stop_services.sh
new file mode 100755
index 00000000..c83287db
--- /dev/null
+++ b/drone_scripts/stop_services.sh
@@ -0,0 +1,10 @@
+sudo systemctl stop drone_api.service
+sudo systemctl stop drone_camera.service
+sudo systemctl stop drone_failsafe.service
+sudo systemctl stop drone_find_usb_devices.service
+sudo systemctl stop drone_height_sensor.service
+sudo systemctl stop drone_lidar.service
+sudo systemctl stop drone_positionchanger.service
+sudo systemctl stop drone_px4_connection.service
+sudo systemctl stop drone_relais.service
+sudo systemctl stop drone_status.service
diff --git a/img.png b/img.png
new file mode 100644
index 00000000..a6484358
Binary files /dev/null and b/img.png differ
diff --git a/restart_services.sh b/restart_services.sh
new file mode 100755
index 00000000..648ec378
--- /dev/null
+++ b/restart_services.sh
@@ -0,0 +1,10 @@
+sudo systemctl restart drone_api.service
+sudo systemctl restart drone_camera.service
+sudo systemctl restart drone_failsafe.service
+sudo systemctl restart drone_find_usb_devices.service
+sudo systemctl restart drone_height_sensor.service
+sudo systemctl restart drone_lidar.service
+sudo systemctl restart drone_positionchanger.service
+sudo systemctl restart drone_px4_connection.service
+sudo systemctl restart drone_relais.service
+sudo systemctl restart drone_status.service
diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..ffc3a4cd 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266