diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index c64bae08..bfc74062 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -69,7 +69,7 @@ private:
 
         msg.thrust_body[0] = 0;
         msg.thrust_body[1] = 0;
-        msg.thrust_body[2] = -10; // negative throttle amount
+        msg.thrust_body[2] = -1; // negative throttle amount
         msg.reset_integral = false;
         msg.fw_control_yaw_wheel = false;
 
diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..4db0a3f1 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 1562ff30..0bcf68bc 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375
+Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d