diff --git a/src/px4_connection/CMakeLists.txt b/src/px4_connection/CMakeLists.txt
index 6d581bd9..df58848f 100644
--- a/src/px4_connection/CMakeLists.txt
+++ b/src/px4_connection/CMakeLists.txt
@@ -22,7 +22,20 @@ find_package(px4_ros_com REQUIRED)
 find_package(px4_msgs REQUIRED)
 
 add_executable(heartbeat src/heartbeat.cpp)
+ament_target_dependencies(
+  heartbeat
+  rclcpp
+  px4_ros_com
+  px4_msgs
+)
+
 add_executable(px4_controller src/px4_controller.cpp)
+ament_target_dependencies(
+  px4_controller
+  rclcpp
+  px4_ros_com
+  px4_msgs
+)
 
 target_include_directories(heartbeat PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -32,12 +45,6 @@ target_include_directories(px4_controller PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
-ament_target_dependencies(
-  heartbeat
-  rclcpp
-  px4_ros_com
-  px4_msgs
-)
 
 install(TARGETS heartbeat px4_controller
   DESTINATION lib/${PROJECT_NAME})
diff --git a/src/px4_msgs b/src/px4_msgs
index 4db0a3f1..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit 4db0a3f14ea81b9de7511d738f8ad9bd8ae5b3ad
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
diff --git a/src/px4_ros_com b/src/px4_ros_com
index 0bcf68bc..1562ff30 160000
--- a/src/px4_ros_com
+++ b/src/px4_ros_com
@@ -1 +1 @@
-Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d
+Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375