diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index 02272e3d..af69df99 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -100,6 +100,7 @@ private:
                     last_thrust = 0;
             }
 
+            RCLCPP_INFO(this->get_logger(), "got values: yaw:%f pitch:%f roll:%f thrust:%f", request->yaw, request->pitch, request->roll, request->thrust);
             RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
 
             response->status = 0;
@@ -183,7 +184,7 @@ private:
 
 
         calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
-        RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
+        // RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
         // }
         // else
         // {
diff --git a/src/test_controls/test_controls/test_controller.py b/src/test_controls/test_controls/test_controller.py
index 9a0baab1..e2ef88f9 100644
--- a/src/test_controls/test_controls/test_controller.py
+++ b/src/test_controls/test_controls/test_controller.py
@@ -79,11 +79,11 @@ class TestController(Node):
                 # self.get_logger().info('pressed {} ({})'.format(name, vk))
                 if vk == 32:
                     self.get_logger().info('up')
-                    self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.1)
+                    self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.05)
                 if vk == 65505:
                     self.get_logger().info('down')
                     self.send_request(pitch=0.0, yaw=0.0,
-                                      roll=0.0, thrust=-0.1)
+                                      roll=0.0, thrust=-0.05)
 
         except Exception as e:
             self.get_logger().error(str(e))