diff --git a/src/px4_connection/CMakeLists.txt b/src/px4_connection/CMakeLists.txt
index d24cc36e..c66f40d3 100644
--- a/src/px4_connection/CMakeLists.txt
+++ b/src/px4_connection/CMakeLists.txt
@@ -27,6 +27,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetAttitude.srv"
 )
 
+include_directories(include)
 add_executable(heartbeat src/heartbeat.cpp)
 ament_target_dependencies(
     heartbeat
diff --git a/src/px4_connection/include/attitude_msg_code.hpp b/src/px4_connection/include/attitude_msg_code.hpp
new file mode 100644
index 00000000..2a54b920
--- /dev/null
+++ b/src/px4_connection/include/attitude_msg_code.hpp
@@ -0,0 +1,8 @@
+#ifndef ATTITUDE_MSG_CODE_HPP
+#define ATTITUDE_MSG_CODE_HPP
+
+#define ATTITUDE_STATUS_OK 0
+#define ATTITUDE_STATUS_ERROR 1
+
+
+#endif
\ No newline at end of file
diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index 6474241e..9c0e8359 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -11,6 +11,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
 #include <math.h>
 
 #include "rclcpp/rclcpp.hpp"
+#include "attitude_msg_code.hpp"
 
 #include <px4_msgs/msg/vehicle_attitude_setpoint.hpp>
 #include <px4_msgs/msg/trajectory_setpoint.hpp>