diff --git a/src/px4_connection/launch/px4_controller_heardbeat_launch.py b/src/px4_connection/launch/px4_controller_heardbeat_launch.py
new file mode 100644
index 00000000..d0b733ca
--- /dev/null
+++ b/src/px4_connection/launch/px4_controller_heardbeat_launch.py
@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="px4_connection",
+            executable="heartbeat"
+        ),
+        Node(
+            package="px4_connection",
+            executable="px4_controller"
+        )
+
+    ])
diff --git a/src/px4_msgs b/src/px4_msgs
index ffc3a4cd..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4