diff --git a/src/drone_controls/CMakeLists.txt b/src/drone_controls/CMakeLists.txt
index cc182294..c2fb836b 100644
--- a/src/drone_controls/CMakeLists.txt
+++ b/src/drone_controls/CMakeLists.txt
@@ -1,32 +1,29 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(drone_controls)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(drone_services REQUIRED)
+find_package(object_detection REQUIRED)
+find_package(height REQUIRED)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
diff --git a/src/drone_controls/package.xml b/src/drone_controls/package.xml
index 5d264637..9523b719 100644
--- a/src/drone_controls/package.xml
+++ b/src/drone_controls/package.xml
@@ -3,14 +3,16 @@
 <package format="3">
   <name>drone_controls</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
-  <license>TODO: License declaration</license>
+  <description>Package to handle control commands from the api to the PX4Controller</description>
+  <maintainer email="semmer99@gmail.com">sem</maintainer>
+  <license>Apache Licence 2.0</license>
+  <depend>rclcpp</depend>
+  <depend>drone_services</depend>
+  <depend>object_detection</depend>
+  <depend>height</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp
new file mode 100644
index 00000000..8a7b3670
--- /dev/null
+++ b/src/drone_controls/src/PositionChanger.cpp
@@ -0,0 +1,20 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include "object_detection/msg/LidarReading.msg"
+#include "height/msg/HeightData.msg"
+#include "drone_services/srv/SetVehicleControl.srv"
+class PositionChanger : public rclcpp::Node
+{
+public:
+    PositionChanger() : Node("position_changer")
+    {
+
+    }
+};
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<PositionChanger>());
+    rclcpp::shutdown();
+    return 0;
+}
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