diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp
index e0757c6f..5b764b50 100644
--- a/src/drone_controls/src/PositionChanger.cpp
+++ b/src/drone_controls/src/PositionChanger.cpp
@@ -225,6 +225,7 @@ public:
         {
             if (!this->move_direction_allowed[MOVE_DIRECTION_FRONT])
             {
+                RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT])
                 this->current_speed_x = collision_prevention_weights[MOVE_DIRECTION_FRONT];
             }
         }
@@ -232,6 +233,7 @@ public:
         {
             if (!this->move_direction_allowed[MOVE_DIRECTION_BACK])
             {
+                RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK])
                 this->current_speed_x = collision_prevention_weights[MOVE_DIRECTION_BACK];
             }
         }
@@ -239,6 +241,7 @@ public:
         {
             if (!this->move_direction_allowed[MOVE_DIRECTION_RIGHT])
             {
+                RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT])
                 this->current_speed_y = collision_prevention_weights[MOVE_DIRECTION_RIGHT];
             }
         }
@@ -246,6 +249,7 @@ public:
         {
             if (!this->move_direction_allowed[MOVE_DIRECTION_LEFT])
             {
+                RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT])
                 this->current_speed_y = collision_prevention_weights[MOVE_DIRECTION_LEFT];
             }
         }
diff --git a/src/drone_controls/test/test_positionchanger_lidar.py b/src/drone_controls/test/test_positionchanger_lidar.py
index 327380b2..9814d03b 100644
--- a/src/drone_controls/test/test_positionchanger_lidar.py
+++ b/src/drone_controls/test/test_positionchanger_lidar.py
@@ -98,7 +98,7 @@ class TestPositionChanger(unittest.TestCase):
                 if not self.called_positionchanger_service:
                     future = move_position_client.call_async(request)
                     future.add_done_callback(self.move_position_callback)
-            launch_testing.asserts.assertInStdout(proc_output, "0.5", '')
+            launch_testing.asserts.assertInStdout(proc_output, "0.5", 'px4_controller-3')
         finally:
             self.node.destroy_client(move_position_client)
             self.node.destroy_publisher(lidar_publisher)
\ No newline at end of file