diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index 9f6893fc..cccfd5ff 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -131,7 +131,7 @@ private:
             msg.thrust_body[1] = 0;    // east
             msg.thrust_body[2] = -last_thrust;
 
-            RCLCPP_INFO(this->get_logger(), "Thrust: %f", msg.thrust_body[2]);
+             RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f",last_setpoint[0],last_setpoint[1],last_setpoint[2], last_thrust);
 
             calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
 
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