diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index fcf3ea21..b10ddccc 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -273,14 +273,17 @@ private:
         {
             if (current_control_mode == CONTROL_MODE_ATTITUDE)
             {
+                RCLCPP_INFO(this->get_logger(), "Sending attitude setpoint");
                 send_attitude_setpoint(new_setpoint);
             }
             else if (current_control_mode == CONTROL_MODE_VELOCITY)
             {
+                RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
                 send_velocity_setpoint();
             }
             else if (current_control_mode == CONTROL_MODE_POSITION)
             {
+                RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
                 send_position_setpoint();
             }
         }