diff --git a/get_build_run_controller.sh b/get_build.sh
similarity index 62%
rename from get_build_run_controller.sh
rename to get_build.sh
index 64ff7e9d..4686bb99 100755
--- a/get_build_run_controller.sh
+++ b/get_build.sh
@@ -3,5 +3,5 @@ echo "updating git..."
 ./fgit.sh
 echo "building package..."
 colcon build --packages-select px4_connection
-echo "launching controller..."
-ros2 run px4_connection px4_controller
+#echo "launching controller..."
+#ros2 run px4_connection px4_controller
diff --git a/src/drone_controls/CMakeLists.txt b/src/drone_controls/CMakeLists.txt
new file mode 100644
index 00000000..cc182294
--- /dev/null
+++ b/src/drone_controls/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+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)
+find_package(rclcpp 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)
+  # 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)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/src/drone_controls/package.xml b/src/drone_controls/package.xml
new file mode 100644
index 00000000..5d264637
--- /dev/null
+++ b/src/drone_controls/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<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>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/px4_msgs b/src/px4_msgs
index b64ef047..ffc3a4cd 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit b64ef0475c1d44605688f4770899fe453d532be4
+Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266