diff --git a/call_attitude.sh b/call_attitude.sh
new file mode 100755
index 00000000..89ddf4e7
--- /dev/null
+++ b/call_attitude.sh
@@ -0,0 +1 @@
+ros2 service call /drone/set_attitude drone_services/srv/SetAttitude "{pitch: $1, yaw: $2, roll: $3, thrust: $4}"
diff --git a/src/px4_connection/CMakeLists.txt b/src/px4_connection/CMakeLists.txt
index 7a16c5c1..f41b9cb8 100644
--- a/src/px4_connection/CMakeLists.txt
+++ b/src/px4_connection/CMakeLists.txt
@@ -28,6 +28,7 @@ add_executable(heartbeat src/heartbeat.cpp)
 ament_target_dependencies(
     heartbeat
     rclcpp
+    drone_services
     px4_ros_com
     px4_msgs
     drone_services
diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index 330a85ed..8aafbf10 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -1,3 +1,4 @@
+
 /**
  * @file heartbeat.cpp
  * @author Sem van der Hoeven (sem.hoeven@gmail.com)
@@ -62,15 +63,6 @@ private:
         msg.attitude = (this->control_mode >> CONTROL_ATTITUDE_POS) & 1 ? true : false;
         msg.body_rate = (this->control_mode >> CONTROL_BODY_RATE_POS) & 1 ? true : false;
         msg.actuator = (this->control_mode >> CONTROL_ACTUATOR_POS) & 1 ? true : false;
-        
-        /*
-        msg.position = false;
-        msg.velocity = false;
-        msg.acceleration = false;
-        msg.attitude = true;
-        msg.body_rate = false;
-        msg.actuator = false;
-        */
         // get timestamp and publish message
         msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
         offboard_control_mode_publisher_->publish(msg);
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