diff --git a/include/roscontroller.h b/include/roscontroller.h
index 7ce69d8..fbf3d6d 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -11,6 +11,8 @@
 #include "mavros_msgs/State.h"
 #include "mavros_msgs/BatteryStatus.h"
 #include "mavros_msgs/Mavlink.h"
+#include "mavros_msgs/WaypointPush.h"
+#include "mavros_msgs/Waypoint.h"
 #include "sensor_msgs/NavSatStatus.h"
 #include <sensor_msgs/LaserScan.h>
 #include <rosbuzz/neigh_pos.h>
@@ -81,6 +83,8 @@ private:
   	mavros_msgs::SetMode m_cmdSetMode;
   	ros::ServiceClient mode_client;
 
+  	ros::ServiceClient mission_client;
+
 	void Initialize_pub_sub(ros::NodeHandle n_c);
 
 	/*Obtain data from ros parameter server*/	
@@ -156,6 +160,8 @@ private:
 
 	void Subscribe(ros::NodeHandle n_c);
 
+	void WaypointMissionSetup();
+
 };
 
 }
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index eb901e7..47f5a0f 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -3,7 +3,7 @@
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
 		<rosparam file="$(env ROS_WS)/src/ROSBuzz/launch/launch_config/$(env ROBOT).yaml"/>
-		<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
+		<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/testalone.bzz" />
         <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="/buzzcmd" />
 		<param name="in_payload" value="/inMavlink"/>
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 30ac680..07d337f 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -177,6 +177,7 @@ namespace rosbzz_node{
 		neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);	
 		/* Service Clients*/
 		arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
+		mission_client = n_c.serviceClient<mavros_msgs::WaypointPush>("/mavros/mission/push");
 		mode_client =  n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
 		mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
 
@@ -237,6 +238,29 @@ namespace rosbzz_node{
 		}
 	}
 
+	void roscontroller::WaypointMissionSetup(){
+		mavros_msgs::WaypointPush srv;
+		mavros_msgs::Waypoint waypoint;
+
+		// prepare waypoint mission package
+		waypoint.frame = mavros_msgs::Waypoint::FRAME_GLOBAL;
+		waypoint.command = mavros_msgs::CommandCode::NAV_WAYPOINT;
+		waypoint.is_current = 2;	// IMPORTANT: goto is no longer used, so instead, use magic number 2 for is_current parameter
+		waypoint.autocontinue = 0;
+		waypoint.x_lat = 45.507730f;
+		waypoint.y_long = -73.613961f;
+		//45.507730, -73.613961
+		waypoint.z_alt = 10;
+
+		srv.request.waypoints.push_back(waypoint);
+		if(mission_client.call(srv)){
+			ROS_INFO("Mission service called!");
+		} else {
+			ROS_INFO("Mission service failed!");
+		}
+
+	}
+
 	void roscontroller::SetMode(std::string mode, int delay_miliseconds){
 		// wait if necessary
 		if (delay_miliseconds > 0){
@@ -588,7 +612,7 @@ namespace rosbzz_node{
 			buzzuav_closures::flight_status_update(1);
 		else if (msg->mode == "LAND")
 			buzzuav_closures::flight_status_update(4);
-		else // ground standby = LOITER?
+		else
 			buzzuav_closures::flight_status_update(1);//?
 	}
 
@@ -708,8 +732,9 @@ namespace rosbzz_node{
 				rc_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
 				/* arming */
 				SetMode("GUIDED", 0);
-				cout<< "this..."<<endl;
-				SetModeAsync("LAND", 5000);
+				//SetMode("LOITER", 0);
+				cout << "this..." << endl;
+				//SetModeAsync("GUIDED", 5000);
 				Arm();
 				buzzuav_closures::rc_call(rc_cmd);
 				res.success = true;
@@ -728,11 +753,13 @@ namespace rosbzz_node{
 				break;
 			case mavros_msgs::CommandCode::NAV_WAYPOINT:
    				ROS_INFO("RC_Call: GO TO!!!! ");
-				double rc_goto[3];
+
+   				WaypointMissionSetup();
+
+   				double rc_goto[3];
 				rc_goto[0] = req.param5;
 				rc_goto[1] = req.param6;
 				rc_goto[2] = req.param7;
-
 				buzzuav_closures::rc_set_goto(rc_goto);
 				rc_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
 				buzzuav_closures::rc_call(rc_cmd);
diff --git a/src/test1.bzz b/src/test1.bzz
index 8edac26..3e9d1fb 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -1,7 +1,7 @@
 
 # We need this for 2D vectors
 # Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
-include "/home/ivan/dev/buzz/src/include/vec2.bzz"
+include "/home/ubuntu/buzz/src/include/vec2.bzz"
 ####################################################################################################
 # Updater related
 # This should be here for the updater to work, changing position of code will crash the updater