diff --git a/buzz_scripts/include/act/states.bzz b/buzz_scripts/include/act/states.bzz
index 55540e0..2287fc3 100644
--- a/buzz_scripts/include/act/states.bzz
+++ b/buzz_scripts/include/act/states.bzz
@@ -12,9 +12,9 @@ TARGET_ALTITUDE = 15.0 # m.
 BVMSTATE = "TURNEDOFF"
 PICTURE_WAIT = 20 # steps
 
-GOTO_MAXVEL = 0.5 # m/steps
+GOTO_MAXVEL = 1.5 # m/steps
 GOTO_MAXDIST = 150 # m.
-GOTODIST_TOL = 1.0  # m.
+GOTODIST_TOL = 0.8  # m.
 GOTOANG_TOL = 0.1 # rad.
 path_it = 0
 pic_time = 0
diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh
index bea3e11..2a37a98 100644
--- a/misc/cmdlinectr.sh
+++ b/misc/cmdlinectr.sh
@@ -34,7 +34,7 @@ function stoprobot {
 }
 function updaterobot {
 #	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXHeavenbuzzy.launch
+	rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16US.launch
 #	rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXxbeebuzzy.launch
 #	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXbuzzy.launch
 }
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 4e1f2b8..7bf5674 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -1023,9 +1023,9 @@ void roscontroller::SetLocalPosition(float x, float y, float z, float yaw)
   moveMsg.pose.orientation.w = q[3];
 
   // To prevent drifting from stable position, uncomment
-  if(fabs(x)>0.005 || fabs(y)>0.005) {
-    localsetpoint_nonraw_pub.publish(moveMsg);
-  }
+  //if(fabs(x)>0.005 || fabs(y)>0.005) {
+  //  localsetpoint_nonraw_pub.publish(moveMsg);
+  //}
 }
 
 void roscontroller::SetMode(std::string mode, int delay_miliseconds)