diff --git a/launch/rosbuzzm100.launch b/launch/rosbuzzm100.launch
index 134631c..a5b5f4a 100644
--- a/launch/rosbuzzm100.launch
+++ b/launch/rosbuzzm100.launch
@@ -2,21 +2,13 @@
 
 <launch>
 		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-<<<<<<< HEAD
 		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
-=======
-		<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz" />
->>>>>>> 9e9eb964b10f7fa49342b6eb629fc7a30e47c355
                 <param name="rcclient" value="true" /> 
-		<param name="rcservice_name" value="rc_cmd" />
-		<param name="fcclient_name" value="/djicmd" />
+		<param name="rcservice_name" value="/buzzcmd" />
+		<param name="fcclient_name" value="/dji_mavcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
-<<<<<<< HEAD
 		<param name="robot_id" value="1"/>
-=======
-		<param name="robot_id" value="2"/>
->>>>>>> 9e9eb964b10f7fa49342b6eb629fc7a30e47c355
 		</node>
 		
 		
diff --git a/launch/rosbuzzm100.launch.save b/launch/rosbuzzm100.launch.save
new file mode 100644
index 0000000..8ec7f8d
--- /dev/null
+++ b/launch/rosbuzzm100.launch.save
@@ -0,0 +1,23 @@
+<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
+                <param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
+                <param name="rcclient" value="true" />
+                <param name="rcservice_name" value="/buzzcmd" />
+                <param name="fcclient_name" value="/dji_mavcmd" />
+                <param name="in_payload" value="/inMavlink"/>
+                <param name="out_payload" value="/outMavlink"/>
+                <param name="robot_id" value="1"/>
+                </node><!-- Launch file for ROSBuzz -->
+
+<launch>
+		<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
+		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
+                <param name="rcclient" value="true" /> 
+		<param name="rcservice_name" value="/buzzcmd" />
+		<param name="fcclient_name" value="/dji_mavcmd" />
+		<param name="in_payload" value="/inMavlink"/>
+		<param name="out_payload" value="/outMavlink"/>
+		<param name="robot_id" value="1"/>
+		</node>
+		
+		
+</launch>
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 57220d9..9b906bb 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -318,7 +318,7 @@ void buzz_script_step() {
       buzzvm_dump(VM);
    }
    /* Print swarm */
-   buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
+   //buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
    /* Check swarm state */
    /*  int status = 1;
    buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 015fed1..b911019 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -258,9 +258,9 @@ namespace rosbzz_node{
 	bool roscontroller::rc_callback(mavros_msgs::CommandInt::Request  &req,
 		         mavros_msgs::CommandInt::Response &res){
 		int rc_cmd;
-		if(req.command==oldcmdID)
+/*		if(req.command==oldcmdID)
 		return true;
-		else oldcmdID=req.command;
+		else oldcmdID=req.command;*/
    		switch(req.command){
 			case mavros_msgs::CommandCode::NAV_TAKEOFF:
    				ROS_INFO("RC_call: TAKE OFF!!!!");
diff --git a/src/test1.basm b/src/test1.basm
new file mode 100644
index 0000000..d9f876e
--- /dev/null
+++ b/src/test1.basm
@@ -0,0 +1,170 @@
+!20
+'init
+'i
+'a
+'val
+'oldcmd
+'step
+'neighbors
+'listen
+'cmd
+'print
+'Got (
+',
+') from robot #
+'uav_takeoff
+'uav_land
+'flight
+'rc_cmd
+'broadcast
+'reset
+'destroy
+
+	pushs 0
+	pushcn @__label_1
+	gstore
+	pushs 5
+	pushcn @__label_2
+	gstore
+	pushs 18
+	pushcn @__label_14
+	gstore
+	pushs 19
+	pushcn @__label_15
+	gstore
+	nop
+
+@__label_0
+
+@__exitpoint
+	done
+
+@__label_1
+	pushs 1	|3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|3,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|3,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 2	|4,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|4,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|4,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 3	|5,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|5,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|5,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 4	|6,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|6,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|6,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|7,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_2
+	pushs 6	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 7	|12,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|12,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 8	|12,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushl @__label_3	|13,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|23,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 4	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	neq	|23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_8	|23,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 9	|24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|24,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|24,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 1	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|25,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|25,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 22	|25,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|25,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_10	|25,23,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 13	|26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 6	|27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 17	|27,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|27,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 8	|27,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 22	|27,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jump @__label_11	|28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_10	|28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|28,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|28,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 21	|28,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|28,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_12	|28,30,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 14	|29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 6	|30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 17	|30,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|30,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 8	|30,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 21	|30,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 2	|30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_12	|32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_11	|32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 4	|32,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 15	|32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 16	|32,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	tget	|32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gstore	|32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_8	|35,0,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|35,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_3
+	pushs 9	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 10	|14,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 1	|14,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 11	|14,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|14,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 12	|14,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 3	|14,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 6	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|15,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 22	|15,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|15,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_4	|15,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 13	|16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jump @__label_5	|17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_4	|17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	lload 2	|17,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 21	|17,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	eq	|17,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	jumpz @__label_6	|17,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushs 14	|18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	gload	|18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	pushi 0	|18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	callc	|18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_6	|20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+@__label_5	|20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+	ret0	|20,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_14
+	ret0	|39,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
+
+@__label_15
+	ret0	|43,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
diff --git a/src/test1.bdbg b/src/test1.bdbg
new file mode 100644
index 0000000..8a6176d
Binary files /dev/null and b/src/test1.bdbg differ
diff --git a/src/test1.bo b/src/test1.bo
new file mode 100644
index 0000000..9ca6f3e
Binary files /dev/null and b/src/test1.bo differ
diff --git a/src/test1.bzz b/src/test1.bzz
index 476c852..a8ffe0b 100644
--- a/src/test1.bzz
+++ b/src/test1.bzz
@@ -3,34 +3,33 @@ function init() {
 i = 0
 a = 0
 val = 0
+oldcmd = 0
 }
  
 # Executed at each time step.
 function step() {
 
-if (i == 0) {
-neighbors.listen("Take",
+neighbors.listen("cmd",
    function(vid, value, rid) {
       print("Got (", vid, ",", value, ") from robot #", rid)
-   }
-)
-neighbors.listen("key",
-   function(vid, value, rid) {
-      print("Got (", vid, ",", value, ") from robot #", rid)
-      val = value      
-   }
-)
-print(val)
-if ((val==23) and (a == 0)) { 
-	uav_takeoff()
-	a=1
+	if(value==22) {
+		uav_takeoff()
+	} else if(value==21) {
+		uav_land()
 	}
-      if (a == 10) uav_land()
-      if (a != 0)  a = a+1
-}
-else{
-neighbors.broadcast("key", 23)
-neighbors.broadcast("Take", "no")
+   }
+)
+
+if(flight.rc_cmd!=oldcmd) {
+	print(flight.rc_cmd)
+	if(flight.rc_cmd==22) {
+		uav_takeoff()		
+		neighbors.broadcast("cmd", 22)
+	} else if(flight.rc_cmd==21) {
+		uav_land()
+		neighbors.broadcast("cmd", 21)
+	}
+	oldcmd=flight.rc_cmd
 }
 
 }