diff --git a/.gitignore b/.gitignore
index 64f22eb..f426dc9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,4 @@ src/test*
 *.bo
 *.bdb
 *.bdbg
+buzz_scripts/log*
diff --git a/include/buzz_utility.h b/include/buzz_utility.h
index 4909ed8..f3f9550 100644
--- a/include/buzz_utility.h
+++ b/include/buzz_utility.h
@@ -77,4 +77,6 @@ int get_robotid();
 buzzvm_t get_vm();
 
 void set_robot_var(int ROBOTS);
+
+int get_inmsg_size();
 }
diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh
index a41c787..b519148 100644
--- a/misc/cmdlinectr.sh
+++ b/misc/cmdlinectr.sh
@@ -31,13 +31,5 @@ function stoprobot {
 }
 function updaterobot {
 #	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
-}
-function updaterobot {
-#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
-}
-function updaterobot {
-#	rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch
-	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch/m100buzzy.launch
+	rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100buzzy.launch
 }
diff --git a/src/buzz_utility.cpp b/src/buzz_utility.cpp
index 3d5531d..01d960a 100644
--- a/src/buzz_utility.cpp
+++ b/src/buzz_utility.cpp
@@ -786,4 +786,8 @@ int create_stig_tables() {
 		buzzvm_pushi(VM, ROBOTS);
 		buzzvm_gstore(VM);
 	}
+
+	int get_inmsg_size(){
+		return IN_MSG.size();
+	}
 }
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 639c9ea..0ddfd74 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -46,7 +46,12 @@ roscontroller::roscontroller(ros::NodeHandle &n_c, ros::NodeHandle &n_c_priv)
   }
   std::string path =
       bzzfile_name.substr(0, bzzfile_name.find_last_of("\\/")) + "/";
-  path += "Update.log";
+  path = path.substr(0, bzzfile_name.find_last_of("\\/"))+"/log/";
+  std::string folder_check="mkdir -p "+path;
+  system(folder_check.c_str());
+  rename((path +"logger_"+ std::to_string((uint8_t)robot_id)+".log").c_str(),
+	 (path +"logger_"+ std::to_string((uint8_t)robot_id)+"_old.log").c_str());
+  path += "logger_"+std::to_string(robot_id)+".log";
   log.open(path.c_str(), std::ios_base::trunc | std::ios_base::out);
 }
 
@@ -195,11 +200,42 @@ void roscontroller::RosControllerRun()
     while (ros::ok() && !buzz_utility::buzz_script_done()) {
       /*Update neighbors position inside Buzz*/
       // buzz_closure::neighbour_pos_callback(neighbours_pos_map);
+      
+      /*log ROS Time stamp, pos (lat,long,alt), Swarm size, no. of neigh,
+        neigh pos, RSSI val, Packet loss, filtered packet loss*/
+      log<<ros::Time::now()<<",";
+      log<<cur_pos.latitude << "," << cur_pos.longitude << ","
+            << cur_pos.altitude << ",";
+      log  << (int)no_of_robots<<",";
+      map<int, buzz_utility::Pos_struct>::iterator it =
+            neighbours_pos_map.begin();
+      log  << neighbours_pos_map.size()<< ",";
+        for (; it != neighbours_pos_map.end(); ++it)
+        {
+          log << (double)it->second.x << "," << (double)it->second.y
+              << "," << (double)it->second.z << ",";
+        }
+      const uint8_t shrt_id= 0xFF; 
+      float result;
+      if ( GetAPIRssi(shrt_id, result) ) 
+      	log<<result<<",";
+      else
+        log<<"0,";
+      if ( GetRawPacketLoss(shrt_id, result) ) 
+      	log<<result<<",";
+      else
+        log<<"0,";
+      if ( GetFilteredPacketLoss(shrt_id, result) ) 
+      	log<<result<<",";
+      else
+        log<<"0,";
       /*Neighbours of the robot published with id in respective topic*/
       neighbours_pos_publisher();
       send_MPpayload();
       /*Check updater state and step code*/
       update_routine(bcfname.c_str(), dbgfname.c_str());
+      /*Log In Msg queue size*/
+      log<<(int)buzz_utility::get_inmsg_size()<<",";
       /*Step buzz script */
       buzz_utility::buzz_script_step();
       /*Prepare messages and publish them in respective topic*/
@@ -209,7 +245,7 @@ void roscontroller::RosControllerRun()
       /*Set multi message available after update*/
       if (get_update_status())
       {
-        set_read_update_status();
+       /* set_read_update_status();
         multi_msg = true;
         log << cur_pos.latitude << "," << cur_pos.longitude << ","
             << cur_pos.altitude << ",";
@@ -222,12 +258,27 @@ void roscontroller::RosControllerRun()
           log << "," << (double)it->second.x << "," << (double)it->second.y
               << "," << (double)it->second.z;
         }
-        log << std::endl;
+        log << std::endl;*/
       }
       /*Set ROBOTS variable for barrier in .bzz from neighbours count*/
       // no_of_robots=get_number_of_robots();
       get_number_of_robots();
       buzz_utility::set_robot_var(no_of_robots);
+      /*Retrive the state of the graph and uav and log TODO WARNING :PLEASE REMOVE IF 
+	SCRIPT IS NOT graphform.bzz*/
+      static buzzvm_t     VM = buzz_utility::get_vm();
+      buzzvm_pushs(VM, buzzvm_string_register(VM, "m_eState",1));
+            	buzzvm_gload(VM);
+            	buzzobj_t graph_state = buzzvm_stack_at(VM, 1);
+            	buzzvm_pop(VM);
+		std::stringstream state_buff;
+		state_buff<< graph_state->s.value.str<<",";
+      buzzvm_pushs(VM, buzzvm_string_register(VM, "UAVSTATE",1));
+            	buzzvm_gload(VM);
+            	buzzobj_t uav_state = buzzvm_stack_at(VM, 1);
+            	buzzvm_pop(VM);
+		state_buff<< uav_state->s.value.str;
+		log<<state_buff.str()<<std::endl;
       // if(neighbours_pos_map.size() >0) no_of_robots
       // =neighbours_pos_map.size()+1;
       // buzz_utility::set_robot_var(no_of_robots);
@@ -565,6 +616,9 @@ void roscontroller::prepare_msg_and_publish()
   payload_out.sysid = (uint8_t)robot_id;
   payload_out.msgid = (uint32_t)message_number;
 
+  /*Log out message id and message size*/
+  log<<(int)message_number<<",";
+  log<<(int)out[0]<<",";
   /*publish prepared messages in respective topic*/
   payload_pub.publish(payload_out);
   delete[] out;