diff --git a/buzz_scripts/include/utils/takeoff_heights.bzz b/buzz_scripts/include/utils/takeoff_heights.bzz
index 4838861..588afb4 100644
--- a/buzz_scripts/include/utils/takeoff_heights.bzz
+++ b/buzz_scripts/include/utils/takeoff_heights.bzz
@@ -6,5 +6,8 @@ takeoff_heights ={
     .6 = 3.0,
     .9 = 15.0,
     .11 = 6.0,
-    .16 = 9.0
+    .16 = 9.0,
+    .17 = 3.0,
+    .18 = 6.0,
+    .19 = 9.0
 }
\ No newline at end of file
diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh
index 4e78d7e..f7e41dd 100644
--- a/misc/cmdlinectr.sh
+++ b/misc/cmdlinectr.sh
@@ -39,7 +39,7 @@ function updaterobot {
 	  echo "Installing launch file for TX-ubuntu16 with usb2serial"
 	  echo "With xbeemav"
 	  rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16US.launch
-	elif [ "$1" = 1 ] && [ "$2" = "X" ] 
+	elif [ "$1" = 1 ] && [ "$2" = "X" ]
 	then
 	  echo "Installing launch file for TX-ubuntu16"
 	  echo "With xbeemav"
@@ -54,12 +54,17 @@ function updaterobot {
 	  echo "Installing launch file for Solo"
 	  echo "With xbeemav"
 	  rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/solo.launch
-	elif [ "$1" = 0 ] && [ "$2" = "H" ] 
+	elif [ "$1" = 4 ] && [ "$2" = "X" ]
+	then
+	  echo "Installing launch file for Spiris"
+	  echo "With xbeemav"
+	  rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/spiri.launch
+	elif [ "$1" = 0 ] && [ "$2" = "H" ]
 	then
 	  echo "Installing launch file for TX-ubuntu16 with usb2serial"
 	  echo "With heavenmav"
 	  rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16USHeaven.launch
-	elif [ "$1" = 1 ] && [ "$2" = "H" ] 
+	elif [ "$1" = 1 ] && [ "$2" = "H" ]
 	then
 	  echo "Installing launch file for TX-ubuntu16"
 	  echo "With heavenmav"
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 6b188d6..aa1bee6 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -44,7 +44,7 @@ logical_clock(ros::Time()), previous_step_time(ros::Time())
   SetStreamRate(0, 10, 1);
 
   //  Get Home position - wait for none-zero value
-  while (cur_pos.latitude == 0.0f)
+  while ((cur_pos.latitude == 0.0f) || (cur_pos.altitude < -1000.0))
   {
     ROS_INFO("Waiting for GPS. ");
     ros::Duration(0.5).sleep();