diff --git a/CMakeLists.txt b/CMakeLists.txt
index a4fb046..927d79a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,8 +57,8 @@ include_directories(
 add_executable(xbee_mav src/Xbee.cpp src/XBeeFrame.cpp src/SerialDevice.cpp  src/CommunicationManager.cpp src/PacketsHandler)
 target_link_libraries(xbee_mav ${catkin_LIBRARIES})
 
-#add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
-#target_link_libraries(config ${catkin_LIBRARIES})
+add_executable(config src/main.cpp src/XBeeModule.cpp src/XMLConfigParser.cpp)
+target_link_libraries(config ${catkin_LIBRARIES})
 
 #add_executable(test_controller src/TestController.cpp)
 #target_link_libraries(test_controller ${catkin_LIBRARIES})
diff --git a/Resources/XBee_Config.xml b/Resources/XBee_Config.xml
index da8ec54..d84901d 100644
--- a/Resources/XBee_Config.xml
+++ b/Resources/XBee_Config.xml
@@ -5,10 +5,10 @@
 		<Parameter Command="CM" Description="Channel Mask">00FFFFFFFFFFFF7FFF</Parameter>
 		<Parameter Command="HP" Description="Preamble ID">1</Parameter>
 		<Parameter Command="ID" Description="Network ID">5FFF</Parameter>
-		<Parameter Command="MT" Description="Broadcast Multi-Transmits">3</Parameter>
+		<Parameter Command="MT" Description="Broadcast Multi-Transmits">1</Parameter>
 		<Parameter Command="PL" Description="TX Power Level">4</Parameter>
 		<Parameter Command="RR" Description="Unicast Retries">A</Parameter>
-		<Parameter Command="CE" Description="Routing/Messaging Mode">0</Parameter>
+		<Parameter Command="CE" Description="Routing/Messaging Mode">2</Parameter>
 		<Parameter Command="BH" Description="Broadcast Hops">0</Parameter>
 		<Parameter Command="NH" Description="Network Hops">7</Parameter>
 		<Parameter Command="MR" Description="Mesh Unicast Retries">1</Parameter>
@@ -22,11 +22,7 @@
 		<Parameter Command="CI" Description="Cluster ID">11</Parameter>
 		<Parameter Command="EE" Description="Encryption Enbale">0</Parameter>
 		<Parameter Command="KY" Description="Encryption Key"></Parameter>
-<<<<<<< HEAD
-		<Parameter Command="BD" Description="Baud Rate">7</Parameter>
-=======
 		<Parameter Command="BD" Description="Baud Rate">8</Parameter>
->>>>>>> a16cf8b196cb6b63ef52ea26b8cb9a8e861d84d1
 		<Parameter Command="NB" Description="Parity">0</Parameter>
 		<Parameter Command="SB" Description="Stop Bits">0</Parameter>
 		<Parameter Command="RO" Description="Packetization Timeout">3</Parameter>
diff --git a/Resources/database.xml b/Resources/database.xml
index b64a7a8..d01e33f 100644
--- a/Resources/database.xml
+++ b/Resources/database.xml
@@ -2,8 +2,8 @@
 
 <Addresses>
 		<Device Address= "1"  >0013A20040D8CA1E</Device>
-		<Device Address= "2"  >0013A200415A9DDF</Device>
-		<Device Address= "3"  >0013A200415A9DDE</Device>
+		<Device Address= "2"  >0013A200415278B8</Device>
+		<Device Address= "3"  >0013A2004103B363</Device>
 		<Device Address= "4"  >0013A200415278AD</Device>
 		<Device Address= "5"  >0013A2004103B356</Device>
 		<Device Address= "6"  >0013A200415278B7</Device>
@@ -11,4 +11,7 @@
 		<Device Address= "8"  >0013A2004098A7BA</Device>
 		<Device Address= "9"  >0013A200415A9DDD</Device>
 		<Device Address= "10" >0013A200415A9DE4</Device>
+		<Device Address= "11" >0013A200415A9DDF</Device>
+		<Device Address= "12" >0013A200415A9DDE</Device>
+
 </Addresses>
diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp
index 1271f89..1959db8 100644
--- a/src/CommunicationManager.cpp
+++ b/src/CommunicationManager.cpp
@@ -430,7 +430,7 @@ inline void CommunicationManager::Check_In_Messages_and_Transfer_To_Server() //
 inline void CommunicationManager::Send_Mavlink_Message_Callback(
 		const mavros_msgs::Mavlink::ConstPtr& mavlink_msg)
 {
-	std::cout << "Received Message From Buzz" << std::endl; // TO DO delete
+	//std::cout << "Received Message From Buzz" << std::endl; // TO DO delete
 	packets_handler_.Handle_Mavlink_Message(mavlink_msg);
 }
 
diff --git a/src/XMLConfigParser.cpp b/src/XMLConfigParser.cpp
index 525e75e..9627889 100644
--- a/src/XMLConfigParser.cpp
+++ b/src/XMLConfigParser.cpp
@@ -7,6 +7,7 @@
 #include "XMLConfigParser.h"
 
 
+
 //*****************************************************************************
 XMLConfigParser::XMLConfigParser():
 	config_loaded_successfully_(false)
@@ -23,7 +24,7 @@ XMLConfigParser::~XMLConfigParser()
 //*****************************************************************************
 bool XMLConfigParser::Load_Config()
 {
-	const std::string FILE_NAME = "/home/mistlab/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml";
+	const std::string FILE_NAME = "/home/vivek/catkin_ws/src/xbee_ros_node/Resources/XBee_Config.xml";
 
 	if (Check_Config_File_Exists(FILE_NAME))
 	{