diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1d72db3..6ffc555 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,12 +77,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(offb_node src/offb_node.cpp)
-
-target_link_libraries(offb_node ${catkin_LIBRARIES})
-
-add_dependencies(offb_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
-
 add_executable(pathFollow_node src/path_follow.cpp)
 
 target_link_libraries(pathFollow_node ${catkin_LIBRARIES})
diff --git a/launch/oscillation_damp.launch b/launch/oscillation_damp.launch
index e811eeb..7a8ccd6 100644
--- a/launch/oscillation_damp.launch
+++ b/launch/oscillation_damp.launch
@@ -53,6 +53,13 @@ Launch file to use klausen oscillaton damping ctrl in Gazebo
 			launch-prefix="xterm -e"
 		/>
 	</group>
+	<!-- SETS PLOAD MASS -->
+	<node
+		pkg="oscillation_ctrl"
+		type="set_ploadmass.py"
+		name="set_ploadmass"
+		output="screen"
+	/>
 	<!-- PX4 LAUNCH -->
 	<include file="$(find oscillation_ctrl)/launch/$(arg model).launch"/>
 </launch>
diff --git a/bash_scripts/protobuf_install.txt b/px4_setup/protobuf_install.txt
similarity index 68%
rename from bash_scripts/protobuf_install.txt
rename to px4_setup/protobuf_install.txt
index 7bd7a4b..97f0f30 100644
--- a/bash_scripts/protobuf_install.txt
+++ b/px4_setup/protobuf_install.txt
@@ -12,3 +12,9 @@ wstool merge -t src /tmp/mavros.rosinstall
 wstool update -t src -j4
 rosdep install --from-paths src --ignore-src -y
 catkin build
+
+steps:
+wget https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh
+bash ubuntu_sim_ros_melodic.sh
+git clone https://github.com/PX4/PX4-Autopilot.git --recursive
+git checkout 601c588294973caf105b79a23f7587c6b991bb05
diff --git a/bash_scripts/rosinstall.txt b/px4_setup/rosinstall.txt
similarity index 100%
rename from bash_scripts/rosinstall.txt
rename to px4_setup/rosinstall.txt
diff --git a/bash_scripts/ubuntu.sh b/px4_setup/ubuntu.sh
similarity index 100%
rename from bash_scripts/ubuntu.sh
rename to px4_setup/ubuntu.sh
diff --git a/bash_scripts/ubuntu_sim_ros_melodic.sh b/px4_setup/ubuntu_sim_ros_melodic.sh
similarity index 100%
rename from bash_scripts/ubuntu_sim_ros_melodic.sh
rename to px4_setup/ubuntu_sim_ros_melodic.sh