diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 5052a1c6241e4f82cb26b3b8fc26172a36493579..7d996ad0970b4e463468c308f4f564f20b76b4a1 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -575,7 +575,7 @@ void commandCallback(const std_msgs::Int32& commandMsg) {
     	case CMD_USE_CUSTOM_CONTROLLER:
             ROS_INFO("USE_CUSTOM_CONTROLLER Command received");
     		loadCustomController();
-            useSafeController();
+            useCustomController();
     		break;
 
     	case CMD_CRAZYFLY_TAKE_OFF: