diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index f7308aef0dea93bfa689dba5b342aa7ddb60320c..9b7de04a36f4f7a029cdf390e5999228b468aef0 100644
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -57,7 +57,8 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   ViconData.msg
-  ControlParameters.msg
+  MotorCommands.msg
+  Setpoint.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/pps_ws/src/d_fall_pps/msg/ControlParameters.msg b/pps_ws/src/d_fall_pps/msg/ControlParameters.msg
deleted file mode 100644
index bcaa8f384601c84dacad3a67996b33581d2a6fb0..0000000000000000000000000000000000000000
--- a/pps_ws/src/d_fall_pps/msg/ControlParameters.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-#copied from Dusan, eventually remove onboardControllerType
-float32 roll
-float32 pitch
-float32 yaw
-uint16 thrust
-uint16 motorCmd1
-uint16 motorCmd2
-uint16 motorCmd3
-uint16 motorCmd4
-uint8 onboardControllerType
-
diff --git a/pps_ws/src/d_fall_pps/msg/MotorCommands.msg b/pps_ws/src/d_fall_pps/msg/MotorCommands.msg
new file mode 100755
index 0000000000000000000000000000000000000000..1ba103f54d977ce9620e123de107800ee6714973
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/MotorCommands.msg
@@ -0,0 +1,5 @@
+float32 cmd1
+float32 cmd2
+float32 cmd3
+float32 cmd4
+
diff --git a/pps_ws/src/d_fall_pps/msg/Setpoint.msg b/pps_ws/src/d_fall_pps/msg/Setpoint.msg
new file mode 100755
index 0000000000000000000000000000000000000000..b3f94d9fbf6f8c0893c93e6e50e437a52bc71b6e
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/Setpoint.msg
@@ -0,0 +1,4 @@
+float64 x
+float64 y
+float64 z
+float64 yaw