diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 4b712ef3cfd01c8209622e08e443b4a93b8686dc..1ea1f35e1aeae344b89bf389084aa7f08addf6f3 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -232,7 +232,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
     	outYaw -= gainMatrixYaw[i] * state[i];
     	thrustIntermediate -= gainMatrixThrust[i] * state[i];
     }
-    ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);    
+    // ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);
     //INFORMATION: this ugly fix was needed for the older firmware
     //outYaw *= 0.5;
 
@@ -250,11 +250,11 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
     response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustIntermediate + ffThrust[2]);
     response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustIntermediate + ffThrust[3]);
 
-    ROS_INFO_STREAM("ffThrust" << ffThrust[0]);
-    ROS_INFO_STREAM("controlOutput.cmd1 = " << response.controlOutput.motorCmd1);
-    ROS_INFO_STREAM("controlOutput.cmd3 = " << response.controlOutput.motorCmd2);
-    ROS_INFO_STREAM("controlOutput.cmd2 = " << response.controlOutput.motorCmd3);
-    ROS_INFO_STREAM("controlOutput.cmd4 = " << response.controlOutput.motorCmd4);
+    // ROS_INFO_STREAM("ffThrust" << ffThrust[0]);
+    // ROS_INFO_STREAM("controlOutput.cmd1 = " << response.controlOutput.motorCmd1);
+    // ROS_INFO_STREAM("controlOutput.cmd3 = " << response.controlOutput.motorCmd2);
+    // ROS_INFO_STREAM("controlOutput.cmd2 = " << response.controlOutput.motorCmd3);
+    // ROS_INFO_STREAM("controlOutput.cmd4 = " << response.controlOutput.motorCmd4);
 
     response.controlOutput.onboardControllerType = RATE_CONTROLLER;