diff --git a/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService.cpp
index b7a1bf3fddd94abf1bab21ee8bc74e723f239a9c..75254898379d3d081e31324071f2caad80e8d676 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService.cpp
@@ -774,30 +774,13 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 		pitchRate_command = m_mpc_input_vector_to_apply(2);
 	}
 
-	// else, use backup controller
+	// else, issue 0 command
 	else
 	{
-		// BODY Z CONTROL
-		// backup LQR controller
 		totalThrust_command = 0.0;
-		for (int i = 0; i < 9; i++)
-			totalThrust_command -= m_gainMatrixThrust[i] * stateErrorBody[i];
-
-		// add feed-forward term
-		totalThrust_command += m_cf_weight_in_newtons;
-
-
-		// BODY X CONTROL
-		// backup LQR controller
-		pitchRate_command = 0.0;
-		for(int i = 0; i < 9; i++)
-			pitchRate_command -= m_gainMatrixPitchRate[i] * stateErrorBody[i];
-
-		// BODY Y CONTROL
-		// backup LQR controller
 		rollRate_command = 0.0;
-		for(int i = 0; i < 9; i++)
-			rollRate_command -= m_gainMatrixRollRate[i] * stateErrorBody[i];
+		pitchRate_command = 0.0;
+		yawRate_command = 0.0;
 	}
 	
 
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService_solution.cpp b/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService_solution.cpp
index 318f3e345093f2afafc7d127f1dcc17ffec801ac..d1c4b062f746cb3867a3e7c820023ee017b033db 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService_solution.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/TutorialControllerService_solution.cpp
@@ -750,30 +750,13 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 		pitchRate_command = m_mpc_input_vector_to_apply(2);
 	}
 
-	// else, use backup controller
+	// else, issue 0 command
 	else
 	{
-		// BODY Z CONTROL
-		// backup LQR controller
 		totalThrust_command = 0.0;
-		for (int i = 0; i < 9; i++)
-			totalThrust_command -= m_gainMatrixThrust[i] * stateErrorBody[i];
-
-		// add feed-forward term
-		totalThrust_command += m_cf_weight_in_newtons;
-
-
-		// BODY X CONTROL
-		// backup LQR controller
-		pitchRate_command = 0.0;
-		for(int i = 0; i < 9; i++)
-			pitchRate_command -= m_gainMatrixPitchRate[i] * stateErrorBody[i];
-
-		// BODY Y CONTROL
-		// backup LQR controller
 		rollRate_command = 0.0;
-		for(int i = 0; i < 9; i++)
-			rollRate_command -= m_gainMatrixRollRate[i] * stateErrorBody[i];
+		pitchRate_command = 0.0;
+		yawRate_command = 0.0;
 	}