diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 26b07d56bf73cdcade0cb096922877a29ad416d1..57f10101ca21f2222b7829a163b0ddae9a70bbda 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -298,12 +298,14 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
 
     QString qstr = "Raw voltage: ";
     qstr.append(QString::number(battery_voltage, 'f', 2));
+    ROS_INFO_STREAM("battery voltage " << battery_voltage);
     ui->raw_voltage->clear();
     ui->raw_voltage->setText(qstr);
 }
 
 void MainWindow::CFBatteryCallback(const std_msgs::Float32& msg)
 {
+    ROS_INFO("callback CFBattery received in GUI");
     updateBatteryVoltage(msg.data);
 }
 
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
index 5fd62e860f3f30187db8097bcaa7bcf10b2bbb3f..8e1edbbfa62e3ca2e0c55ceaefa53f5f983a47e2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.5.1, 2017-10-09T15:14:52. -->
+<!-- Written by QtCreator 3.5.1, 2017-10-18T15:20:06. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index 71d3eb1f915fc239dbf48949a5b555afdc5533c1..f18cf79b7ed5ff2bbc0498ffe6e1f9f3b8b5fde6 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1 +1 @@
-6,PPS_CF04,0/24/2M/E7E7E7E704,0,-1.18,-0.65,-0.2,0.93,1.04,2
+5,PPS_CF05,0/32/2M/E7E7E7E705,0,-1.10209,-0.137356,-0.2,0.453276,1.22247,2
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 8d0a502542c1113328372de053dfca578948de75..ae0771ed699345847e444cf4cea2301fa5d5d8bc 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -761,7 +761,7 @@ void CFBatteryCallback(const std_msgs::Float32& msg)
     // need to do the filtering first
     float filtered_battery_voltage = movingAverageBatteryFilter(m_battery_voltage); //need to perform filtering here
 
-    ROS_INFO_STREAM("filtered data: " << filtered_battery_voltage);
+    // ROS_INFO_STREAM("filtered data: " << filtered_battery_voltage);
     if((flying_state != STATE_MOTORS_OFF && (filtered_battery_voltage < m_battery_threshold_while_flying)) ||
        (flying_state == STATE_MOTORS_OFF && (filtered_battery_voltage < m_battery_threshold_while_motors_off)))
     {