diff --git a/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h b/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
index c51072307aa69b6e158441c73bdd2a32473f60c1..67173f964f8d2bb982d62217f4b15b57e38d7eb7 100644
--- a/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
+++ b/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
@@ -232,7 +232,7 @@ std::string m_namespace_to_coordinator_parameter_service;
 // VARIABLES FOR THE CONTOLLER
 
 // > the mass of the crazyflie, in [grams]
-float yaml_mass_cf_in_grams = 25.0;
+float yaml_mass_cf_in_grams = 30.0;
 
 // > the coefficients of the 16-bit command to thrust conversion
 //std::vector<float> yaml_motorPoly(3);
diff --git a/pps_ws/src/d_fall_pps/param/PickerController.yaml b/pps_ws/src/d_fall_pps/param/PickerController.yaml
index 65e5fff4f9466745e20637735d97814c9a2b4726..e9ee0b09d73566cce1177f1f5ccf67998744288e 100644
--- a/pps_ws/src/d_fall_pps/param/PickerController.yaml
+++ b/pps_ws/src/d_fall_pps/param/PickerController.yaml
@@ -58,7 +58,7 @@ shouldPerformConvertIntoBodyFrame : true
 #shouldPublishCurrent_xyz_yaw : true
 
 # Boolean indiciating whether the "Debug Message" of this agent should be published or not
-shouldPublishDebugMessage : true
+shouldPublishDebugMessage : false
 
 # Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
 shouldDisplayDebugInfo : false
diff --git a/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
index d762170a71c2219643d099736562e15dac6b635b..63346c0fc674d42a1cde815adad457c4b9d30a4a 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
@@ -638,6 +638,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 	// CALL THE FUNCTION FOR PER CYLCE OPERATIONS
 	perControlCycleOperations();
 
+
 	// THIS IS THE START OF THE "OUTER" CONTROL LOOP
 	// > i.e., this is the control loop run on this laptop
 	// > this function is called at the frequency specified
@@ -654,7 +655,8 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 	// SMOOTH ANY CHANGES THAT MAY HAVE OCCURRED IN THE
 	// SETPOINT
 	smoothSetpointChanges();
-	
+
+
 	// CONVERT THE CURRENT INERTIAL FRAME STATE ESTIMATE, INTO
 	// THE BODY FRAME ERROR REQUIRED BY THE CONTROLLER
 	// > Define a local array to fill in with the body frame error
@@ -662,14 +664,12 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
 	// > Call the function to perform the conversion
 	convert_stateInertial_to_bodyFrameError(m_current_stateInertialEstimate,m_setpoint_for_controller,current_bodyFrameError);
 
-	
 
 	// CARRY OUT THE CONTROLLER COMPUTATIONS
 	// Call the function that performs the control computations for this mode
 	calculateControlOutput_viaLQRforRates(current_bodyFrameError,request,response);
 
 
-
 	// // PUBLISH THE CURRENT X,Y,Z, AND YAW (if required)
 	// if (shouldPublishCurrent_xyz_yaw)
 	// {
@@ -1825,7 +1825,7 @@ int main(int argc, char* argv[]) {
 	// Create the service call as a local variable
 	LoadYamlFromFilename loadYamlFromFilenameCall;
 	// Specify the Yaml filename as a string
-	loadYamlFromFilenameCall.request.stringWithHeader.data = "StudentController";
+	loadYamlFromFilenameCall.request.stringWithHeader.data = "PickerController";
 	// Set for whom this applies to
 	loadYamlFromFilenameCall.request.stringWithHeader.shouldCheckForID = false;
 	// Wait until the serivce exists