diff --git a/ros_packages/mrs_uav_core/config/rviz/default.rviz b/ros_packages/mrs_uav_core/config/rviz/default.rviz
index a719e9e..dabd2f6 100644
--- a/ros_packages/mrs_uav_core/config/rviz/default.rviz
+++ b/ros_packages/mrs_uav_core/config/rviz/default.rviz
@@ -6,8 +6,8 @@ Panels:
       Expanded:
         - /TF1/Frames1
         - /TF1/Tree1
-      Splitter Ratio: 0.6581196784973145
-    Tree Height: 291
+      Splitter Ratio: 0.8058823347091675
+    Tree Height: 543
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -129,6 +129,15 @@ Visualization Manager:
       Topic rates: true
       UAV name: uav1
       Value: true
+    - Class: ""
+      Enable Transparency: true
+      Enabled: true
+      Name: Control Display
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: control/update
+      Value: true
     - Class: rviz/Group
       Displays:
         - Alpha: 1
@@ -425,15 +434,6 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: TrajectoryGeneration
-    - Class: ""
-      Enable Transparency: true
-      Enabled: true
-      Name: Control Display
-      Show Axes: false
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: control/update
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 255; 255; 255
@@ -498,18 +498,18 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 506
+  Height: 758
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d6000001a4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000004c6000001a1000001a900000153fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000001a4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000001a4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d0065010000000000000450000000000000000000000586000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002a0000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000002a0fc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000012c000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000005c00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d00650100000000000004500000000000000000000003a4000002a000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
-    collapsed: false
+    collapsed: true
   Views:
     collapsed: true
-  Width: 1890
-  X: 12
-  Y: 32
+  Width: 1280
+  X: 0
+  Y: 42