diff --git a/ros_packages/mrs_uav_core/config/rviz/default.rviz b/ros_packages/mrs_uav_core/config/rviz/default.rviz
index 3784bf5..6ae8e54 100644
--- a/ros_packages/mrs_uav_core/config/rviz/default.rviz
+++ b/ros_packages/mrs_uav_core/config/rviz/default.rviz
@@ -27,7 +27,7 @@ Panels:
   - Class: rviz/Time
     Name: Time
     SyncMode: 0
-    SyncSource: ouster_raw
+    SyncSource: ""
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -131,7 +131,7 @@ Visualization Manager:
           Topic rates: true
           UAV name: uav1
           Value: true
-        - Class: ""
+        - Class: rviz/InteractiveMarkers
           Enable Transparency: true
           Enabled: true
           Name: Control Display
@@ -491,7 +491,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 14.05187702178955
+      Distance: 8.42684555053711
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -507,9 +507,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4203985035419464
+      Pitch: 0.3653985559940338
       Target Frame: uav1/fcu
-      Yaw: 3.2353947162628174
+      Yaw: 3.0853917598724365
     Saved: ~
 Window Geometry:
   Displays:
@@ -517,7 +517,7 @@ Window Geometry:
   Height: 506
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001400000009f00000000000000000000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d006501000000000000045000000000000000000000024c000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000001a4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001400000009f0000000000000000fb0000001400760069006f005f00630061006d00650072006100000001400000009f0000001600ffffff0000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000030200fffffffb0000000800540069006d0065010000000000000450000000000000000000000606000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -526,8 +526,8 @@ Window Geometry:
     collapsed: true
   Views:
     collapsed: true
-  Width: 936
-  X: 966
+  Width: 1890
+  X: 3852
   Y: 32
   vio_camera:
     collapsed: false