diff --git a/ros_packages/mrs_uav_core/config/rviz/default.rviz b/ros_packages/mrs_uav_core/config/rviz/default.rviz
index 90c5b7b..8297f10 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: 0.8264706134796143
-    Tree Height: 285
+      Splitter Ratio: 0.6581196784973145
+    Tree Height: 286
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -15,6 +15,8 @@ Panels:
       - /2D Pose Estimate1
       - /2D Nav Goal1
       - /Publish Point1
+      - /Plan path1
+      - /Custom Goal1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
@@ -101,17 +103,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        uav1/fcu/arms:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        uav1/fcu/props:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        uav1/fcu/uav_marker:
+        uav1/fcu/arms_red:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -122,6 +114,30 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: 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
+    - Background color: 204; 204; 204
+      Class: mrs_rviz_plugins/Status
+      Computer load: true
+      Control manager: true
+      Custom strings: true
+      Enabled: true
+      Hw api state: true
+      Name: Status
+      Node stats list: false
+      Odometry: true
+      Text color: 0; 0; 0
+      Top Line: true
+      Topic rates: true
+      UAV name: uav1
+      Value: true
     - Class: rviz/Group
       Displays:
         - Alpha: 1
@@ -442,11 +458,24 @@ Visualization Manager:
     - Class: rviz/PublishPoint
       Single click: true
       Topic: /clicked_point
+    - Class: mrs_rviz_plugins/ControlTool
+    - Class: mrs_rviz_plugins/WaypointPlanner
+      Drone name: uav1
+      Fly now: true
+      Height offset: 0
+      Loop: false
+      Shape: Axes
+      Stop at waypoints: false
+      Topic: trajectory_generation/path
+      Use heading: true
+    - Class: mrs_rviz_plugins/NamedSetGoal
+      Name: name
+      Topic: goal
   Value: true
   Views:
     Current:
-      Class: rviz/ThirdPersonFollower
-      Distance: 10
+      Class: rviz/Orbit
+      Distance: 6.226305961608887
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -454,25 +483,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: false
+        X: 0.4605097770690918
+        Y: -0.6487909555435181
+        Z: 1.265869379043579
+      Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2753986120223999
+      Pitch: 0.21039855480194092
       Target Frame: uav1/fcu
-      Yaw: 3.065399169921875
+      Yaw: 2.9653992652893066
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 505
+  Height: 506
   Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000001a3fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000004c6000001a1000001a900000153fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a3000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000001a3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000001a3000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d00650100000000000004500000000000000000000004ea000001a300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001d6000001a4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000004c6000001a1000001a900000153fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001a4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000001a4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000001a4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d0065010000000000000450000000000000000000000586000001a400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -480,7 +509,7 @@ Window Geometry:
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
+    collapsed: true
   Width: 1890
   X: 12
-  Y: 34
+  Y: 32