diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/feedback.hpp b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/feedback.hpp
index 1f35f48..4f3007f 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/feedback.hpp
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/feedback.hpp
@@ -7,7 +7,6 @@
 #include "debug.hpp"
 #include "navigation.hpp" 
 #include "rc.hpp"
-#include "servo.hpp" 
 
 #define LED_PIN     3
 #define LED_COUNT  1
diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino
index cf0844c..e9a0452 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino
@@ -36,6 +36,8 @@ void setup() {
   barometer_setup();  
   navigation_setup(); 
 
+  cmpt_weight_gain();
+
   buzzer_end_setup(); 
 }
 
@@ -68,6 +70,8 @@ void getdata() {
 }
 
 void datacmpt() {
+
+  cmpt_pressure_gain(pressure_baro); 
   
   if (new_cog) {
     new_cog = false;
@@ -79,7 +83,7 @@ void datacmpt() {
 
   if (I_WANT_TO_FLY) {
     cmd_to_waypoint = sim(); 
-    Serial.println(cmd_to_waypoint); 
+    //Serial.println(cmd_to_waypoint); 
     cog_ok = true;
   }
 
diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/navigation.hpp b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/navigation.hpp
index 4b30737..68a333e 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/navigation.hpp
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/navigation.hpp
@@ -1,6 +1,6 @@
 #include "config.h"
 #include "position.hpp"
-#include "control.hpp"
+#include "servo.hpp"
 
 struct gps_location { 
   double latitude = 0; 
diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/servo.hpp b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/servo.hpp
index d6d9c76..b892526 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/servo.hpp
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/servo.hpp
@@ -1,4 +1,5 @@
 #include "config.h"
+#include "control.hpp"
 #include <PWMServo.h>
 
 PWMServo steer;