diff --git a/communication/multirotor_communication.py b/communication/multirotor_communication.py
index 978ce0c..0c2a8d3 100644
--- a/communication/multirotor_communication.py
+++ b/communication/multirotor_communication.py
@@ -1,20 +1,12 @@
 import rospy
-import tf
-import yaml
-from mavros_msgs.msg import GlobalPositionTarget, State, PositionTarget
-from mavros_msgs.srv import CommandBool, CommandVtolTransition, SetMode
+from mavros_msgs.msg import State, PositionTarget
+from mavros_msgs.srv import CommandBool, SetMode
 from geometry_msgs.msg import PoseStamped, Pose, Twist
 from gazebo_msgs.srv import GetModelState
 from nav_msgs.msg import Odometry
-from sensor_msgs.msg import Imu, NavSatFix
 from std_msgs.msg import String
-import time
 from pyquaternion import Quaternion
-import math
-from multiprocessing import Process
 import sys
-import platform
-
 
 class Communication:
 
@@ -22,16 +14,14 @@ class Communication:
         
         self.vehicle_type = vehicle_type
         self.vehicle_id = vehicle_id
-        self.local_pose = None
-        self.yaw = 0
+        self.current_position = None
+        self.current_yaw = 0
         self.hover_flag = 0
         self.target_motion = PositionTarget()
         self.arm_state = False
         self.motion_type = 0
         self.flight_mode = None
         self.mission = None
-        
-        self.platform = platform.platform()
             
         '''
         ros subscribers
@@ -70,7 +60,7 @@ class Communication:
         while not rospy.is_shutdown():
             self.target_motion_pub.publish(self.target_motion)
             
-            if (self.flight_mode is "LAND") and (self.local_pose.position.z < 0.15):
+            if (self.flight_mode is "LAND") and (self.current_position.z < 0.15):
                 if(self.disarm()):
                     self.flight_mode = "DISARMED"
                     
@@ -87,8 +77,8 @@ class Communication:
             rate.sleep()
 
     def local_pose_callback(self, msg):
-        self.local_pose = msg.pose
-        self.yaw = self.q2yaw(msg.pose.orientation)
+        self.current_position = msg.pose.position
+        self.current_yaw = self.q2yaw(msg.pose.orientation)
 
     def mavros_state_callback(self, msg):
         self.mavros_state = msg.mode
@@ -214,7 +204,7 @@ class Communication:
     def hover(self):
         self.coordinate_frame = 1
         self.motion_type = 0
-        self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.yaw)
+        self.target_motion = self.construct_target(x=self.current_position.x,y=self.current_position.y,z=self.current_position.z,yaw=self.current_yaw)
 
     def flight_mode_switch(self):
         if self.flight_mode == 'HOVER':
@@ -229,7 +219,7 @@ class Communication:
             return False
 
     def takeoff_detection(self):
-        if self.local_pose.position.z > 0.3 and self.arm_state:
+        if self.current_position.z > 0.3 and self.arm_state:
             return True
         else:
             return False
diff --git a/communication/plane_communication.py b/communication/plane_communication.py
index 6d7abb2..fa683d7 100644
--- a/communication/plane_communication.py
+++ b/communication/plane_communication.py
@@ -1,17 +1,11 @@
 import rospy
-import tf
-import yaml
-from mavros_msgs.msg import GlobalPositionTarget, PositionTarget
-from mavros_msgs.srv import CommandBool, CommandVtolTransition, SetMode
+from mavros_msgs.msg import PositionTarget
+from mavros_msgs.srv import CommandBool, SetMode
 from geometry_msgs.msg import PoseStamped, Pose
 from nav_msgs.msg import Odometry
 from gazebo_msgs.srv import GetModelState
-from sensor_msgs.msg import Imu, NavSatFix
 from std_msgs.msg import String
-import time
 from pyquaternion import Quaternion
-import math
-from multiprocessing import Process
 import sys
 
 class Communication:
@@ -20,13 +14,9 @@ class Communication:
         
         self.vehicle_type = 'plane'
         self.vehicle_id = vehicle_id
-        self.imu = None
         self.local_pose = None
-        self.current_state = None
         self.target_motion = PositionTarget()
-        self.global_target = None
         self.arm_state = False
-        self.offboard_state = False
         self.motion_type = 0
         self.flight_mode = None
         self.mission = None
@@ -35,7 +25,6 @@ class Communication:
         ros subscribers
         '''
         self.local_pose_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/local_position/pose", PoseStamped, self.local_pose_callback)
-        #self.imu_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/imu/data", Imu, self.imu_callback)
         self.cmd_pose_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_flu", Pose, self.cmd_pose_flu_callback)
         self.cmd_pose_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_enu", Pose, self.cmd_pose_enu_callback)      
         self.cmd_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd",String,self.cmd_callback)
diff --git a/communication/rover_communication.py b/communication/rover_communication.py
index 499c99b..5aeeac8 100644
--- a/communication/rover_communication.py
+++ b/communication/rover_communication.py
@@ -1,17 +1,12 @@
 import rospy
-import tf
-import yaml
-from mavros_msgs.msg import GlobalPositionTarget, State, PositionTarget
-from mavros_msgs.srv import CommandBool, CommandVtolTransition, SetMode
+from mavros_msgs.msg import State, PositionTarget
+from mavros_msgs.srv import CommandBool, SetMode
 from geometry_msgs.msg import PoseStamped, Pose, Twist
 from nav_msgs.msg import Odometry
 from gazebo_msgs.srv import GetModelState
-from sensor_msgs.msg import Imu, NavSatFix
 from std_msgs.msg import String
-import time
 from pyquaternion import Quaternion
 import math
-from multiprocessing import Process
 import sys
 
 class Communication:
@@ -19,12 +14,8 @@ class Communication:
     def __init__(self, vehicle_id):
         self.vehicle_type = 'rover'
         self.vehicle_id = vehicle_id
-        self.imu = None
         self.local_pose = None
-        self.current_state = None
-        self.current_heading = None
         self.target_motion = PositionTarget()
-        self.global_target = None
         self.arm_state = False
         self.motion_type = 0
         self.flight_mode = None
diff --git a/communication/vtol_communication.py b/communication/vtol_communication.py
index 8a92d34..0f1ac5b 100644
--- a/communication/vtol_communication.py
+++ b/communication/vtol_communication.py
@@ -1,17 +1,11 @@
 import rospy
-import tf
-import yaml
-from mavros_msgs.msg import GlobalPositionTarget, PositionTarget
+from mavros_msgs.msg import PositionTarget
 from mavros_msgs.srv import CommandBool, CommandVtolTransition, SetMode
 from geometry_msgs.msg import PoseStamped, Pose, Twist
 from nav_msgs.msg import Odometry
 from gazebo_msgs.srv import GetModelState
-from sensor_msgs.msg import Imu, NavSatFix
 from std_msgs.msg import String
-import time
 from pyquaternion import Quaternion
-import math
-from multiprocessing import Process
 import sys
 
 class Communication:
@@ -20,15 +14,11 @@ class Communication:
         
         self.vehicle_type = vehicle_type
         self.vehicle_id = vehicle_id
-        self.imu = None
         self.local_pose = None
-        self.yaw = 0
+        self.current_yaw = 0
         self.current_state = None
         self.target_motion = PositionTarget()
-        self.global_target = None
         self.arm_state = False
-        self.offboard_state = False
-        self.current_heading = None
         self.hover_flag = 0
         self.coordinate_frame = 1
         self.motion_type = 0
@@ -39,7 +29,6 @@ class Communication:
         ros subscribers
         '''
         self.local_pose_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/local_position/pose", PoseStamped, self.local_pose_callback)
-        self.imu_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/imu/data", Imu, self.imu_callback)
         self.cmd_pose_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_flu", Pose, self.cmd_pose_flu_callback)
         self.cmd_pose_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_enu", Pose, self.cmd_pose_enu_callback)
         self.cmd_vel_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_vel_flu", Twist, self.cmd_vel_flu_callback)
@@ -92,7 +81,7 @@ class Communication:
 
     def local_pose_callback(self, msg):
         self.local_pose = msg.pose
-        self.yaw = self.q2yaw(msg.pose.orientation)
+        self.current_yaw = self.q2yaw(msg.pose.orientation)
 
     def q2yaw(self, q):
         if isinstance(q, Quaternion):
@@ -229,9 +218,6 @@ class Communication:
         else:
             self.flight_mode = msg.data
             self.flight_mode_switch()
-    
-    def imu_callback(self, msg):
-        self.current_heading = self.q2yaw(msg.orientation)
 
     def arm(self):
         if self.armService(True):
@@ -250,7 +236,7 @@ class Communication:
     def hover(self):
         self.coordinate_frame = 1
         self.motion_type = 0
-        self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_heading,yaw=self.yaw)
+        self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_heading,yaw=self.current_yaw)
 
     def flight_mode_switch(self):
         if self.flight_mode == 'HOVER':