diff --git a/Drone/client_config.ini b/Drone/client_config.ini
index 1a63ad8..2fe7540 100644
--- a/Drone/client_config.ini
+++ b/Drone/client_config.ini
@@ -1,7 +1,7 @@
 [SERVER]
 port = 25000
 broadcast_port = 8181
-host = 192.168.1.104
+host = 192.168.43.168
 buffer_size = 1024
 
 [FILETRANSFER]
@@ -27,3 +27,4 @@ id = /hostname
 use_leds = True
 x0 = 0
 y0 = 0
+
diff --git a/Drone/copter_client.py b/Drone/copter_client.py
index 94533a7..c732122 100644
--- a/Drone/copter_client.py
+++ b/Drone/copter_client.py
@@ -9,16 +9,17 @@ import client
 import messaging_lib as messaging
 import play_animation
 
-def
 
 class CopterClient(client.Client):
     def load_config(self):
         super(CopterClient, self).load_config()
-        self.FRAME_ID = self.config.get('COPTERS', 'frame_id')  # TODO in play_animation
+        self.FRAME_ID = self.config.get('COPTERS', 'frame_id')
+        play_animation.FRAME_ID = self.FRAME_ID
         self.TAKEOFF_HEIGHT = self.config.getfloat('COPTERS', 'takeoff_height')
         self.TAKEOFF_TIME = self.config.getfloat('COPTERS', 'takeoff_time')
-        self.RFP_TIME = self.config.getfloat('COPTERS', 'reach_first_point_time')
         self.SAFE_TAKEOFF = self.config.getboolean('COPTERS', 'safe_takeoff')
+        self.RFP_TIME = self.config.getfloat('COPTERS', 'reach_first_point_time')
+
 
         self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
         self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
@@ -34,23 +35,26 @@ class CopterClient(client.Client):
         if self.USE_LEDS:
             LedLib.init_led()
 
-
 @messaging.request_callback("selfcheck")
 def _response_selfcheck():
     return FlightLib.selfcheck()
 
+
 @messaging.request_callback("batt_voltage")
 def _response_batt():
     return FlightLib.get_telemetry('body').voltage
 
+
 @messaging.request_callback("cell_voltage")
 def _response_cell():
     return FlightLib.get_telemetry('body').cell_voltage
 
+
 @messaging.message_callback("service_restart")
-def _message_service_restart(*args, **kwargs):
+def _command_service_restart(*args, **kwargs):
     os.system("systemctl restart"+kwargs["name"])
 
+
 @messaging.message_callback("led_test")
 def _command_config_write(*args, **kwargs):
     LedLib.chase(255, 255, 255)
@@ -58,6 +62,13 @@ def _command_config_write(*args, **kwargs):
     LedLib.off()
 
 
+@messaging.message_callback("takeoff")
+def _command_takeoff(*args, **kwargs):
+    play_animation.takeoff(z=client.active_client.TAKEOFF_HEIGHT,
+                           timeout=client.active_client.TAKEOFF_TIME,
+                           safe_takeoff=client.active_client.SAFE_TAKEOFF,
+                           )
+
 
 if __name__ == "__main__":
     copter_client = CopterClient()
diff --git a/Drone/play_animation.py b/Drone/play_animation.py
index 2f554c2..99eee63 100644
--- a/Drone/play_animation.py
+++ b/Drone/play_animation.py
@@ -10,13 +10,13 @@ module_logger = logging.getLogger("Animation player")
 
 animation_file_path = 'animation.csv'
 USE_LEDS = True
+FRAME_ID = 'aruco_map'
 
 
 def takeoff(z=1.5, safe_takeoff=True, timeout=5000):
     if USE_LEDS:
         LedLib.wipe_to(255, 0, 0)
-    if safe_takeoff:
-        FlightLib.takeoff(z=z, wait=True, timeout_takeoff=timeout, emergency_land=safe_takeoff)
+    FlightLib.takeoff(z=z, wait=True, timeout_takeoff=timeout, emergency_land=safe_takeoff,)
     LedLib.blink(0, 255, 0)
 
 
@@ -28,14 +28,16 @@ def land(descend=False):
         LedLib.off()
 
 
-def animate_frame(current_frame, x0=0.0, y0=0.0):
-    FlightLib.navto(current_frame['x']+x0, current_frame['y']+y0, current_frame['z'], yaw=1.57)  # TODO yaw
+def animate_frame(current_frame, x0=0.0, y0=0.0, copter_frame_id=FRAME_ID):
+    FlightLib.navto(current_frame['x']+x0, current_frame['y']+y0, current_frame['z'],
+                    yaw=1.57, frame_id=copter_frame_id)  # TODO yaw
     if USE_LEDS:
         LedLib.fill(current_frame['red'], current_frame['green'], current_frame['blue'])
 
 
-def reach_frame(current_frame, x0=0.0, y0=0.0, timeout=5000):
-    FlightLib.reach_point(current_frame['x']+x0, current_frame['y']+y0, current_frame['z'], yaw=1.57, timeout=timeout)  # TODO yaw
+def reach_frame(current_frame, x0=0.0, y0=0.0, timeout=5000, copter_frame_id=FRAME_ID):
+    FlightLib.reach_point(current_frame['x']+x0, current_frame['y']+y0, current_frame['z'],
+                          yaw=1.57, timeout=timeout, frame_id=copter_frame_id)  # TODO yaw
     if USE_LEDS:
         LedLib.fill(current_frame['red'], current_frame['green'], current_frame['blue'])
 
diff --git a/messaging_lib.py b/messaging_lib.py
index 49d1160..79f2ae3 100644
--- a/messaging_lib.py
+++ b/messaging_lib.py
@@ -14,7 +14,6 @@ except ImportError:
 
 PendingRequest = collections.namedtuple("PendingRequest", ["value", "requested_value",  # "expires_on",
                                                            "callback", "callback_args", "callback_kwargs",
-                                                           # "obj",
                                                            ])
 
 
@@ -323,14 +322,14 @@ class ConnectionManager(object):
             else:
                 logging.warning("Unexpected  response!")
 
-    def _process_filetransfer(self, message):
+    def _process_filetransfer(self, message):  # TODO path?
         if message.jsonheader["content-type"] == "binary":
             filepath = message.jsonheader["filepath"]
             try:
                 with open(filepath, 'wb') as f:
                     f.write(message.content)
             except OSError as error:
-                logging.warning("File can not be written due error: ".format(error))
+                logging.error("File {} can not be written due error: {}".format(filepath, error))
             else:
                 logging.info("File {} successfully received ".format(filepath))