diff --git a/apps/ios/cleverrc/telemetry.js b/apps/ios/cleverrc/telemetry.js
index 47e1f589..4370ac13 100644
--- a/apps/ios/cleverrc/telemetry.js
+++ b/apps/ios/cleverrc/telemetry.js
@@ -65,8 +65,12 @@ new ROSLIB.Topic({
 	name: '/rosout_agg',
 	messageType: 'rosgraph_msgs/Log'
 }).subscribe(function(message) {
+	var BLACKLIST = ['CMD: ', 'PR: ', 'DROPPED'];
 	if(message.level >= 4) {
-		if (message.msg.startsWith('CMD: ')) {
+		if (BLACKLIST.some(function(e) {
+				return message.msg.indexOf(e) != -1;
+			})) {
+			console.log('Filtered out message ' + message.msg);
 			return;
 		}
 		callNativeApp('notification', message);
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 6a582cfd..c1d7a6a6 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -8,6 +8,7 @@
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
     <arg name="aruco" default="false"/>
+    <arg name="rc" value="true"/>
     <arg name="fpv_camera" default="false"/>
     <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
     <arg name="arduino" default="false"/>
@@ -46,10 +47,10 @@
     <include file="$(find clever)/launch/main_camera.launch" if="$(arg main_camera)"/>
 
     <!-- rosbridge -->
-    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(arg rosbridge)"/>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" if="$(eval rosbridge or rc)"/>
 
     <!-- rc backend -->
-    <!--<node name="rc" pkg="clever" type="rc" output="screen"/>-->
+    <node name="rc" pkg="clever" type="rc" output="screen" if="$(arg rc)"/>
 
     <!-- FPV video streaming -->
     <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
diff --git a/clever/src/rc.cpp b/clever/src/rc.cpp
index 27d39591..d96629ba 100644
--- a/clever/src/rc.cpp
+++ b/clever/src/rc.cpp
@@ -55,8 +55,6 @@ private:
     {
         ROS_INFO("State timeout");
         mavros_msgs::State unknown_state;
-        unknown_state.connected = true;
-        unknown_state.mode = "UNKNOWN";
         state_pub.publish(unknown_state);
         state_msg = nullptr;
     }
@@ -66,6 +64,10 @@ private:
         state_sub = nh.subscribe("mavros/state", 1, &RC::handleState, this);
         state_pub = nh.advertise<mavros_msgs::State>("state_latched", 1, true);
         state_timeout_timer = nh.createTimer(ros::Duration(0), &RC::stateTimedOut, this, true, false);
+
+        // Publish initial state
+        mavros_msgs::State unknown_state;
+        state_pub.publish(unknown_state);
     }
 
     int createSocket(int port)