diff --git a/clever/CMakeLists.txt b/clever/CMakeLists.txt
index 22ba58d9..2f3afaba 100644
--- a/clever/CMakeLists.txt
+++ b/clever/CMakeLists.txt
@@ -71,7 +71,6 @@ add_service_files(
   SetAttitudeYawRate.srv
   SetRatesYaw.srv
   SetRates.srv
-  GetTelemetry.srv
 )
 
 ## Generate actions in the 'action' folder
diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py
index 0e48831c..f808fe2b 100755
--- a/clever/src/simple_offboard.py
+++ b/clever/src/simple_offboard.py
@@ -278,7 +278,9 @@ def handle(req):
                 current_msg.header.stamp = stamp
                 current_pub.publish(current_msg)
 
-        offboard_and_arm()
+        if req.auto_offboard:
+            offboard_and_arm()
+
         return {'success': True}
 
     except Exception as e:
diff --git a/clever/srv/SetAttitude.srv b/clever/srv/SetAttitude.srv
index 9c41fff9..05ba13db 100644
--- a/clever/srv/SetAttitude.srv
+++ b/clever/srv/SetAttitude.srv
@@ -4,6 +4,7 @@ float32 yaw
 float32 thrust
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetAttitudeYawRate.srv b/clever/srv/SetAttitudeYawRate.srv
index 80e68a6a..e914cf7e 100644
--- a/clever/srv/SetAttitudeYawRate.srv
+++ b/clever/srv/SetAttitudeYawRate.srv
@@ -2,6 +2,7 @@ float32 roll
 float32 pitch
 float32 yaw_rate
 float32 thrust
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetPosition.srv b/clever/srv/SetPosition.srv
index 53e375ed..421c4931 100644
--- a/clever/srv/SetPosition.srv
+++ b/clever/srv/SetPosition.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetPositionGlobal.srv b/clever/srv/SetPositionGlobal.srv
index 4bbdfc95..742f4d95 100644
--- a/clever/srv/SetPositionGlobal.srv
+++ b/clever/srv/SetPositionGlobal.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetPositionGlobalYawRate.srv b/clever/srv/SetPositionGlobalYawRate.srv
index a7959e04..3fc42931 100644
--- a/clever/srv/SetPositionGlobalYawRate.srv
+++ b/clever/srv/SetPositionGlobalYawRate.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetPositionYawRate.srv b/clever/srv/SetPositionYawRate.srv
index 76feda1f..419621ca 100644
--- a/clever/srv/SetPositionYawRate.srv
+++ b/clever/srv/SetPositionYawRate.srv
@@ -4,6 +4,7 @@ float32 z
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetRates.srv b/clever/srv/SetRates.srv
index 7e7c1cb1..f6ebddf9 100644
--- a/clever/srv/SetRates.srv
+++ b/clever/srv/SetRates.srv
@@ -2,6 +2,7 @@ float32 pitch_rate
 float32 roll_rate
 float32 yaw_rate
 float32 thrust
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetRatesYaw.srv b/clever/srv/SetRatesYaw.srv
index fb9dbcc3..df8950ac 100644
--- a/clever/srv/SetRatesYaw.srv
+++ b/clever/srv/SetRatesYaw.srv
@@ -4,6 +4,7 @@ float32 yaw
 float32 thrust
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetVelocity.srv b/clever/srv/SetVelocity.srv
index 88efaaa2..01b818b2 100644
--- a/clever/srv/SetVelocity.srv
+++ b/clever/srv/SetVelocity.srv
@@ -4,6 +4,7 @@ float32 vz
 float32 yaw
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/clever/srv/SetVelocityYawRate.srv b/clever/srv/SetVelocityYawRate.srv
index 965bdf68..3155644e 100644
--- a/clever/srv/SetVelocityYawRate.srv
+++ b/clever/srv/SetVelocityYawRate.srv
@@ -4,6 +4,7 @@ float32 vz
 float32 yaw_rate
 string frame_id
 bool update_frame
+bool auto_arm
 ---
 bool success
 string message
diff --git a/deploy/clever_arudino.tar.gz b/deploy/clever_arudino.tar.gz
index f3b0de39..8be567f4 100644
Binary files a/deploy/clever_arudino.tar.gz and b/deploy/clever_arudino.tar.gz differ