diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5891795..f1c1a19 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 #uncomment if you have defined messages
 rosbuild_genmsg()
 #uncomment if you have defined services
-#rosbuild_gensrv()
+rosbuild_gensrv()
 
 #common commands for building c++ executables and libraries
 #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
diff --git a/mavlink b/mavlink
index 0fd1274..4e31ef0 160000
--- a/mavlink
+++ b/mavlink
@@ -1 +1 @@
-Subproject commit 0fd127459dcdefc5538659e83562e0d0db655f3d
+Subproject commit 4e31ef0f21a2b2aea55a4d8ebf899fead2cc025e
diff --git a/nodes/roscopter.py b/nodes/roscopter.py
index 524420c..a75e26c 100755
--- a/nodes/roscopter.py
+++ b/nodes/roscopter.py
@@ -5,6 +5,7 @@
 from std_srvs.srv import *
 from sensor_msgs.msg import NavSatFix, NavSatStatus, Imu
 import roscopter.msg
+from roscopter.srv import *
 import sys,struct,time,os
 
 # Auto Pilot modes