diff --git a/project/aircraft/aircraft.gd b/project/aircraft/aircraft.gd
index 3870b93..9ecfbde 100644
--- a/project/aircraft/aircraft.gd
+++ b/project/aircraft/aircraft.gd
@@ -25,8 +25,6 @@ var _rotor_azimuth: float = 0
 @onready var bone_cyclic: int = skeleton.find_bone("Cyclic")
 @onready var bone_rotor: int = skeleton.find_bone("Rotor")
 
-@onready var instruments: Node = $AttitudeRoot/Instruments
-
 func _process(delta: float) -> void:
 	var target: Transform3D = connector.get_aircraft()
 	position = target.origin
@@ -45,10 +43,6 @@ func _process(delta: float) -> void:
 	var cyc_angles_rad: Vector2 = cyclic * deg_to_rad(range_cyclic)
 	var cyc_att := Quaternion.from_euler(Vector3(cyc_angles_rad.y, cyc_angles_rad.x, 0))
 	skeleton.set_bone_pose_rotation(bone_cyclic, cyc_att * cyc_rest)
-	
-	# Update the instruments
-	instruments.call("set_controls", connector.get_controls())
-	instruments.call("set_trim", connector.get_trim())
 
 	# Spin the rotor only when receiving flight data
 	if connector.get_model_connected():
diff --git a/project/aircraft/aircraft.tscn b/project/aircraft/aircraft.tscn
index 484b3e1..d572319 100644
--- a/project/aircraft/aircraft.tscn
+++ b/project/aircraft/aircraft.tscn
@@ -3,7 +3,7 @@
 [ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft/aircraft.gd" id="1_l4uib"]
 [ext_resource type="PackedScene" uid="uid://cux4tju0ovvly" path="res://assets/mi2/Mi-2.glb" id="1_mrxe8"]
 [ext_resource type="PackedScene" uid="uid://fmygcraoturj" path="res://reference_axes.tscn" id="3_2bi7g"]
-[ext_resource type="PackedScene" uid="uid://cis4s43ubuynp" path="res://instruments/instruments.tscn" id="3_5w717"]
+[ext_resource type="PackedScene" uid="uid://cis4s43ubuynp" path="res://instruments.tscn" id="3_5w717"]
 [ext_resource type="Script" uid="uid://bt32fse84itrp" path="res://aircraft/fallback_input.gd" id="3_gf6ud"]
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_mrxe8"]
diff --git a/project/instruments.gd b/project/instruments.gd
index a50183e..28a25e6 100644
--- a/project/instruments.gd
+++ b/project/instruments.gd
@@ -1,12 +1,11 @@
 extends Node
 
 const PFD_PATH: String = "pfd#adi,vsi,alt,ias,rht,rpm,hsi"
+const CONTROLS_PATH: String = "controls#collective,cyclic,rudder"
 
 @export var lidia_hostname: String = "localhost"
 @export var lidia_port: int = 5555
 
-@onready var controls: Node = $SubViewport2/Controls
-
 func _ready():
 	if !$CEF.initialize({"incognito":true, "locale":"en-US"}):
 		push_error($CEF.get_error())
@@ -25,8 +24,10 @@ func _ready():
 	browser_pfd.name = "pfd"
 	browser_pfd.enable_ad_block(false) # Required for lidia static assets
 
-# Propagate the calls to child
-func set_controls(current: Vector4):
-	controls.call("set_controls", current)
-func set_trim(trim: Vector4):
-	controls.call("set_trim", trim)
+	var browser_ctrl = $CEF.create_browser(
+		"http://{}:{}/{}".format([lidia_hostname, lidia_port, CONTROLS_PATH], "{}"),
+		$SubViewport2/TextureRect,
+		{ "frame_rate": 90, "javascript": true },
+	)
+	browser_ctrl.name = "controls"
+	browser_ctrl.enable_ad_block(false) # Required for lidia static assets
diff --git a/project/instruments/instruments.tscn b/project/instruments.tscn
similarity index 82%
rename from project/instruments/instruments.tscn
rename to project/instruments.tscn
index 1a4f7fe..4ececc9 100644
--- a/project/instruments/instruments.tscn
+++ b/project/instruments.tscn
@@ -1,7 +1,6 @@
-[gd_scene load_steps=8 format=3 uid="uid://cis4s43ubuynp"]
+[gd_scene load_steps=7 format=3 uid="uid://cis4s43ubuynp"]
 
-[ext_resource type="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_wlkep"]
-[ext_resource type="PackedScene" uid="uid://bgkpwebqksth5" path="res://instruments/controls.tscn" id="2_372d7"]
+[ext_resource type="Script" uid="uid://01bmfj4wthwg" path="res://instruments.gd" id="1_h5at3"]
 
 [sub_resource type="QuadMesh" id="QuadMesh_nowl7"]
 
@@ -20,7 +19,7 @@ resource_local_to_scene = true
 albedo_texture = SubResource("ViewportTexture_h5at3")
 
 [node name="Instruments" type="Node3D"]
-script = ExtResource("1_wlkep")
+script = ExtResource("1_h5at3")
 lidia_hostname = "192.168.1.2"
 
 [node name="SubViewport" type="SubViewport" parent="."]
@@ -37,7 +36,10 @@ surface_material_override/0 = SubResource("StandardMaterial3D_h5at3")
 
 [node name="SubViewport2" type="SubViewport" parent="."]
 
-[node name="Controls" parent="SubViewport2" instance=ExtResource("2_372d7")]
+[node name="TextureRect" type="TextureRect" parent="SubViewport2"]
+offset_right = 512.0
+offset_bottom = 512.0
+expand_mode = 5
 
 [node name="Quad2" type="MeshInstance3D" parent="."]
 transform = Transform3D(0.6, 0, 0, 0, 0.6, 0, 0, 0, 0.6, 0.425, 0, 0)
diff --git a/project/instruments/controls-background.png b/project/instruments/controls-background.png
deleted file mode 100644
index 01648dd..0000000
--- a/project/instruments/controls-background.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:94045c4fc08b5d93d3a2436de2c8399341246ec157f8ac3dbf0a89806a9e0e91
-size 2842
diff --git a/project/instruments/controls-background.png.import b/project/instruments/controls-background.png.import
deleted file mode 100644
index b6fb2d4..0000000
--- a/project/instruments/controls-background.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://b0oeokas7mq4q"
-path="res://.godot/imported/controls-background.png-626db610a70b7b467da1123d55529d5c.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/controls-background.png"
-dest_files=["res://.godot/imported/controls-background.png-626db610a70b7b467da1123d55529d5c.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/controls-ref.png b/project/instruments/controls-ref.png
deleted file mode 100644
index f4f3726..0000000
--- a/project/instruments/controls-ref.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4eef65cc3a825494e9d405ea68c480de3da6fe2e62f202e5d387771331d2904f
-size 15488
diff --git a/project/instruments/controls-ref.png.import b/project/instruments/controls-ref.png.import
deleted file mode 100644
index f623b6a..0000000
--- a/project/instruments/controls-ref.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://c5bcvbphgg1nk"
-path="res://.godot/imported/controls-ref.png-ed1b9d803223424fa895ad19151b7e9f.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/controls-ref.png"
-dest_files=["res://.godot/imported/controls-ref.png-ed1b9d803223424fa895ad19151b7e9f.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/controls.gd b/project/instruments/controls.gd
deleted file mode 100644
index 86b7a7b..0000000
--- a/project/instruments/controls.gd
+++ /dev/null
@@ -1,33 +0,0 @@
-extends Node2D
-## Recreate the controls page from lidia Python package
-
-@onready var trim_longitudinal: Node2D = $CyclicOrigin/TrimLongitudinal
-@onready var trim_lateral: Node2D = $CyclicOrigin/TrimLateral
-@onready var current_cyclic: Node2D = $CyclicOrigin/CurrentCyclic
-@onready var trim_collective: Node2D = $CollectiveOrigin/TrimCollective
-@onready var current_collective: Node2D = $CollectiveOrigin/CurrentCollective
-@onready var trim_pedals: Node2D = $PedalsOrigin/TrimPedals
-@onready var current_pedals: Node2D = $PedalsOrigin/CurrentPedals
-
-const AXIS_SIZE: float = 326
-
-func set_controls(current: Vector4):
-	set_cyclic(Vector2(current.x, current.y))
-	set_collective(current.w)
-	set_pedals(current.z)
-
-func set_cyclic(current: Vector2):
-	current_cyclic.position.x = AXIS_SIZE / 2.0 * current.x
-	current_cyclic.position.y = AXIS_SIZE / 2.0 * current.y
-
-func set_collective(current: float):
-	current_collective.position.y = -AXIS_SIZE * current
-
-func set_pedals(current: float):
-	current_pedals.position.x = AXIS_SIZE / 2.0 * current
-
-func set_trim(trim: Vector4):
-	trim_lateral.position.x = AXIS_SIZE / 2.0 * trim.x
-	trim_longitudinal.position.y = AXIS_SIZE / 2.0 * trim.y
-	trim_pedals.position.x = AXIS_SIZE / 2.0 * trim.z
-	trim_collective.position.y = -AXIS_SIZE * trim.w
diff --git a/project/instruments/controls.gd.uid b/project/instruments/controls.gd.uid
deleted file mode 100644
index 0a62356..0000000
--- a/project/instruments/controls.gd.uid
+++ /dev/null
@@ -1 +0,0 @@
-uid://ds6f8cur05ka0
diff --git a/project/instruments/controls.tscn b/project/instruments/controls.tscn
deleted file mode 100644
index be77aeb..0000000
--- a/project/instruments/controls.tscn
+++ /dev/null
@@ -1,54 +0,0 @@
-[gd_scene load_steps=7 format=3 uid="uid://bgkpwebqksth5"]
-
-[ext_resource type="Script" uid="uid://ds6f8cur05ka0" path="res://instruments/controls.gd" id="1_g7kvs"]
-[ext_resource type="Texture2D" uid="uid://b0oeokas7mq4q" path="res://instruments/controls-background.png" id="2_wbvwt"]
-[ext_resource type="Texture2D" uid="uid://c561m3pvc0kop" path="res://instruments/trim-long.png" id="3_37ekc"]
-[ext_resource type="Texture2D" uid="uid://wdqnlguxmi2a" path="res://instruments/current-dot.png" id="4_4updv"]
-[ext_resource type="Texture2D" uid="uid://dytpn8rcdimr" path="res://instruments/trim-short.png" id="5_ni3tk"]
-[ext_resource type="Texture2D" uid="uid://dkda6ju5daocf" path="res://instruments/current-arrow.png" id="6_mfntf"]
-
-[node name="Controls" type="Node2D"]
-script = ExtResource("1_g7kvs")
-
-[node name="Background" type="Sprite2D" parent="."]
-position = Vector2(256, 256)
-texture = ExtResource("2_wbvwt")
-
-[node name="CyclicOrigin" type="Node2D" parent="."]
-position = Vector2(309, 189)
-
-[node name="TrimLongitudinal" type="Sprite2D" parent="CyclicOrigin"]
-position = Vector2(10, 0)
-texture = ExtResource("3_37ekc")
-
-[node name="TrimLateral" type="Sprite2D" parent="CyclicOrigin"]
-position = Vector2(0, 10)
-rotation = 1.5708
-texture = ExtResource("3_37ekc")
-
-[node name="CurrentCyclic" type="Sprite2D" parent="CyclicOrigin"]
-texture = ExtResource("4_4updv")
-
-[node name="CollectiveOrigin" type="Node2D" parent="."]
-position = Vector2(72.5, 352)
-
-[node name="TrimCollective" type="Sprite2D" parent="CollectiveOrigin"]
-position = Vector2(-10.5, 0)
-texture = ExtResource("5_ni3tk")
-
-[node name="CurrentCollective" type="Sprite2D" parent="CollectiveOrigin"]
-position = Vector2(20.5, 0)
-texture = ExtResource("6_mfntf")
-
-[node name="PedalsOrigin" type="Node2D" parent="."]
-position = Vector2(309, 425.5)
-
-[node name="TrimPedals" type="Sprite2D" parent="PedalsOrigin"]
-position = Vector2(0, 10.5)
-rotation = -1.5708
-texture = ExtResource("5_ni3tk")
-
-[node name="CurrentPedals" type="Sprite2D" parent="PedalsOrigin"]
-position = Vector2(0, -21.5)
-rotation = -1.5708
-texture = ExtResource("6_mfntf")
diff --git a/project/instruments/current-arrow.png b/project/instruments/current-arrow.png
deleted file mode 100644
index e4aa8e4..0000000
--- a/project/instruments/current-arrow.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e9f32544518014aa8fbb852c82b5a9a32e78cc96724a095e261f3bb870602e4a
-size 1228
diff --git a/project/instruments/current-arrow.png.import b/project/instruments/current-arrow.png.import
deleted file mode 100644
index 430c1a0..0000000
--- a/project/instruments/current-arrow.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://dkda6ju5daocf"
-path="res://.godot/imported/current-arrow.png-8e092288abc9ec8d31cbc8f708a9c800.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/current-arrow.png"
-dest_files=["res://.godot/imported/current-arrow.png-8e092288abc9ec8d31cbc8f708a9c800.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/current-dot.png b/project/instruments/current-dot.png
deleted file mode 100644
index c7eea25..0000000
--- a/project/instruments/current-dot.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ac4ea7768fdae5a5f8e6f2ab7d48d332a6ab09f78d520c4fe0404c414aaf1b69
-size 1047
diff --git a/project/instruments/current-dot.png.import b/project/instruments/current-dot.png.import
deleted file mode 100644
index ce845b9..0000000
--- a/project/instruments/current-dot.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://wdqnlguxmi2a"
-path="res://.godot/imported/current-dot.png-789da8759af9526ce5f8705121a1077d.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/current-dot.png"
-dest_files=["res://.godot/imported/current-dot.png-789da8759af9526ce5f8705121a1077d.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/pfd-ref.png b/project/instruments/pfd-ref.png
deleted file mode 100644
index 08a7309..0000000
--- a/project/instruments/pfd-ref.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3e079dc36171686e572fe77691d340b82e43288c4b6aaf81776158162e3e50ce
-size 70065
diff --git a/project/instruments/pfd-ref.png.import b/project/instruments/pfd-ref.png.import
deleted file mode 100644
index 3f31bfa..0000000
--- a/project/instruments/pfd-ref.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://toojp8r3424r"
-path="res://.godot/imported/pfd-ref.png-18e0fc5274406321f68279cb4defcf25.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/pfd-ref.png"
-dest_files=["res://.godot/imported/pfd-ref.png-18e0fc5274406321f68279cb4defcf25.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/trim-long.png b/project/instruments/trim-long.png
deleted file mode 100644
index 0a52de6..0000000
--- a/project/instruments/trim-long.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:6f57cf6e93c3c68e48afdc3ee078c28c9f3292d4303a7fcc0ec51e1651d33e3a
-size 2108
diff --git a/project/instruments/trim-long.png.import b/project/instruments/trim-long.png.import
deleted file mode 100644
index fbfafb1..0000000
--- a/project/instruments/trim-long.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://c561m3pvc0kop"
-path="res://.godot/imported/trim-long.png-0b9b67642209f6a2ae4b2165f3b33d5d.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/trim-long.png"
-dest_files=["res://.godot/imported/trim-long.png-0b9b67642209f6a2ae4b2165f3b33d5d.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/project/instruments/trim-short.png b/project/instruments/trim-short.png
deleted file mode 100644
index f54ccfb..0000000
--- a/project/instruments/trim-short.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa70ce3b0fa0c5716ba0e771877eb8499cdd33d8b0c7478bea1c91b79b32e6b1
-size 1265
diff --git a/project/instruments/trim-short.png.import b/project/instruments/trim-short.png.import
deleted file mode 100644
index 9777f63..0000000
--- a/project/instruments/trim-short.png.import
+++ /dev/null
@@ -1,34 +0,0 @@
-[remap]
-
-importer="texture"
-type="CompressedTexture2D"
-uid="uid://dytpn8rcdimr"
-path="res://.godot/imported/trim-short.png-707c75166ad2d77e18c02dc4882968b1.ctex"
-metadata={
-"vram_texture": false
-}
-
-[deps]
-
-source_file="res://instruments/trim-short.png"
-dest_files=["res://.godot/imported/trim-short.png-707c75166ad2d77e18c02dc4882968b1.ctex"]
-
-[params]
-
-compress/mode=0
-compress/high_quality=false
-compress/lossy_quality=0.7
-compress/hdr_compression=1
-compress/normal_map=0
-compress/channel_pack=0
-mipmaps/generate=false
-mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
-process/fix_alpha_border=true
-process/premult_alpha=false
-process/normal_map_invert_y=false
-process/hdr_as_srgb=false
-process/hdr_clamp_exposure=false
-process/size_limit=0
-detect_3d/compress_to=1
diff --git a/src/marshconnector.cpp b/src/marshconnector.cpp
index fa2a9b9..3f66679 100644
--- a/src/marshconnector.cpp
+++ b/src/marshconnector.cpp
@@ -18,7 +18,6 @@
 #include "mavlink/all/mavlink.h" // IWYU pragma: keep; always include the mavlink.h file for selected dialect
 #include "mavlink/common/mavlink_msg_command_long.h"
 #include "mavlink/common/mavlink_msg_manual_control.h"
-#include "mavlink/common/mavlink_msg_manual_setpoint.h"
 #include "mavlink/common/mavlink_msg_param_request_list.h"
 #include "mavlink/common/mavlink_msg_param_set.h"
 #include "mavlink/common/mavlink_msg_param_value.h"
@@ -27,7 +26,6 @@
 #include "mavlink/mavlink_types.h"
 #include <cstdint>
 #include <optional>
-#include <string.h>
 
 using namespace godot;
 
@@ -38,8 +36,6 @@ void MarshConnector::_bind_methods() {
   ClassDB::bind_method(D_METHOD("get_collective"),
                        &MarshConnector::get_collective);
   ClassDB::bind_method(D_METHOD("get_pedals"), &MarshConnector::get_pedals);
-  ClassDB::bind_method(D_METHOD("get_controls"), &MarshConnector::get_controls);
-  ClassDB::bind_method(D_METHOD("get_trim"), &MarshConnector::get_trim);
   ClassDB::bind_method(D_METHOD("get_model_connected"),
                        &MarshConnector::get_model_connected);
   ClassDB::bind_method(D_METHOD("get_manager_connected"),
@@ -185,9 +181,6 @@ void MarshConnector::receive_data(const PackedByteArray &data) {
       case MAVLINK_MSG_ID_MANUAL_CONTROL:
         handle_manual_control(message);
         break;
-      case MAVLINK_MSG_ID_MANUAL_SETPOINT:
-        handle_manual_setpoint(message);
-        break;
       case MAVLINK_MSG_ID_HEARTBEAT:
         handle_heartbeat(message);
         break;
@@ -250,10 +243,6 @@ float MarshConnector::get_collective() { return last_controls.w; }
 
 float MarshConnector::get_pedals() { return last_controls.z; }
 
-Vector4 MarshConnector::get_controls() { return last_controls; }
-
-Vector4 MarshConnector::get_trim() { return last_trim; }
-
 bool MarshConnector::get_manager_connected() { return manager_connected; }
 
 bool MarshConnector::get_model_connected() { return model_connected; }
@@ -414,11 +403,10 @@ Error MarshConnector::send_param(Parameter index) {
   }
 
   mavlink_param_value_t param_value;
+  memset(param_value.param_id, 0, sizeof(param_value.param_id));
   CharString nameBuffer = parameter_names[index].ascii();
   const char *name = nameBuffer.get_data();
-
-  // strncpy will write nulls after data until reaching target count
-  strncpy(param_value.param_id, name, sizeof(param_value.param_id));
+  strcpy_s(param_value.param_id, name);
   param_value.param_value = parameters[index];
   param_value.param_type = MAV_PARAM_TYPE_REAL32;
   param_value.param_count = PARAM_COUNT;
@@ -447,22 +435,6 @@ void MarshConnector::handle_manual_control(mavlink_message_t message) {
     last_controls.w = manual_control.z / 1000.0f;
 }
 
-void MarshConnector::handle_manual_setpoint(mavlink_message_t message) {
-  if (message.msgid != MAVLINK_MSG_ID_MANUAL_SETPOINT)
-    return;
-
-  mavlink_manual_setpoint_t manual_setpoint;
-  mavlink_msg_manual_setpoint_decode(&message, &manual_setpoint);
-  if (manual_setpoint.mode_switch == MARSH_MANUAL_SETPOINT_MODE_TRIM) {
-    last_trim = Vector4{
-        manual_setpoint.roll,
-        manual_setpoint.pitch,
-        manual_setpoint.yaw,
-        manual_setpoint.thrust,
-    };
-  }
-}
-
 void MarshConnector::handle_heartbeat(mavlink_message_t message) {
   if (message.msgid != MAVLINK_MSG_ID_HEARTBEAT)
     return;
@@ -473,16 +445,27 @@ void MarshConnector::handle_heartbeat(mavlink_message_t message) {
     if (!manager_connected) {
       print_line("Connected to MARSH Manager");
 
-      Error result = subscribe_message(message.sysid, message.compid,
-                                       MAVLINK_MSG_ID_MANUAL_CONTROL);
-      if (result != OK) {
-        print_line("Subscribe control send result ", result);
-      }
+      // subscribe to messages not sent to visualisation node by default
+      mavlink_command_long_t command;
+      command.target_system = 1;
+      command.target_component =
+          MAV_COMP_ID_USER1; // HACK: Should get it from received HEARTBEAT
+      command.command = MAV_CMD_SET_MESSAGE_INTERVAL;
+      command.confirmation = 0;
+      command.param1 = static_cast<float>(MAVLINK_MSG_ID_MANUAL_CONTROL);
+      command.param2 = 0; // Default rate
+      command.param3 = 0; // Not used
+      command.param4 = 0;
+      command.param5 = 0;
+      command.param6 = 0;
+      command.param7 = 1; // Address of requestor
 
-      result = subscribe_message(message.sysid, message.compid,
-                                 MAVLINK_MSG_ID_MANUAL_SETPOINT);
+      mavlink_message_t message_sent;
+      mavlink_msg_command_long_encode_chan(
+          system_id, component_id, MAVLINK_COMM_0, &message_sent, &command);
+      Error result = send_message(message_sent);
       if (result != OK) {
-        print_line("Subscribe setpoint send result ", result);
+        print_line("Subscribe send result ", result);
       }
     }
 
@@ -491,29 +474,6 @@ void MarshConnector::handle_heartbeat(mavlink_message_t message) {
   }
 }
 
-Error MarshConnector::subscribe_message(uint8_t manager_system,
-                                        uint8_t manager_component,
-                                        uint32_t msgid) {
-  // subscribe to messages not sent to visualisation node by default
-  mavlink_command_long_t command;
-  command.target_system = manager_system;
-  command.target_component = manager_component;
-  command.command = MAV_CMD_SET_MESSAGE_INTERVAL;
-  command.confirmation = 0;
-  command.param1 = static_cast<float>(msgid);
-  command.param2 = 0; // Default rate
-  command.param3 = 0; // Not used
-  command.param4 = 0;
-  command.param5 = 0;
-  command.param6 = 0;
-  command.param7 = 1; // Address of requester
-
-  mavlink_message_t message_sent;
-  mavlink_msg_command_long_encode_chan(system_id, component_id, MAVLINK_COMM_0,
-                                       &message_sent, &command);
-  return send_message(message_sent);
-}
-
 void MarshConnector::manager_timeout() {
   print_line("Lost connection to MARSH Manager");
   manager_connected = false;
diff --git a/src/marshconnector.h b/src/marshconnector.h
index 52ae44a..897300a 100644
--- a/src/marshconnector.h
+++ b/src/marshconnector.h
@@ -45,10 +45,6 @@ public:
   float get_collective();
   // Get normalized (-1 to 1) pedals position, positive turn right
   float get_pedals();
-  // Get normalized position for all controls
-  Vector4 get_controls();
-  // Get normalized trim position
-  Vector4 get_trim();
 
   // Is there a connection to MARSH Manager
   bool get_manager_connected();
@@ -80,7 +76,6 @@ private:
   void handle_attitude(mavlink_message_t message);
   void handle_param(mavlink_message_t message);
   void handle_manual_control(mavlink_message_t message);
-  void handle_manual_setpoint(mavlink_message_t message);
   void handle_heartbeat(mavlink_message_t message);
 
   void receive_model_data();
@@ -108,18 +103,14 @@ private:
       "LOCAL_FRAME_LAT", "LOCAL_FRAME_LON",
   };
   Error send_param(Parameter index);
-  Error subscribe_message(uint8_t manager_system, uint8_t manager_component,
-                          uint32_t msgid);
 
   uint8_t system_id;
   uint8_t component_id;
 
   // TODO: Interpolate with some delay
-  // Or not, in practice the simple solution works nicely
   Vector3 last_location;
   Quaternion last_rotation;
   Vector4 last_controls;
-  Vector4 last_trim;
 
   double time_passed;
   Timer *heartbeat_timer;