diff --git a/cfg/Tello.cfg b/cfg/Tello.cfg
index 307499e..b4afb5f 100755
--- a/cfg/Tello.cfg
+++ b/cfg/Tello.cfg
@@ -20,7 +20,7 @@ gen.add("video_req_sps_hz", double_t, 0,
 # Limit altitude control (Jordy)
 gen.add("altitude_limit", int_t, 0, "Limit altitude of Tello", 10, 1, 100)
 # Limit attitude control (Jordy)
-gen.add("attitude_limit", int_t, 0, "Limit attitude of Tello", 15, 1, 90)
+gen.add("attitude_limit", int_t, 0, "Limit attitude of Tello", 15, 15, 25)
 # Set low battery threshold (Jordy)
 gen.add("low_bat_threshold", int_t, 0, "Set low battery threshold of Tello", 7, 1, 100)
 # Scale velocity control (Jordy)
diff --git a/launch/joy_teleop.launch b/launch/joy_teleop.launch
index 86e84b4..1e95ceb 100644
--- a/launch/joy_teleop.launch
+++ b/launch/joy_teleop.launch
@@ -9,7 +9,7 @@
   </node>
 
   <group ns="$(arg namespace)">
-    <node pkg="tello_driver" type="gamepad_teleop_node.py" name="gamepad_teleop" />
+    <node pkg="tello_driver" type="gamepad_teleop_node" name="gamepad_teleop" />
   </group>
 
 </launch>
diff --git a/launch/tello_node.launch b/launch/tello_node.launch
index fbf33f1..03c01d1 100644
--- a/launch/tello_node.launch
+++ b/launch/tello_node.launch
@@ -9,7 +9,7 @@
 
 	<group ns="$(arg namespace)">
 
-		<node pkg="tello_driver" name="tello_driver_node" type="tello_driver_node.py" output="screen">
+		<node pkg="tello_driver" name="tello_driver_node" type="tello_driver_node" output="screen">
 			<param name="local_cmd_client_port" value="$(arg local_cmd_client_port)" />
 			<param name="local_vid_server_port" value="$(arg local_vid_server_port)" />
 			<param name="tello_ip" value="$(arg tello_ip)" />
diff --git a/nodes/tello_driver_node b/nodes/tello_driver_node
index b4678fa..eab4efb 100755
--- a/nodes/tello_driver_node
+++ b/nodes/tello_driver_node
@@ -35,12 +35,6 @@ from tellopy._internal.protocol import *
 # Add 'EVENT_VIDEO_FRAME_H264' to collect h264 images
 from tellopy._internal import event
 
-## Added statics to 'Tello' object, leave 'TelloPy' package untouched (Jordy) ##
-THROW_AND_GO_CMD                    = 0x005d
-ATTITUDE_MSG                        = 0x1056
-ATTITUDE_LIMIT_CMD                  = 0x1059
-EMERGENCY_CMD                       = 'emergency'
-
 ########################################END#######################################
 
 class RospyLogger(logger.Logger):
@@ -151,8 +145,6 @@ class TelloNode(tello.Tello):
 
 #########################################BEGIN#####################################
 
-        # video zoom state
-        self.zoom = False
         # Reconstruction H264 video frames        
         self.prev_seq_id = None
         self.seq_block_count = 0        
@@ -284,22 +276,7 @@ class TelloNode(tello.Tello):
             else:
                 frame = b''.join(self.frame_pkts[:sub_id+1])
             self._Tello__publish(event=self.EVENT_VIDEO_FRAME_H264,
-                           data=(frame, self.seq_block_count*256+seq_id, self.frame_t))
-        
-    # video mode command
-    def __send_video_mode(self, mode):
-        pkt = Packet(VIDEO_MODE_CMD)
-        pkt.add_byte(mode)
-        pkt.fixup()
-        return self.send_packet(pkt)
-        
-    def set_video_mode(self, zoom=False):
-        """Tell the drone whether to capture 960x720 4:3 video, or 1280x720 16:9 zoomed video.
-        4:3 has a wider field of view (both vertically and horizontally), 16:9 is crisper."""
-        self.log.info('set video mode zoom=%s (cmd=0x%02x seq=0x%04x)' % (
-            zoom, VIDEO_START_CMD, self.pkt_seq_num))
-        self.zoom = zoom
-        return self.__send_video_mode(int(zoom))
+                           data=(frame, self.seq_block_count*256+seq_id, self.frame_t))        
 
     def send_req_video_sps_pps(self):
         """Manually request drone to send an I-frame info (SPS/PPS) for video stream."""
diff --git a/src/TelloPy b/src/TelloPy
index 9738d66..b52b98c 160000
--- a/src/TelloPy
+++ b/src/TelloPy
@@ -1 +1 @@
-Subproject commit 9738d66d6cb4ec7bcf5aefae00f0abd042299676
+Subproject commit b52b98c2da57af69bb6fbf1c4389cfe9704a96aa