diff --git a/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch b/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch
index 2bace01..d0062cf 100644
--- a/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch
+++ b/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch
@@ -25,7 +25,7 @@
       <remap from="tag_detections" to="~/tag_detections" />
       <remap from="tag_detections_image" to="~/tag_detections_image" />
 
-      <param name="publish_tag_detections_image" type="bool" value="true" /><!-- default: false -->
+      <param name="publish_tag_detections_image" type="bool" value="false" />
       <param name="queue_size" type="int" value="$(arg queue_size)" />
 
     </node>
diff --git a/docker/shared_data/gnss/shared_data/custom_config.yaml b/docker/shared_data/gnss/shared_data/custom_config.yaml
index 0f52303..b536999 100644
--- a/docker/shared_data/gnss/shared_data/custom_config.yaml
+++ b/docker/shared_data/gnss/shared_data/custom_config.yaml
@@ -14,8 +14,5 @@ mrs_uav_managers:
 
     takeoff:
 
-      during_takeoff:
-        controller: "MpcController"
-
       after_takeoff:
-        controller: "MpcController"
+        controller: "Se3Controller"
diff --git a/docker/shared_data/vio/shared_data/custom_config.yaml b/docker/shared_data/vio/shared_data/custom_config.yaml
index 620de6c..d817626 100644
--- a/docker/shared_data/vio/shared_data/custom_config.yaml
+++ b/docker/shared_data/vio/shared_data/custom_config.yaml
@@ -6,33 +6,19 @@ mrs_uav_managers:
     # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, aloam, ground_truth, dummy
     state_estimators: [
     "open_vins",
-    "vins_kickoff",
     ]
 
-    initial_state_estimator: "vins_kickoff" # will be used as the first state estimator
+    initial_state_estimator: "open_vins" # will be used as the first state estimator
 
   uav_manager:
 
-    landing:
-
-      # those two must apply simultaneously
-      landing_cutoff_mass_factor:  0.75 # how much lighter does the drone appear to be?
-      landing_cutoff_timeout:  0.5 # [s] how long does the throttle has to be below the mass factor
-
     takeoff:
 
-      during_takeoff:
-        controller: "MpcController"
-
       after_takeoff:
-        controller: "MpcController"
-
-  control_manager:
-
-    safety:
+        controller: "Se3Controller"
 
-      # emergency landing (still feedback)
-      eland:
+    midair_activation:
 
-        cutoff_mass_factor:  0.75 # how much lighter does the drone appear to be?
-        cutoff_timeout:  0.5 # [s] how long does the throttle has to be below the mass factor
+      after_activation:
+        controller: "Se3Controller"
+        tracker: "MpcTracker"
diff --git a/docker/uav_sessions/gnss/variables.env b/docker/uav_sessions/gnss/variables.env
index 790e969..b215c0c 100644
--- a/docker/uav_sessions/gnss/variables.env
+++ b/docker/uav_sessions/gnss/variables.env
@@ -2,6 +2,6 @@ RUN_TYPE=realworld
 UAV_NAME=uav80
 UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
-UAV_MASS=0.8
+UAV_MASS=0.7
 UAV_ID=c4750f
 MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/precise_landing/compose.yaml b/docker/uav_sessions/precise_landing/compose.yaml
index a56829e..645b8be 100644
--- a/docker/uav_sessions/precise_landing/compose.yaml
+++ b/docker/uav_sessions/precise_landing/compose.yaml
@@ -1,7 +1,7 @@
 volumes:
 
   catkin_workspace:
-  
+
   shared_data:
 
 services:
diff --git a/docker/uav_sessions/sensor_diagnostics/variables.env b/docker/uav_sessions/sensor_diagnostics/variables.env
index 790e969..b215c0c 100644
--- a/docker/uav_sessions/sensor_diagnostics/variables.env
+++ b/docker/uav_sessions/sensor_diagnostics/variables.env
@@ -2,6 +2,6 @@ RUN_TYPE=realworld
 UAV_NAME=uav80
 UAV_TYPE=robofly
 ROS_MASTER_URI=http://localhost:11311
-UAV_MASS=0.8
+UAV_MASS=0.7
 UAV_ID=c4750f
 MRS_UAV_SYSTEM_VERSION=1.5.0
diff --git a/docker/uav_sessions/vio/compose.yaml b/docker/uav_sessions/vio/compose.yaml
index 3de39c5..09c7d0c 100644
--- a/docker/uav_sessions/vio/compose.yaml
+++ b/docker/uav_sessions/vio/compose.yaml
@@ -6,8 +6,6 @@ volumes:
 
   bag_files:
 
-  catkin_workspace:
-
 services:
 
   # will copy session-specific data shared between containers from the shared_data container to a shared volume
@@ -24,13 +22,6 @@ services:
       - uav_custom_files:/tmp/docker/uav_custom_files:consistent
     command: sh -c "rm -rvf /tmp/docker/uav_custom_files/*; mkdir -pv /tmp/docker/uav_custom_files; cp -rv /etc/docker/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /tmp/docker/uav_custom_files/"
 
-  # will copy user's ROS catkin workspace from the 'transfer' alpine image to a shared volume
-  copy_catkin_workspace:
-    image: precise_landing:1.0.0
-    volumes:
-      - catkin_workspace:/tmp/docker/catkin_workspace:consistent
-    command: sh -c "rm -rvf /tmp/docker/catkin_workspace/*; mkdir -pv /tmp/docker/catkin_workspace; cp -rv /etc/docker/catkin_workspace/* /tmp/docker/catkin_workspace/"
-
   # starts roscore
   # this is the first container in the ROS pipeline
   roscore:
@@ -120,10 +111,9 @@ services:
     network_mode: host
     volumes:
       - shared_data:/etc/docker/shared_data:consistent                
-      - catkin_workspace:/etc/docker/catkin_workspace:consistent 
     env_file:
       - ./stack.env
-    command: bash -c "source /etc/docker/catkin_workspace/devel/setup.bash && waitForHw && roslaunch mrs_uav_autostart automatic_start.launch"
+    command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch"
 
   # starts `rosbag record`
   rosbag:
@@ -152,7 +142,6 @@ services:
       - shared_data:/etc/docker/shared_data:consistent
       - uav_custom_files:/etc/docker/uav_custom_files:consistent
       - /dev/:/dev/
-      - catkin_workspace:/etc/docker/catkin_workspace:consistent
     command:
       - bash --rcfile /opt/ros/noetic/setup.bash
     privileged: true