diff --git a/tmux/one_drone/custom_configs/custom_config.yaml b/tmux/one_drone/custom_configs/custom_config.yaml
new file mode 100644
index 0000000..667504b
--- /dev/null
+++ b/tmux/one_drone/custom_configs/custom_config.yaml
@@ -0,0 +1,25 @@
+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    state_estimators: [
+      "gps_garmin",
+      "gps_baro",
+      "ground_truth",
+    ]
+
+    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
+
+  uav_manager:
+
+    takeoff:
+
+      during_takeoff:
+        controller: "MpcController"
+        tracker: "LandoffTracker"
+
+      after_takeoff:
+        controller: "Se3Controller"
+        tracker: "MpcTracker"
diff --git a/tmux/one_drone/custom_configs/hw_api.yaml b/tmux/one_drone/custom_configs/hw_api.yaml
new file mode 100644
index 0000000..3690c42
--- /dev/null
+++ b/tmux/one_drone/custom_configs/hw_api.yaml
@@ -0,0 +1,20 @@
+inputs:
+  control_group: false
+  attitude_rate: true
+  attitude:      true
+
+outputs:
+  distance_sensor:      true
+  gnss:                 true
+  rtk:                  true
+  imu:                  true
+  altitude:             true
+  magnetometer_heading: true
+  rc_channels:          true
+  battery_state:        true
+  position:             true
+  orientation:          true
+  velocity:             true
+  angular_velocity:     true
+  odometry:             true
+  ground_truth:         true
diff --git a/tmux/one_drone/layout.json b/tmux/one_drone/layout.json
new file mode 100644
index 0000000..3b10030
--- /dev/null
+++ b/tmux/one_drone/layout.json
@@ -0,0 +1,105 @@
+[
+	{
+		"border": "normal",
+		"floating": "auto_off",
+		"fullscreen_mode": 0,
+		"layout": "splith",
+		"percent": 0.5,
+		"type": "con",
+		"nodes": [
+			{
+				"border": "normal",
+				"floating": "auto_off",
+				"layout": "splith",
+				"percent": 1,
+				"type": "con",
+				"nodes": [
+					{
+						"border": "normal",
+						"floating": "auto_off",
+						"layout": "splitv",
+						"percent": 1,
+						"type": "con",
+						"nodes": [
+							{
+								"border": "normal",
+								"floating": "auto_off",
+								"layout": "splith",
+								"percent": 0.5,
+								"type": "con",
+								"nodes": [
+									{
+										"border": "pixel",
+										"current_border_width": 3,
+										"floating": "auto_off",
+										"geometry": {
+											"height": 460,
+											"width": 724,
+											"x": 0,
+											"y": 0
+										},
+										"name": "Gazebo",
+										"percent": 0.5,
+										"swallows": [
+											{
+												"instance": "^gazebo$"
+											}
+										],
+										"type": "con"
+									},
+									{
+										"border": "pixel",
+										"current_border_width": 3,
+										"floating": "auto_off",
+										"geometry": {
+											"height": 460,
+											"width": 724,
+											"x": 0,
+											"y": 0
+										},
+										"name": "default_simulation.rviz* - RViz",
+										"percent": 0.5,
+										"swallows": [
+											{
+												"instance": "^rviz$"
+											}
+										],
+										"type": "con"
+									}
+								]
+							},
+							{
+								"border": "normal",
+								"floating": "auto_off",
+								"layout": "splith",
+								"percent": 0.5,
+								"type": "con",
+								"nodes": [
+									{
+										"border": "pixel",
+										"current_border_width": 3,
+										"floating": "auto_off",
+										"geometry": {
+											"height": 460,
+											"width": 724,
+											"x": 0,
+											"y": 0
+										},
+										"name": "./start.sh",
+										"percent": 1,
+										"swallows": [
+											{
+												"instance": "^urxvt$"
+											}
+										],
+										"type": "con"
+									}
+								]
+							}
+						]
+					}
+				]
+			}
+		]
+	}
+]
diff --git a/tmux/one_drone/rviz.rviz b/tmux/one_drone/rviz.rviz
new file mode 100644
index 0000000..aca1e7c
--- /dev/null
+++ b/tmux/one_drone/rviz.rviz
@@ -0,0 +1,667 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 75
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Frames1
+        - /TF1/Tree1
+        - /Odometry1/odom_main1
+        - /Odometry1/odom_main1/Shape1
+        - /MpcTracker1/MpcInnerReference1
+      Splitter Ratio: 0.7053406834602356
+    Tree Height: 368
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 1
+      Class: rviz/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Show Trail: false
+      Value: true
+    - Alpha: 0.20000000298023224
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 5
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 0
+          Name: uav1
+          Position Tolerance: 0.10000000149011612
+          Queue Size: 1
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /multirotor_simulator/uav1/odom
+          Unreliable: true
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 0
+          Name: uav2
+          Position Tolerance: 0.10000000149011612
+          Queue Size: 1
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /multirotor_simulator/uav2/odom
+          Unreliable: true
+          Value: true
+        - Angle Tolerance: 0.10000000149011612
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 0
+          Name: uav3
+          Position Tolerance: 0.10000000149011612
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /multirotor_simulator/uav3/odom
+          Unreliable: true
+          Value: true
+      Enabled: false
+      Name: Simulator
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        uav1/fcu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        uav1/fcu/arms_red:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: UAVModel
+      Robot Description: /uav1/robot_model
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 22.416576385498047
+            Min Value: -0.5015535950660706
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: AxisColor
+          Decay Time: 60
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: os1
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Flat Squares
+          Topic: /uav1/os1_cloud_node/points
+          Unreliable: true
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 0; 0; 0
+          Color Transformer: FlatColor
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Min Color: 0; 0; 0
+          Name: rplidar
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.10000000149011612
+          Style: Flat Squares
+          Topic: /uav1/rplidar/scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
+      Name: Sensors
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /uav1/control_manager/safety_area_markers
+          Name: SafetyhArea
+          Namespaces:
+            "": true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /uav1/control_manager/disturbances_markers
+          Name: Disturbances
+          Namespaces:
+            control_manager: true
+          Queue Size: 100
+          Value: true
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /uav1/control_manager/safety_area_coordinates_markers
+          Name: SafetyAreaCoordinates
+          Namespaces:
+            "": true
+          Queue Size: 100
+          Value: true
+        - Angle Tolerance: 0.009999999776482582
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: true
+          Keep: 1
+          Name: control_reference
+          Position Tolerance: 0.009999999776482582
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /uav1/control_manager/control_reference
+          Unreliable: true
+          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Alpha: 1
+              Arrow Length: 0.30000001192092896
+              Axes Length: 0.30000001192092896
+              Axes Radius: 0.009999999776482582
+              Class: rviz/PoseArray
+              Color: 0; 170; 0
+              Enabled: true
+              Head Length: 0.07000000029802322
+              Head Radius: 0.029999999329447746
+              Name: Poses
+              Queue Size: 10
+              Shaft Length: 0.23000000417232513
+              Shaft Radius: 0.009999999776482582
+              Shape: Arrow (Flat)
+              Topic: /uav1/control_manager/trajectory_original/poses
+              Unreliable: false
+              Value: true
+            - Class: rviz/MarkerArray
+              Enabled: true
+              Marker Topic: /uav1/control_manager/trajectory_original/markers
+              Name: Markers
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+          Enabled: true
+          Name: OriginalTrajectory
+        - Alpha: 0.10000000149011612
+          Class: mrs_rviz_plugins/Bumper
+          Collision alpha: 0.5
+          Collision color: 255; 0; 0
+          Color: 204; 51; 204
+          Colorize collisions: true
+          Display mode: sensor types
+          Enabled: true
+          History Length: 1
+          Horizontal collision threshold: 1
+          Name: Bumper
+          Queue Size: 10
+          Show sectors with no data: false
+          Show undetected obstacles: true
+          Topic: /uav1/bumper/obstacle_sectors
+          Unreliable: false
+          Value: true
+          Vertical collision threshold: 1
+      Enabled: true
+      Name: ControlManager
+    - Class: rviz/Group
+      Displays:
+        - Angle Tolerance: 0.009999999776482582
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: false
+          Keep: 1
+          Name: position_cmd
+          Position Tolerance: 0.009999999776482582
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 0; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Arrow
+          Topic: /uav1/control_manager/cmd_odom
+          Unreliable: true
+          Value: false
+        - Angle Tolerance: 0.009999999776482582
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: false
+          Enabled: true
+          Keep: 1
+          Name: odom_main
+          Position Tolerance: 0.009999999776482582
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 0; 25; 255
+            Head Length: 1
+            Head Radius: 0.30000001192092896
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Arrow
+          Topic: /uav1/odometry/odom_main
+          Unreliable: true
+          Value: true
+      Enabled: true
+      Name: Odometry
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Arrow Length: 0.30000001192092896
+          Axes Length: 0.30000001192092896
+          Axes Radius: 0.009999999776482582
+          Class: rviz/PoseArray
+          Color: 0; 0; 255
+          Enabled: true
+          Head Length: 0.07000000029802322
+          Head Radius: 0.029999999329447746
+          Name: MpcPredictionTrajectory
+          Queue Size: 10
+          Shaft Length: 0.23000000417232513
+          Shaft Radius: 0.009999999776482582
+          Shape: Arrow (Flat)
+          Topic: /uav1/control_manager/mpc_tracker/predicted_trajectory_debugging
+          Unreliable: true
+          Value: true
+        - Angle Tolerance: 0.0010000000474974513
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.30000001192092896
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: false
+          Keep: 1
+          Name: MpcTrackerReference
+          Position Tolerance: 0.0010000000474974513
+          Queue Size: 10
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.10000000149011612
+            Color: 255; 25; 0
+            Head Length: 0.30000001192092896
+            Head Radius: 0.10000000149011612
+            Shaft Length: 1
+            Shaft Radius: 0.05000000074505806
+            Value: Axes
+          Topic: /uav1/control_manager/mpc_tracker/setpoint_odom
+          Unreliable: false
+          Value: false
+        - Alpha: 1
+          Arrow Length: 0.30000001192092896
+          Axes Length: 0.10000000149011612
+          Axes Radius: 0.05000000074505806
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.07000000029802322
+          Head Radius: 0.029999999329447746
+          Name: MpcInnerReference
+          Queue Size: 10
+          Shaft Length: 0.23000000417232513
+          Shaft Radius: 0.009999999776482582
+          Shape: Axes
+          Topic: /uav1/control_manager/mpc_tracker/mpc_reference_debugging
+          Unreliable: true
+          Value: true
+        - Class: rviz/Group
+          Displays:
+            - Alpha: 1
+              Arrow Length: 0.30000001192092896
+              Axes Length: 0.30000001192092896
+              Axes Radius: 0.009999999776482582
+              Class: rviz/PoseArray
+              Color: 255; 25; 0
+              Enabled: true
+              Head Length: 0.07000000029802322
+              Head Radius: 0.029999999329447746
+              Name: Poses
+              Queue Size: 10
+              Shaft Length: 0.23000000417232513
+              Shaft Radius: 0.009999999776482582
+              Shape: Arrow (Flat)
+              Topic: /uav1/control_manager/mpc_tracker/trajectory_processed/poses
+              Unreliable: false
+              Value: true
+            - Class: rviz/MarkerArray
+              Enabled: true
+              Marker Topic: /uav1/control_manager/mpc_tracker/trajectory_processed/markers
+              Name: Markers
+              Namespaces:
+                {}
+              Queue Size: 100
+              Value: true
+          Enabled: true
+          Name: PostprocessedTrajectory
+      Enabled: true
+      Name: MpcTracker
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /uav1/trajectory_generation/markers/final
+          Name: final
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /uav1/trajectory_generation/markers/original
+          Name: original
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+      Enabled: true
+      Name: TrajectoryGeneration
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: uav1/gps_origin
+    Frame Rate: 60
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 6.062072277069092
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.921144962310791
+        Y: 0.8244889974594116
+        Z: 4.76837158203125e-06
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.32979831099510193
+      Target Frame: uav1/fcu
+      Yaw: 2.777221202850342
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1030
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000003b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000004c6000001a1000001a900000153fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003b000003b0000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006502000003c9000003450000025b000000c90000000100000116000001b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000031000001b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035700fffffffb0000000800540069006d00650100000000000004500000000000000000000003a8000003b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 936
+  X: 966
+  Y: 32
diff --git a/tmux/one_drone/session.yml b/tmux/one_drone/session.yml
new file mode 100644
index 0000000..0cd5f33
--- /dev/null
+++ b/tmux/one_drone/session.yml
@@ -0,0 +1,58 @@
+# do not modify these
+root: ./
+name: simulation
+socket_name: mrs
+attach: false
+tmux_options: -f /etc/ctu-mrs/tmux.conf
+# you can modify these
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
+startup_window: status
+windows:
+  - roscore:
+      layout: tiled
+      panes:
+        - roscore
+  - gazebo:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch mrs_uav_gazebo_simulation simulation.launch world_name:=grass_plane gui:=true
+        - waitForControl; gz camera -c gzclient_camera -f $UAV_NAME; history -s gz camera -c gzclient_camera -f $UAV_NAME
+  - status:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch mrs_uav_status status.launch
+  - spawn:
+      layout: tiled
+      panes:
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ground-truth"
+  - hw_api:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch mrs_uav_px4_api api.launch custom_config:=./custom_configs/hw_api.yaml
+  - control:
+      layout: tiled
+      panes:
+        - waitForHw; roslaunch mrs_uav_core platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml core.launch custom_config:=./custom_configs/custom_config.yaml
+  - takeoff:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch mrs_uav_general automatic_start.launch
+        - 'waitForControl; rosservice call /$UAV_NAME/hw_api/arming 1; sleep 2; rosservice call /$UAV_NAME/hw_api/offboard'
+  - goto:
+      layout: tiled
+      panes:
+        - 'history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[0.0, 10.0, 1.5, 0.0\]\"'
+  - rviz:
+      layout: tiled
+      panes:
+        - waitForControl; roslaunch mrs_uav_testing rviz_random_simulation.launch
+        - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
+  - easy_control:
+      layout: tiled
+      panes:
+        - waitForRos; waitForControl; roslaunch mrs_uav_general logitech_joystick.launch
+        - waitForRos; waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch
+  - layout:
+      layout: tiled
+      panes:
+        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json
diff --git a/tmux/one_drone/start.sh b/tmux/one_drone/start.sh
new file mode 100755
index 0000000..833be6a
--- /dev/null
+++ b/tmux/one_drone/start.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# Absolute path to this script. /home/user/bin/foo.sh
+SCRIPT=$(readlink -f $0)
+# Absolute path this script is in. /home/user/bin
+SCRIPTPATH=`dirname $SCRIPT`
+cd "$SCRIPTPATH"
+
+# start tmuxinator
+tmuxinator start -p ./session.yml
+