diff --git a/src/ardrone_sdk.cpp b/src/ardrone_sdk.cpp
index d2e4c2c..1517c18 100644
--- a/src/ardrone_sdk.cpp
+++ b/src/ardrone_sdk.cpp
@@ -53,7 +53,10 @@ extern "C" {
         //Roadmap: We have the pointer to ARDroneDriver here, so it is doable to return back ros params
         //using this class.
         ardrone_application_default_config.bitrate_ctrl_mode = (int) rosDriver->getRosParam("~bitrate_ctrl_mode", (double) VBC_MODE_DISABLED);
-        ardrone_application_default_config.max_bitrate = (int) rosDriver->getRosParam("~max_bitrate", 4000.0);
+        if (IS_ARDRONE2)
+        {
+            ardrone_application_default_config.max_bitrate = (int) rosDriver->getRosParam("~max_bitrate", 4000.0);
+        }
         ardrone_application_default_config.bitrate = (int) rosDriver->getRosParam("~bitrate", 4000.0);
         ardrone_application_default_config.outdoor = (bool) rosDriver->getRosParam("~outdoor", 0.0);
         ardrone_application_default_config.flight_without_shell = (bool) rosDriver->getRosParam("~flight_without_shell", 1.0);
diff --git a/src/teleop_twist.cpp b/src/teleop_twist.cpp
index cc73778..6fbd708 100644
--- a/src/teleop_twist.cpp
+++ b/src/teleop_twist.cpp
@@ -137,8 +137,8 @@ C_RESULT update_teleop(void)
                 );
         
         // These lines are for testing, they should be moved to configurations
-        // Bit 0 of control_flag: should we hover?
-        // Bit 1 of control_flag: should we use combined yaw mode?
+        // Bit 0 of control_flag == 0: should we hover?
+        // Bit 1 of control_flag == 1: should we use combined yaw mode?
         
         int32_t control_flag = 0x00;
         int32_t combined_yaw = 0x00;