diff --git a/groundStation/.gitignore b/groundStation/.gitignore
index 508a8f243429591a76f612c87353c847358052e0..3c404365ac685a5329202185291efb21aefa35b1 100644
--- a/groundStation/.gitignore
+++ b/groundStation/.gitignore
@@ -42,3 +42,10 @@ logs
 BackEnd
 obj
 Cli
+
+#symlinks
+getpid
+monitor
+setpid
+setsetpoint
+getsetpoint
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 32c9062ef683a66deef45a0cf04334bf016d9e17..052f6bf8af89e079a93dd4c77711609316aead99 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -23,7 +23,7 @@ CLIBINARY=Cli
 CLISRCDIR=src/cli
 CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
 CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
-SYMLINKS=monitor setpid getpid setsetpoint
+SYMLINKS=monitor setpid getpid setsetpoint getsetpoint
 
 # Frontend-common stuff
 FESRCDIR=src/frontend
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index f521cf732807359df10b4e607111c360d9f26a0d..7efcbc855495ddda5661de6627d3b005372cfd79 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -195,7 +195,6 @@ int main(int argc, char **argv)
 		perror("Error creating log file...");
 		exit(1);
 	}
-	// writeStringToLog(logHeader);
 
 	// watch for input from stdin (fd 0) to see when it has input
 	safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
@@ -328,8 +327,8 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 	memcpy(&packet[11], &(info->y), 4);
 	memcpy(&packet[15], &(info->x), 4);
 	memcpy(&packet[19], &(info->z), 4);
-	memcpy(&packet[23], &(info->pitch), 4);
-	memcpy(&packet[27], &(info->roll), 4);
+	memcpy(&packet[23], &(info->roll), 4);
+	memcpy(&packet[27], &(info->pitch), 4);
 	memcpy(&packet[31], &(info->yaw), 4);
 
 	char checksum = 0;
@@ -482,6 +481,9 @@ static ssize_t writeQuad(const char * buf, size_t count) {
 
 static ssize_t readQuad(char * buf, size_t count) {
 	ssize_t retval;
+	if (getenv(NOQUAD_ENV)) {
+		return count;
+	}
 	if (pthread_mutex_lock(&quadSocketMutex)) {
 		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
 	}
@@ -626,7 +628,7 @@ static void client_recv(int fd) {
 				if (tracker == NULL) {
 					char * dummy = TD_MAGIC " 1.0 2.0 3.0 4.0 5.0 6.0\n";
 					write(fd, dummy, strlen(dummy));
-				}else if (ucart_vrpn_tracker_getData(tracker, &td)) {
+				} else if (ucart_vrpn_tracker_getData(tracker, &td)) {
 					write(fd, TD_MAGIC " ERROR\n", strlen(TD_MAGIC " ERROR\n"));
 				} else { 
 					/* more than sufficient buffer */
@@ -651,17 +653,19 @@ static void client_recv(int fd) {
 				}
 			}
 		} else {
-			if(clientAddPendResponses(fd, packet) == -1) {
-				warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
-			} else {	
-				int datalen = (packet[6] << 8) | (packet[5]);
-				printf("sending %lf '", getFloat(packet, 7));
-				for(int i = 0; i < datalen + 8; ++i) {
-					printf(" 0x%x", (signed) packet[i]);
+			if (packet[1] == 0x02) {
+				if (clientAddPendResponses(fd, packet) == -1) {
+					warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
 				}
-				printf("'\n");
-				writeQuad((char *) packet, datalen +8);
 			}
+
+			int datalen = (packet[6] << 8) | (packet[5]);
+			printf("sending %lf '", getFloat(packet, 7));
+			for(int i = 0; i < datalen + 8; ++i) {
+				printf(" 0x%.2x", (signed) packet[i]);
+			}
+			printf("'\n");
+			writeQuad((char *) packet, datalen +8);
 		}
 		
 		char * rest = &buffer[newline] + 1;
@@ -707,17 +711,23 @@ static void quad_recv() {
 		respBufLen = 0;
 		return;
 	}
-
+	
 	/* Get datalen */
 	size_t datalen = metadata.data_len;
+	if (respBufLen < datalen + 8) {
+		/* Packet not yet fully read */
+		return;
+	}
+
 	if (datalen > CMD_MAX_LENGTH - 8) {
 		/* Very invalid packet. Nuke that shit */
+		warnx("data len is over the maximum packet length. Try reducing the data in the packet sent to the groundstation.\n");
 		respBufLen = 0;
 		return;
 	}
-	
-	if (respBufLen < datalen + 8) {
-		/* Packet not yet fully read */
+
+	if(validPacket == -2) {
+		fprintf(stderr, "Checksums did not match (Parse Packet)\n");
 		return;
 	}
 
@@ -726,10 +736,18 @@ static void quad_recv() {
 		char * cmdText = MessageTypes[(int)metadata.msg_type].subtypes[(int)metadata.msg_subtype].cmdText;
 		float value = getFloat((unsigned char *)respBuf, 7);
 		//printf("Quad : %s, %lf\n", cmdText, value);
+
 		/* 
 		   Assuming the quad sends the correct info.. This hasn't been tested yet due to a lack of
 		   quad software. We can check how to format by the cmdText and pass to every client.
 		   */
+		if(strncmp(cmdText, "log", strlen(cmdText)) == 0) {
+			char log_text[datalen+1];
+			strncpy(log_text, (char *) data, datalen);
+			log_text[datalen] = '\0';
+			printf("log='%s'\n", log_text);
+		}
+
 		char buffer[1048];
 		sprintf(buffer, "%s %lf\n", cmdText, value);
 
@@ -738,8 +756,6 @@ static void quad_recv() {
 				write(fd, buffer, datalen + 8);
 			}
 		}
-	} else {
-		warnx("Checksum mismatch!");
 	}
 	memmove(respBuf, respBuf + datalen + 8, respBufLen - (datalen + 8));
 	respBufLen -= datalen + 8;
diff --git a/groundStation/src/backend/callbacks.h b/groundStation/src/backend/callbacks.h
index 57d6fbbbbab784744714340ddc943ee3a91dccf2..d04d4fda5dd8c23a2df61cc00594755652a14f89 100644
--- a/groundStation/src/backend/callbacks.h
+++ b/groundStation/src/backend/callbacks.h
@@ -1,5 +1,5 @@
-#ifndef __callbacks_h
-#define __callbacks_h
+#ifndef __CALLBACKS_H
+#define __CALLBACKS_H
 
 /* Grab some stupid stuff from legacy code */
 #include "type_def.h"
@@ -8,4 +8,4 @@
 typedef void (command_cb)(unsigned char *command, 
 		int dataLen, modular_structs_t *structs);
 
-#endif
+#endif /* __CALLBACKS_H */
diff --git a/groundStation/src/backend/cb_default.h b/groundStation/src/backend/cb_default.h
index 2deeb4756b3d708ed617209330fab36f5d1c208b..45485767cc34d1619090014bc2f1428f146b1c71 100644
--- a/groundStation/src/backend/cb_default.h
+++ b/groundStation/src/backend/cb_default.h
@@ -1,3 +1,6 @@
+#ifndef __CB_DEFAULT_H
+#define __CB_DEFAULT_H
+
 #include "commands.h"
 
 /* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
@@ -8,3 +11,5 @@ int cb_default(unsigned char * command, int dataLen, modular_structs_t *structs)
 {
 	    return 0;
 }
+
+#endif /* __CB_DEFAULT_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 9e57ae11a5b9ddf114114e22894e147c6667fb44..30935eb44d3aced5ba2ac0b949447a14fd4d839b 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -1,5 +1,5 @@
-#ifndef _COMMANDS_H
-#define _COMMANDS_H
+#ifndef __COMMANDS_H
+#define __COMMANDS_H
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -48,4 +48,4 @@ float getFloat(unsigned char* str, int pos);
 int getInt(unsigned char* str, int pos);
 /* end legacy crap */
 
-#endif
+#endif /* __COMMANDS_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index 19ea73ae4cf7c8f7f8a35bf8b316bf28e19e7903..ca4e82632ce36c0b381eb3dd49c42777cdd84942 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -177,7 +177,7 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
 	// Checksum
 	// receive data and calculate checksum
 	int i;
-	char data_checksum;
+	char data_checksum = 0;
 	for(i = 0; i < 7 + metadata->data_len; i++)
 	{
 		data_checksum ^= (*formattedCommand)[i];
@@ -230,14 +230,13 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 
 	// calculate checksum
 	unsigned char calculated_checksum = 0;
-	for(i = 0; i < meta_data->data_len + 7; i++)
+	for(i = 0; i < meta_data->data_len + 7 - 1; i++)
 	{
 		calculated_checksum ^= packet[i];
 	}
 
 	// compare checksum
 	if(packet_checksum != calculated_checksum) {
-		fprintf(stderr, "Checksums did not match (Parse Packet): 0x%02x\t0x%02x\n", packet_checksum, calculated_checksum);
 		return -2;
 	}
 
diff --git a/groundStation/src/backend/communication.h b/groundStation/src/backend/communication.h
index 746b9f5d45ce9199588ff45b58f5bdaa5d669ad3..364814e3674b25a868e5e516e0bc626dd976b295 100644
--- a/groundStation/src/backend/communication.h
+++ b/groundStation/src/backend/communication.h
@@ -1,5 +1,5 @@
-#ifndef _COMMUNICATION_H
-#define _COMMUNICATION_H
+#ifndef __COMMUNICATION_H
+#define __COMMUNICATION_H
 
 #include <stdio.h>
 #include <string.h>
@@ -16,4 +16,4 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 int processCommand(unsigned char *command, modular_structs_t *structs);
 int logData(unsigned char *log_msg, unsigned char *formattedCommand);
 
-#endif
\ No newline at end of file
+#endif /* __COMMUNICATION_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index bf88e6e2b7cf09db273dba3ecc5bcf3cee7d2211..64691610dbfd8282fec14d3706db4219e06dfbc1 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -17,4 +17,4 @@
 #define QUAD_PORT_ENV "UCART_QUAD_PORT"
 #define QUAD_PORT_DEFAULT 8080
 
-#endif
+#endif /* __CONFIG_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/logger.h b/groundStation/src/backend/logger.h
index edfb365ffce6606e7b5bd8d1f4305c5f697180a9..9bbd068116482e4d693fdb519f27dffd7bc2fff7 100644
--- a/groundStation/src/backend/logger.h
+++ b/groundStation/src/backend/logger.h
@@ -2,8 +2,8 @@
  *
  * Logger header file for holding info pertaining to loging to a file.
  */
-#ifndef _LOGGER_H
-#define _LOGGER_H
+#ifndef __LOGGER_H
+#define __LOGGER_H
 
 #include <fcntl.h>
 #include <time.h>
@@ -18,4 +18,4 @@ int updateLogFile(const struct ucart_vrpn_TrackerData* );
 void closeLogFile();
 
 
-#endif
+#endif /* __LOGGER_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/type_def.h b/groundStation/src/backend/type_def.h
index 55dca9e8fb27c26397b00961b7dbec8bbe0d4136..2a2b8249a4c62cb035a38a6c4b6f3abfe96edd89 100644
--- a/groundStation/src/backend/type_def.h
+++ b/groundStation/src/backend/type_def.h
@@ -5,8 +5,8 @@
  *      Author: ucart
  */
 
-#ifndef TYPE_DEF_H_
-#define TYPE_DEF_H_
+#ifndef __TYPE_DEF_H
+#define __TYPE_DEF_H
 
 /**
  * @brief
@@ -358,4 +358,4 @@ typedef struct {
 
 //////// END MAIN MODULAR STRUCTS
 
-#endif /* TYPE_DEF_H_ */
+#endif /* __TYPE_DEF_H */
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index acec4dbc6352ca971b84289eb24cfc918da98bbd..8eed2381b6a8440635adbce3a5dcf78460f05cde 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -76,6 +76,8 @@ int main(int argc, char **argv)
 			needCommandHelp = 1;
 		}
 	}
+
+	printf("made it\n");
 	
 	/**
 	 * I the user has asked for help, and we have already found
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index 1d0cf6951488872906ac99447fda3b7b5e9e5b7c..e82bd5cda7e1d31d2aa31dffee2ac30a2fa372f1 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -2,6 +2,7 @@
 #define __CLI_H
 
 #include "cli_setsetpoint.h"
+#include "cli_getsetpoint.h"
 #include "cli_monitor.h"
 #include "cli_setpid.h"
 #include "cli_getpid.h"
@@ -13,6 +14,7 @@ enum CommandNameIds{
 	CMD_SETPID,
 	CMD_GETIMU,
 	CMD_SETSETPOINT,
+	CMD_GETSETPOINT,
 	MAX_COMMANDS
 };
 
@@ -22,7 +24,8 @@ static cli_function_ptr cli_functions[] = {
 	&cli_getpid,
 	&cli_setpid,
 	&cli_getimu,
-	&cli_setsetpoint
+	&cli_setsetpoint,
+	&cli_getsetpoint
 };
 
 static char* commandNames[MAX_COMMANDS] = {
@@ -30,7 +33,8 @@ static char* commandNames[MAX_COMMANDS] = {
 	"getpid",
 	"setpid",
 	"getimu",
-	"setsetpoint"
+	"setsetpoint",
+	"getsetpoint"
 };
 
-#endif
+#endif /* __CLI_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getimu.h b/groundStation/src/cli/cli_getimu.h
index 59089a01722683324edd00e8811d4ac9876143e8..2535f1ae87dfba4cb616adb0aa72e686c2cd4fe7 100644
--- a/groundStation/src/cli/cli_getimu.h
+++ b/groundStation/src/cli/cli_getimu.h
@@ -1,8 +1,8 @@
-#ifndef CLI_GETIMU_H
-#define CLI_GETIMU_H
+#ifndef __CLI_GETIMU_H
+#define __CLI_GETIMU_H
 
 #include "frontend_getimu.h"
 
 int cli_getimu(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
\ No newline at end of file
+#endif /* __CLI_GETIMU_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 48c1e72055601df9b66e96ec1c2a3917c1f0fc15..4bf634e3e2e966ea59ac54d8510c3607815f462d 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/groundStation/src/cli/cli_getpid.c
@@ -62,62 +62,62 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	if(getAll) {
 		for(int i = 0; i < PID_NUM_PIDS; ++i) {
 			pid_data.controller = i;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 	} else {
 		if(getPitch) {
 			pid_data.controller = PID_PITCH;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getRoll) {
 			pid_data.controller = PID_ROLL;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getYaw) {
 			pid_data.controller = PID_YAW;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getPitchV) {
 			pid_data.controller = PID_PITCH_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getRollV) {
 			pid_data.controller = PID_ROLL_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getYawV) {
 			pid_data.controller = PID_YAW_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getHeight) {
 			pid_data.controller = PID_HEIGHT;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getLat) {
 			pid_data.controller = PID_LAT;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getLong) {
 			pid_data.controller = PID_LONG;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
@@ -127,7 +127,7 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	return 0;
 }
 
-int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+int getPidValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 	if(frontend_getpid(conn, pid_data)) {
 		return 1;
 	}
diff --git a/groundStation/src/cli/cli_getpid.h b/groundStation/src/cli/cli_getpid.h
index f5c0b15e4a2f2c7c5ad605a389b0c1b52a1344a6..799681f06d114602083e304f2cba321891155fbc 100644
--- a/groundStation/src/cli/cli_getpid.h
+++ b/groundStation/src/cli/cli_getpid.h
@@ -1,9 +1,9 @@
-#ifndef CLI_GETPID_H
-#define CLI_GETPID_H
+#ifndef __CLI_GETPID_H
+#define __CLI_GETPID_H
 
 #include "frontend_getpid.h"
 
-int getValues(struct backend_conn *, struct frontend_pid_data *);
+int getPidValues(struct backend_conn *, struct frontend_pid_data *);
 int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
\ No newline at end of file
+#endif /* __CLI_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getsetpoint.c b/groundStation/src/cli/cli_getsetpoint.c
new file mode 100644
index 0000000000000000000000000000000000000000..be9766139e002fb2687bab6fc76a54bb8d96b29b
--- /dev/null
+++ b/groundStation/src/cli/cli_getsetpoint.c
@@ -0,0 +1,131 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_getsetpoint.h"
+
+int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	static int getheight = 0, getlat = 0, getlong = 0;
+	static int getpitch = 0, getroll = 0, getyaw = 0;
+	struct frontend_setpoint_data setpoint_data;
+	static int needHelp = 0;
+	static int mask;
+	static struct option long_options[] = {
+ 		/* These options don’t set a flag. We distinguish them by their indices. */
+ 		{"help",	no_argument,	&needHelp,	1},
+ 		{"height",  no_argument,	&getheight, 1},
+ 		{"long",	no_argument,	&getlong,	1},
+ 		{"lat",		no_argument, 	&getlat,	1},
+ 		{"pitch",   no_argument,	&getpitch,  1},
+ 		{"roll",	no_argument,	&getroll,	1},
+ 		{"yaw",		no_argument, 	&getyaw,	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "a", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		if (c == 'a') {
+			getheight = 1;
+			getlat = 1;
+			getlong = 1;
+			getpitch = 1;
+			getroll = 1;
+			getyaw = 1;
+		}
+	}
+
+	if (needHelp) {
+		printf("Getsetpoint gets the height, lat, long, pitch, roll and yaw set point values for the quad.\n");
+		printf("Usage Syntax : \n\t./Cli getsetpoint [options...]\n");
+		printf("Symlink Usage Syntax : \n\t./getsetpoint [options...]\n\n");
+		printf("Available options include the following\n");
+		printf("\t[-a] 		 : Gets all of the following setpoints\n");
+		printf("\t[--height] : Gets the height setpoint\n");
+		printf("\t[--lat]    : Gets the latitude setpoint\n");
+		printf("\t[--long]   : Gets the longitude setpoint\n");
+		printf("\t[--pitch]  : Gets the pitch setpoint\n");
+		printf("\t[--roll]   : Gets the roll setpoint\n");
+		printf("\t[--yaw]    : Gets the yaw setpoint\n");
+		return 0;
+	}
+
+	if (argc < 2) {
+		printf("Incorrect Usage, run './cli getsetpoint --help' for correct usage.\n");
+		return 1;
+	}
+	int result;
+	if(getheight) {
+		if ((result = getSetPointValues(conn, &setpoint_data, HEIGHT))) {
+			return result;
+		}
+	}
+	if(getlat) {
+		if ((result = getSetPointValues(conn, &setpoint_data, LAT))) {
+			return result;
+		}
+	}
+	if(getlong) {
+		if ((result = getSetPointValues(conn, &setpoint_data, LONGG))) {
+			return result;
+		}
+	}
+	if(getpitch) {
+		if ((result = getSetPointValues(conn, &setpoint_data, PITCH))) {
+			return result;
+		}
+	}
+	if(getroll) {
+		if ((result = getSetPointValues(conn, &setpoint_data, ROLL))) {
+			return result;
+		}
+	}
+	if(getyaw) {
+		if ((result = getSetPointValues(conn, &setpoint_data, YAW))) {
+			return result;
+		}
+	}
+
+	return 0;
+}
+
+int getSetPointValues(struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
+	if(frontend_getsetpoint(conn, setpoint_data, type)) {
+		return 1;
+	}
+
+	switch(type) {
+		case HEIGHT :
+			printf("Height: %f\n",
+				setpoint_data->height);
+			break;
+		case LAT :
+			printf("Latitude: %f\n",
+				setpoint_data->lat);
+		case LONGG :
+			printf("Longitude: %f\n",
+				setpoint_data->longg);
+		case PITCH :
+			printf("Pitch: %f\n",
+				setpoint_data->pitch);
+			break;
+		case ROLL :
+			printf("Roll: %f\n",
+				setpoint_data->roll);
+		case YAW :
+			printf("Yaw: %f\n",
+				setpoint_data->yaw);
+		default :
+			break;
+	}
+	return 0;
+}
diff --git a/groundStation/src/cli/cli_getsetpoint.h b/groundStation/src/cli/cli_getsetpoint.h
new file mode 100644
index 0000000000000000000000000000000000000000..a852b37973c84b21ca985e89dbb90180f35907ba
--- /dev/null
+++ b/groundStation/src/cli/cli_getsetpoint.h
@@ -0,0 +1,18 @@
+#ifndef __CLI_GETSETPOINT_H
+#define __CLI_GETSETPOINT_H
+
+#include "frontend_getsetpoint.h"
+
+enum {
+	HEIGHT,
+	LAT,
+	LONGG,
+	PITCH,
+	ROLL,
+	YAW
+};
+
+int getSetPointValues(struct backend_conn *, struct frontend_setpoint_data *, int type);
+int cli_getsetpoint(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* __CLI_GETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_monitor.h b/groundStation/src/cli/cli_monitor.h
index 308721bb89f177da345269971a8d63b32d9dc39c..694323739001d0b0e1b820c37b87ff95362f27e5 100644
--- a/groundStation/src/cli/cli_monitor.h
+++ b/groundStation/src/cli/cli_monitor.h
@@ -1,5 +1,5 @@
-#ifndef CLI_MONITOR_H
-#define CLI_MONITOR_H
+#ifndef __CLI_MONITOR_H
+#define __CLI_MONITOR_H
 
 #include <time.h>
 
@@ -11,4 +11,4 @@ int cli_monitor(struct backend_conn * conn,	int argc, char **argv);
 
 // Return 0 on success and 1 otherwise
 int monitor(struct backend_conn * conn);
-#endif
\ No newline at end of file
+#endif /* __CLI_MONITOR_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setpid.h b/groundStation/src/cli/cli_setpid.h
index 2ebdc9545e38f9f3d3697b02b22b8b1be2ef324e..d78fcc07042d7d571f35940f798493a5c8cb1c88 100644
--- a/groundStation/src/cli/cli_setpid.h
+++ b/groundStation/src/cli/cli_setpid.h
@@ -1,8 +1,8 @@
-#ifndef CLI_SETPID_H
-#define CLI_SETPID_H
+#ifndef __CLI_SETPID_H
+#define __CLI_SETPID_H
 
 #include "frontend_setpid.h"
 
 int cli_setpid(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
+#endif /* __CLI_SETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setsetpoint.c b/groundStation/src/cli/cli_setsetpoint.c
index 85cd86d164712e0a83ef7bdc64bd1b50a0ffeee3..e0c43814ff98b2e5326b2d6feb0e14fa468d9032 100644
--- a/groundStation/src/cli/cli_setsetpoint.c
+++ b/groundStation/src/cli/cli_setsetpoint.c
@@ -4,15 +4,22 @@
 
 #include "cli_setsetpoint.h"
 
-int cli_set(struct backend_conn * conn,	int argc, char **argv) {
+int cli_setsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 	int c;
-	static int setX = 0, setY = 0, setZ = 0;
+	static int setheight = 0, setlat = 0, setlong = 0;
+	static int setpitch = 0, setroll = 0, setyaw = 0;
 	struct frontend_setpoint_data setpoint_data;
 	static int needHelp = 0;
 	static int mask;
 	static struct option long_options[] = {
  		/* These options don’t set a flag. We distinguish them by their indices. */
- 		{"help",	no_argument,	&needHelp,	1},
+ 		{"help",	no_argument,	    &needHelp,	1},
+ 		{"height",  required_argument,	0,  'h'},
+ 		{"long",	required_argument,	0,	'l'},
+ 		{"lat",		required_argument, 	0,	't'},
+ 		{"pitch",   required_argument,	0,  'p'},
+ 		{"roll",	required_argument,	0,	'r'},
+ 		{"yaw",		required_argument, 	0,	'y'},
  		{0, 0, 0, 0}
  	};
 
@@ -21,38 +28,54 @@ int cli_set(struct backend_conn * conn,	int argc, char **argv) {
 		/* getopt_long stores the option index here. */
 		int option_index = 0;
 
-		c = getopt_long(argc, argv, "x:y:z:", long_options, &option_index);
+		c = getopt_long(argc, argv, "", long_options, &option_index);
 
 		/* Detect the end of the options. */
 		if (c == -1)
 			break;
 
 		switch(c) {
-			case 'x' :
-				setpoint_data.x  = atof(optarg);
-				mask |= SET_X;
+			case 'h' :
+				setpoint_data.height  = atof(optarg);
+				mask |= SET_HEIGHT;
 				break;
-			case 'y' :
-				setpoint_data.y  = atof(optarg);
-				mask |= SET_Y;
+			case 't' :
+				setpoint_data.lat  = atof(optarg);
+				mask |= SET_LAT;
+				break;
+			case 'l' :
+				setpoint_data.longg  = atof(optarg);
+				mask |= SET_LONG;
+				break;
+			case 'p' :
+				setpoint_data.pitch  = atof(optarg);
+				mask |= SET_PITCH;
 				break;
-			case 'z' :
-				setpoint_data.z  = atof(optarg);
-				mask |= SET_Z;
+			case 'r' :
+				setpoint_data.roll  = atof(optarg);
+				mask |= SET_ROLL;
+				break;
+			case 'y' :
+				setpoint_data.yaw  = atof(optarg);
+				mask |= SET_YAW;
 				break;
 			default :
 				break;
 		}
+
 	}
 
 	if (needHelp) {
-		printf("Setsetpoint sets the x, y , or z set point values for the quad.\n");
+		printf("Setsetpoint sets the height, lat, long, pitch, roll, or yaw set point values for the quad.\n");
 		printf("Usage Syntax : \n\t./Cli setsetpoint [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./setsetpoint [options...]\n\n");
 		printf("Available options include the following\n");
-		printf("\t[-x] 'val' : Sets the x setpoint value to 'val'\n");
-		printf("\t[-z] 'val' : Sets the y setpoint value to 'val'\n");
-		printf("\t[-z] 'val' : Sets the z setpoint value to 'val'\n");
+		printf("\t[--height] 'val' : Sets the height setpoint value to 'val'\n");
+		printf("\t[--lat]    'val' : Sets the latitude setpoint value to 'val'\n");
+		printf("\t[--long]   'val' : Sets the longitude setpoint value to 'val'\n");
+		printf("\t[--pitch]  'val' : Sets the pitch setpoint value to 'val'\n");
+		printf("\t[--roll]   'val' : Sets the roll setpoint value to 'val'\n");
+		printf("\t[--yaw]    'val' : Sets the yaw setpoint value to 'val'\n");
 		return 0;
 	}
 
diff --git a/groundStation/src/cli/cli_setsetpoint.h b/groundStation/src/cli/cli_setsetpoint.h
index 8f2657963222181f4fcf7e20fae9242d84b37b95..514145a9485733276fb1982418f5a44747103e74 100644
--- a/groundStation/src/cli/cli_setsetpoint.h
+++ b/groundStation/src/cli/cli_setsetpoint.h
@@ -1,8 +1,8 @@
-#ifndef CLI_SETSETPOINT_H
-#define CLI_SETSETPOINT_H
+#ifndef __CLI_SETSETPOINT_H
+#define __CLI_SETSETPOINT_H
 
 #include "frontend_setsetpoint.h"
 
 int cli_setsetpoint(struct backend_conn * conn, int argc, char ** argv);
 
-#endif /* CLI_SETSETPOINT_H */
+#endif /* __CLI_SETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_common.c b/groundStation/src/frontend/frontend_common.c
index cbedbe42a6dcbed1622f2109d833a75a1ce6d7ba..e71bc425e28aaa8514474e6df7cc078b46261e24 100644
--- a/groundStation/src/frontend/frontend_common.c
+++ b/groundStation/src/frontend/frontend_common.c
@@ -33,7 +33,7 @@ struct backend_conn * ucart_backendConnect()
 
 	struct backend_conn * conn = NULL;
 
-	printf("Trying to connect...\n");
+	printf("Trying to connect...");
 
 	remote.sun_family = AF_UNIX;
 	char * sock_env = getenv(SOCKET_ENV);
@@ -60,6 +60,7 @@ struct backend_conn * ucart_backendConnect()
 		warn("setvbuf");
 	}
 
+	printf("Success\n");
 	/* success */
 	goto fail_final;
 
@@ -68,6 +69,7 @@ fail_malloc_conn:
 	conn = NULL;
 fail_sock:
 	close(s);
+	printf("Failure\n");
 fail_final:
 	return conn;
 }
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index c8ea7877190c29ff41f02f9aa92a3987c80e2de6..60ee336269ee95388ed4f334ac1e3dfbe6e143bb 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -1,5 +1,5 @@
-#ifndef FRONTEND_COMMON_H
-#define FRONTEND_COMMON_H
+#ifndef __FRONTEND_COMMON_H
+#define __FRONTEND_COMMON_H
 #include <stdlib.h>
 
 struct backend_conn;
@@ -19,4 +19,4 @@ char * ucart_backendGetline(struct backend_conn * conn);
 /* Write a line to the backend */
 int ucart_backendWrite(struct backend_conn * backend, const char * line);
 
-#endif
+#endif /* __FRONTEND_COMMON_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getimu.h b/groundStation/src/frontend/frontend_getimu.h
index c95784a1d4aada157283aa40ca74cd0fb211d505..1747252bbc78a403799fb0744c91e2b04883c0cb 100644
--- a/groundStation/src/frontend/frontend_getimu.h
+++ b/groundStation/src/frontend/frontend_getimu.h
@@ -1,6 +1,6 @@
-#ifndef FRONTEND_GETIMU_H
-#define FRONTEND_GETIMU_H
+#ifndef __FRONTEND_GETIMU_H
+#define __FRONTEND_GETIMU_H
 
 #include "frontend_common.h"
 
-#endif
\ No newline at end of file
+#endif /* __FRONTEND_GETIMU_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index e7e21cfebbcaaae0e276e515f837716cd3d694c6..08827a528fdaec30b36910e5d91438100c12e4de 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -1,6 +1,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
+#include <err.h>
 
 #include "frontend_getpid.h"
 #include "pid_common.h"
@@ -60,5 +61,23 @@ int frontend_getpid(
 		return 1;
 	}
 
+	char * response;
+	for (;;) {
+		response = ucart_backendGetline(conn);
+		if (response == NULL) {
+			warnx("Line not returned from backend");
+			return 1;
+		}
+		printf("received : %s\n", response);
+		// if (strncmp(response, MAGIC, strlen(MAGIC)) == 0) {
+		// 	break;
+		// }
+	}
+
+	// if (strncmp(response, MAGIC " ERROR", strlen(MAGIC " ERROR")) == 0) {
+	// 	warnx("Backend returned an error: %s", strstr(response, "ERROR"));
+	// 	return 1;
+	// }
+
 	return 0;
 }	
diff --git a/groundStation/src/frontend/frontend_getpid.h b/groundStation/src/frontend/frontend_getpid.h
index 977ae97f314a3c5b3891f5d60e56929aa03d6db9..e7933f1abf1869ac7f3074d472c8a8a36106507c 100644
--- a/groundStation/src/frontend/frontend_getpid.h
+++ b/groundStation/src/frontend/frontend_getpid.h
@@ -1,5 +1,5 @@
-#ifndef FRONTEND_GETPID_H
-#define FRONTEND_GETPID_H
+#ifndef __FRONTEND_GETPID_H
+#define __FRONTEND_GETPID_H
 
 #include "frontend_common.h"
 #include "pid_common.h"
@@ -23,4 +23,4 @@ int frontend_getpid(
 		struct frontend_pid_data * pid_data);
 
 
-#endif
+#endif /* __FRONTEND_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getsetpoint.c b/groundStation/src/frontend/frontend_getsetpoint.c
new file mode 100644
index 0000000000000000000000000000000000000000..1268416f5a9e0a0a32d4735935691cba6be516ae
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getsetpoint.c
@@ -0,0 +1,52 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "frontend_getsetpoint.h"
+#include "setpoint_common.h"
+#include "cli_getsetpoint.h"
+
+/* Get a specified setpoint.
+ *
+ * Example:
+ *
+ * struct frontend_setpoint_data setpoint_data;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * 		error
+ * } else {
+ * 		setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsetpoint(
+		struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
+	
+	char line[25] = "";
+	switch (type) {
+		case HEIGHT :
+			strncpy(line, "getheight\n", 10);
+			break;
+		case LAT :
+			strncpy(line, "getlat\n", 7);
+			break;
+		case LONGG :
+			strncpy(line, "getlong\n", 8);
+			break;
+		case PITCH :
+			strncpy(line, "getpitch\n", 9);
+			break;
+		case ROLL :
+			strncpy(line, "getroll\n", 8);
+			break;
+		case YAW :
+			strncpy(line, "getyaw\n", 7);
+			break;
+	}
+	int size;
+	if((size = ucart_backendWrite(conn, line)) < 0 ) {
+		return 1;
+	}
+
+	return 0;
+}	
diff --git a/groundStation/src/frontend/frontend_getsetpoint.h b/groundStation/src/frontend/frontend_getsetpoint.h
new file mode 100644
index 0000000000000000000000000000000000000000..f8dfdc87b3df057d5fd43714c5b81a52831ce763
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getsetpoint.h
@@ -0,0 +1,25 @@
+#ifndef __FRONTEND_GETSETPOINT_H
+#define __FRONTEND_GETSETPOINT_H
+
+#include "frontend_common.h"
+#include "setpoint_common.h"
+
+/* Get a specified setpoint.
+ *
+ * Example:
+ *
+ * struct frontend_setpoint_data setpoint_data;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * 		error
+ * } else {
+ * 		setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsetpoint(
+		struct backend_conn * conn,
+		struct frontend_setpoint_data * setpoint_data,
+		int type);
+
+#endif /* __FRONTEND_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_setpid.h b/groundStation/src/frontend/frontend_setpid.h
index bd53cd4535e4aa5834e2841879fdf4dd6bdb014c..b9c6e073d3433a0350ebd9b2d9de8ee55a12f18e 100644
--- a/groundStation/src/frontend/frontend_setpid.h
+++ b/groundStation/src/frontend/frontend_setpid.h
@@ -1,5 +1,5 @@
-#ifndef FRONTEND_SETPID_H
-#define FRONTEND_SETPID_H
+#ifndef __FRONTEND_SETPID_H
+#define __FRONTEND_SETPID_H
 
 #include "pid_common.h"
 #include "frontend_common.h"
@@ -17,4 +17,4 @@ int frontend_setpid(
 #define SET_ALL (SET_P | SET_I | SET_D)
 #endif /* SET_ALL */
 
-#endif /* FRONTEND_SETPID_H */
\ No newline at end of file
+#endif /* __FRONTEND_SETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_setsetpoint.c b/groundStation/src/frontend/frontend_setsetpoint.c
index f264479210dc801629bd27f14200a11709a38e1b..b9f43caed0ded4d80964dddcc39a12e165f5c54a 100644
--- a/groundStation/src/frontend/frontend_setsetpoint.c
+++ b/groundStation/src/frontend/frontend_setsetpoint.c
@@ -16,26 +16,50 @@ int frontend_setsetpoint(
 
 	char buffer[2048];
 	/* Set the P, I, and D */
-	if (mask & SET_X) {
+	if (mask & SET_HEIGHT) {
 		if (snprintf(buffer, 2048,
-					"setsetpointx %f\n",  
-					setpoint_data->x) >= 2048) {
+					"setheight %f\n",  
+					setpoint_data->height) >= 2048) {
 			errx(0, "Buffer to small to format!");
 		}
 		ucart_backendWrite(conn, buffer);
 	}
-	if (mask & SET_Y) {
+	if (mask & SET_LAT) {
 		if (snprintf(buffer, 2048,
-					"setsetpointy %f\n",
-					setpoint_data->y) >= 2048) {
+					"setlat %f\n",
+					setpoint_data->lat) >= 2048) {
 			errx(0, "Buffer to small to format!");
 		}
 		ucart_backendWrite(conn, buffer);
 	}
-	if (mask & SET_Z) {
+	if (mask & SET_LONG) {
 		if (snprintf(buffer, 2048,
-					"setsetpointz %f\n",
-					setpoint_data->z) >= 2048) {
+					"setlong %f\n",
+					setpoint_data->longg) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_PITCH) {
+		if (snprintf(buffer, 2048,
+					"setpitch %f\n",  
+					setpoint_data->pitch) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_ROLL) {
+		if (snprintf(buffer, 2048,
+					"setroll %f\n",
+					setpoint_data->roll) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_YAW) {
+		if (snprintf(buffer, 2048,
+					"setyaw %f\n",
+					setpoint_data->yaw) >= 2048) {
 			errx(0, "Buffer to small to format!");
 		}
 		ucart_backendWrite(conn, buffer);
diff --git a/groundStation/src/frontend/frontend_setsetpoint.h b/groundStation/src/frontend/frontend_setsetpoint.h
index 03806fdfe2bfb492a458475c36ffbb012586ebcd..2607c4d564e14b5c4baae8b9500a74d6b878b922 100644
--- a/groundStation/src/frontend/frontend_setsetpoint.h
+++ b/groundStation/src/frontend/frontend_setsetpoint.h
@@ -1,5 +1,5 @@
-#ifndef FRONTEND_SETSETPOINT_H
-#define FRONTEND_SETSETPOINT_H
+#ifndef __FRONTEND_SETSETPOINT_H
+#define __FRONTEND_SETSETPOINT_H
 
 #include "setpoint_common.h"
 #include "frontend_common.h"
@@ -9,12 +9,15 @@ int frontend_setsetpoint(
 		struct frontend_setpoint_data * setpoint_data,
 		int mask);
 
-#define SET_X 0x01
-#define SET_Y 0x02
-#define SET_Z 0x04
+#define SET_LAT 0x01
+#define SET_LONG 0x02
+#define SET_HEIGHT 0x04
+#define SET_PITCH 0x08
+#define SET_ROLL  0x10
+#define SET_YAW   0x20
 
 #ifndef SET_ALL
-#define SET_ALL (SET_X | SET_Y | SET_Z)
+#define SET_ALL (SET_LAT | SET_LONG | SET_HEIGHT | SET_PITCH | SET_ROLL | SET_YAW)
 #endif /* SET_ALL */
 
-#endif /* FRONTEND_SETSETPOINT_H */
\ No newline at end of file
+#endif /* __FRONTEND_SETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_tracker.h b/groundStation/src/frontend/frontend_tracker.h
index 5fa82487cafb8650a4f990ef9fed0c4ea4154405..58284ca01dc1b4987b523fc125b60010209af930 100644
--- a/groundStation/src/frontend/frontend_tracker.h
+++ b/groundStation/src/frontend/frontend_tracker.h
@@ -1,5 +1,5 @@
-#ifndef _FRONTEND_TRACKER_H
-#define _FRONTEND_TRACKER_H
+#ifndef __FRONTEND_TRACKER_H
+#define __FRONTEND_TRACKER_H
 
 #include "frontend_common.h"
 
@@ -24,4 +24,4 @@ struct frontend_tracker_data {
 int frontend_track(struct backend_conn * conn, 
 		struct frontend_tracker_data *data);
 
-#endif
+#endif /* __FRONTEND_TRACKER_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index c40c4fb42fb19bf7caf22a03effe091fb7621ece..b89e3b1cddc85bb8820520e91ea4fa1858becd3a 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -1,5 +1,5 @@
-#ifndef PID_COMMON_H
-#define PID_COMMON_H
+#ifndef __PID_COMMON_H
+#define __PID_COMMON_H
 
 enum pid_controller {
 	PID_PITCH,
@@ -23,4 +23,4 @@ struct frontend_pid_data {
 };
 
 
-#endif
+#endif /* __PID_COMMON_H */
diff --git a/groundStation/src/frontend/setpoint_common.h b/groundStation/src/frontend/setpoint_common.h
index 25dc8c1ce8ee6ae76805ba10595c0e0139ea8a00..a661cb1cd6b2a3fe84edbba7fdf2ffac85e9c074 100644
--- a/groundStation/src/frontend/setpoint_common.h
+++ b/groundStation/src/frontend/setpoint_common.h
@@ -1,11 +1,15 @@
-#ifndef SETPOINT_COMMON_H
-#define SETPOINT_COMMON_H
+#ifndef __SETPOINT_COMMON_H
+#define __SETPOINT_COMMON_H
 
 struct frontend_setpoint_data {
-	float x;
-	float y;
-	float z;
+	float height;
+	float lat;
+	/* named with two g's due to long type name */
+	float longg;
+	float pitch;
+	float roll;
+	float yaw;
 };
 
 
-#endif /* SETPOINT_COMMON_H */
\ No newline at end of file
+#endif /* __SETPOINT_COMMON_H */
\ No newline at end of file