diff --git a/communication/vtol_communication.py b/communication/vtol_communication.py
index 0f1ac5b..d80deb1 100644
--- a/communication/vtol_communication.py
+++ b/communication/vtol_communication.py
@@ -236,7 +236,7 @@ class Communication:
     def hover(self):
         self.coordinate_frame = 1
         self.motion_type = 0
-        self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_heading,yaw=self.current_yaw)
+        self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_yaw)
 
     def flight_mode_switch(self):
         if self.flight_mode == 'HOVER':
diff --git a/control/keyboard/plane_keyboard_control.py b/control/keyboard/plane_keyboard_control.py
index f85eca5..a260bbf 100755
--- a/control/keyboard/plane_keyboard_control.py
+++ b/control/keyboard/plane_keyboard_control.py
@@ -7,7 +7,7 @@ from std_msgs.msg import String
 
 MAX_LINEAR = 1000
 MAX_ANG_VEL = 0.5
-LINEAR_STEP_SIZE = 0.1
+LIN_VEL_STEP_SIZE = 0.1
 ANG_VEL_STEP_SIZE = 0.01
 
 
diff --git a/control/keyboard/rover_keyboard_controlller.py b/control/keyboard/rover_keyboard_controlller.py
index 414b712..5b5c52d 100644
--- a/control/keyboard/rover_keyboard_controlller.py
+++ b/control/keyboard/rover_keyboard_controlller.py
@@ -163,7 +163,7 @@ if __name__=="__main__":
         elif angle < -MAX_ANGLE:
             angle = -MAX_ANGLE
 
-        twist.linear.x = forward; twist.linear.y =  angle
+        twist.linear.x = forward; twist.angular.z = angle
         
         for i in range(rover_num):
             if ctrl_leader: