diff --git a/WST-FC/configuration_preprocesor.py b/WST-FC/configuration_preprocesor.py
new file mode 100644
index 0000000..b767aa3
--- /dev/null
+++ b/WST-FC/configuration_preprocesor.py
@@ -0,0 +1,8 @@
+Import("env")
+use_bt = env.GetProjectOption("use_bluestack", "no")
+
+if use_bt == "yes":
+    env.Append(CPPDEFINES=["USE_BLUEPAD32"])
+    env.Append(PIOPLATFORMPACKAGES=[
+        "framework-arduinoespressif32@https://github.com/maxgerhardt/pio-framework-bluepad32/archive/refs/heads/main.zip"
+    ])
\ No newline at end of file
diff --git a/WST-FC/include/CommunicationModule.h b/WST-FC/include/CommunicationModule.h
index 94a5f33..e959b15 100644
--- a/WST-FC/include/CommunicationModule.h
+++ b/WST-FC/include/CommunicationModule.h
@@ -9,13 +9,15 @@
 #include "communicationModules\CommunicationWiFiUDPModule.h"
 #include "communicationModules\CommunicationESPNowModule.h"
 #include "communicationModules\CommunicationSerialModule.h"
-#include "communicationModules\CommunicationGamepadModule.h"
+#if (COMMUNICATION_METHOD == 3)
+    #include "communicationModules\CommunicationGamepadModule.h"
+#endif
 
 class CommunicationModule
 {
 private:
     DroneControlData *sharedData;
-    ICommunicationInterface *communicationInterface;
+    std::vector<ICommunicationInterface*> communicationInterfaces;
     wl_status_t connectionStatus{WL_IDLE_STATUS};
     DroneStatus *droneStatus;
 
diff --git a/WST-FC/include/Configuration.h b/WST-FC/include/Configuration.h
index 34cbd71..e249e8f 100644
--- a/WST-FC/include/Configuration.h
+++ b/WST-FC/include/Configuration.h
@@ -1,16 +1,17 @@
 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
-#define VEHICLE_TYPE_AIRBOAT
+#define VEHICLE_TYPE_TANK
 
-#define WIFI_SSID "AutisticDrones"
-#define WIFI_PASSWORD "Autyzm2137"
-#define UDP_CONTROLL_PORT 4210
 #define MAX_ROGUE_TIME 1000
 #define MIN_RSSI -80
-#define COMMUNICATION_METHOD 3
 #define TELEMETRY_TIME 1000
 
+#define USE_WIFI_UDP
+//#define USE_ESP_NOW
+#define USE_SERIAL
+//#define USE_GAMEPAD
+
 enum DroneStatus
 {
     WORKS,
@@ -28,4 +29,10 @@ enum DroneStatus
     #define WG_PEER_PUBLIC_KEY "KLUCZ_PUBLICZNY_SERWERA="
 #endif
 
+#if defined(USE_WIFI_UDP) || defined(USE_ESP_NOW)
+    #define WIFI_SSID "HPLOVER"
+    #define WIFI_PASSWORD "Autyzm2137!"
+    #define UDP_CONTROLL_PORT 4210
+#endif
+
 #endif
\ No newline at end of file
diff --git a/WST-FC/include/DroneFactory.h b/WST-FC/include/DroneFactory.h
new file mode 100644
index 0000000..57937e8
--- /dev/null
+++ b/WST-FC/include/DroneFactory.h
@@ -0,0 +1,16 @@
+#ifndef DRONEFACTORY_H
+#define DRONEFACTORY_H
+
+#include <Arduino.h>
+#include <vector>
+#include "SensorsModule.h"
+#include "modules/IModule.h"
+#include "IMixer.h"
+
+class DroneFactory
+{
+public:
+    static IMixer* BuildVehicle(SensorsModule& sensorsModule, std::vector<IModule*>& modules);
+};
+
+#endif
\ No newline at end of file
diff --git a/WST-FC/include/SystemRegistry.h b/WST-FC/include/SystemRegistry.h
new file mode 100644
index 0000000..4f4e271
--- /dev/null
+++ b/WST-FC/include/SystemRegistry.h
@@ -0,0 +1,92 @@
+#ifndef SYSTEM_REGISTRY_H
+#define SYSTEM_REGISTRY_H
+
+#include <Arduino.h>
+#include <vector>
+
+enum ParamType {
+    PARAM_INT,
+    PARAM_FLOAT,
+    PARAM_DOUBLE,
+    PARAM_BOOL
+};
+
+struct ConfigParam {
+    const char* name; 
+    void* ptr;
+    ParamType type;
+};
+
+class SystemRegistry {
+private:
+    std::vector<ConfigParam> params;
+    SystemRegistry() {} 
+
+public:
+    static SystemRegistry& GetInstance() {
+        static SystemRegistry instance;
+        return instance;
+    }
+
+    void Register(const char* name, void* ptr, ParamType type) 
+    {
+        params.push_back({name, ptr, type});
+    }
+
+    bool SetValue(const char* name, const char* valueStr) 
+    {
+        for(const auto& param : params) 
+        {
+            if(strcmp(param.name, name) == 0) 
+            {
+                switch (param.type) {
+                    case PARAM_INT: 
+                        *(int*)param.ptr = atoi(valueStr); 
+                        break;
+                    case PARAM_FLOAT: 
+                        *(float*)param.ptr = atof(valueStr); 
+                        break;
+                    case PARAM_DOUBLE: 
+                        *(double*)param.ptr = atof(valueStr); 
+                        break;
+                    case PARAM_BOOL: 
+                        *(bool*)param.ptr = (atoi(valueStr) > 0); 
+                        break;
+                }
+                Serial.println("Value SET");
+                return true;
+            }
+        }
+        Serial.println("There is no such variable");
+        return false;
+    }
+
+    void ReturnAllRegistryNames()
+    {
+        for(const auto& param : params)
+        {
+            Serial.print(param.name);
+            Serial.print(": ");
+
+            switch (param.type) {
+                case PARAM_INT: 
+                    Serial.println(*(int*)param.ptr); 
+                    break;
+                case PARAM_FLOAT: 
+                    Serial.println(*(float*)param.ptr); 
+                    break;
+                case PARAM_DOUBLE: 
+                    Serial.println(*(double*)param.ptr); 
+                    break;
+                case PARAM_BOOL: 
+                    Serial.println(*(bool*)param.ptr); 
+                    break;
+                default:
+                    Serial.println("UNSUPPORTED_TYPE");
+                    break;
+            }
+        }  
+    }
+};
+
+#endif
\ No newline at end of file
diff --git a/WST-FC/include/communicationModules/CommunicationESPNowModule.h b/WST-FC/include/communicationModules/CommunicationESPNowModule.h
index db6f052..37b1d50 100644
--- a/WST-FC/include/communicationModules/CommunicationESPNowModule.h
+++ b/WST-FC/include/communicationModules/CommunicationESPNowModule.h
@@ -11,9 +11,6 @@
 class CommunicationESPNowModule : public ICommunicationInterface{
     private:
     static CommunicationESPNowModule* instance;
-    DroneControlData *sharedData;
-    unsigned long lastUpdate{0};
-    DroneStatus *droneStatus;
     ulong lastDataTime = 0;
     uint8_t broadcastAddress[6] {0xEC,0x64,0xC9,0xC4,0xA2,0x1A};
     public:
diff --git a/WST-FC/include/communicationModules/CommunicationGamepadModule.h b/WST-FC/include/communicationModules/CommunicationGamepadModule.h
index 46a028e..e3942d8 100644
--- a/WST-FC/include/communicationModules/CommunicationGamepadModule.h
+++ b/WST-FC/include/communicationModules/CommunicationGamepadModule.h
@@ -1,6 +1,6 @@
 #ifndef COMMUNICATIONGAMEPADMODULE_H
 #define COMMUNICATIONGAMEPADMODULE_H
-
+#ifdef USE_BLUEPAD32
 #include "DroneData.h"
 #include "ICommunicationInterface.h"
 #include "Configuration.h"
@@ -9,8 +9,6 @@
 
 class CommunicationGamepadModule : public ICommunicationInterface {
     private:
-        DroneControlData *sharedData;
-        DroneStatus *droneStatus;
         GamepadPtr myGamepad = nullptr;
 
     public:
@@ -27,4 +25,5 @@ class CommunicationGamepadModule : public ICommunicationInterface {
         static void onConnectedGamepad(GamepadPtr gp);
         static void onDisconnectedGamepad(GamepadPtr gp);
 };
+#endif
 #endif
\ No newline at end of file
diff --git a/WST-FC/include/communicationModules/CommunicationSerialModule.h b/WST-FC/include/communicationModules/CommunicationSerialModule.h
index cf76732..6c5a5d0 100644
--- a/WST-FC/include/communicationModules/CommunicationSerialModule.h
+++ b/WST-FC/include/communicationModules/CommunicationSerialModule.h
@@ -8,14 +8,9 @@
 
 class CommunicationSerialModule : public ICommunicationInterface{
     private:
-        DroneControlData *sharedData;
-        unsigned long lastUpdate{0};
-        DroneStatus *droneStatus;
         long lastDataTime = 0;
-        uint8_t inputBuffer[sizeof(DroneControlData)];
+        uint8_t inputBuffer[128];
 
-        const uint8_t HEADER_BYTE_1 = 0x44; // 'D'
-        const uint8_t HEADER_BYTE_2 = 0x43; // 'C'
     public:
     CommunicationSerialModule(DroneControlData *dataPtr, DroneStatus *status);
     void Init() override;
diff --git a/WST-FC/include/communicationModules/CommunicationWiFiUDPModule.h b/WST-FC/include/communicationModules/CommunicationWiFiUDPModule.h
index a376da8..b492b61 100644
--- a/WST-FC/include/communicationModules/CommunicationWiFiUDPModule.h
+++ b/WST-FC/include/communicationModules/CommunicationWiFiUDPModule.h
@@ -11,15 +11,12 @@
 #endif
 class CommunicationWiFiUDPModule : public ICommunicationInterface{
     private:
-    DroneControlData *sharedData;
     WiFiUDP udp;
     unsigned int localPort{0};
     char packetBuffer[255];
 
-    unsigned long lastUpdate{0};
     int8_t rssi{0};
     wl_status_t connectionStatus{WL_IDLE_STATUS};
-    DroneStatus *droneStatus;
 
     IPAddress remoteIP;
     unsigned int remotePort {0};
diff --git a/WST-FC/include/communicationModules/ICommunicationInterface.h b/WST-FC/include/communicationModules/ICommunicationInterface.h
index 62a82ee..3d38e58 100644
--- a/WST-FC/include/communicationModules/ICommunicationInterface.h
+++ b/WST-FC/include/communicationModules/ICommunicationInterface.h
@@ -2,7 +2,46 @@
 #define ICOMMUNICATIONINTERFACE
 
 #include "../SensorsData.h"
+#include "SystemRegistry.h"
+#include "Configuration.h"
 class ICommunicationInterface{
+protected:
+    DroneControlData *sharedData;
+    DroneStatus *droneStatus;
+    unsigned long lastUpdate{0};
+
+    void ParseIncomingBytes(uint8_t* buffer, size_t len) 
+    {
+        if (sharedData == nullptr || len < 2) return;
+
+        if (len == sizeof(DroneControlData)) 
+        {
+            memcpy(sharedData, buffer, sizeof(DroneControlData));
+            lastUpdate = millis();
+        }
+        else if (buffer[0] == 'S' && buffer[1] == 'E' && buffer[2] == 'T') 
+        {
+            if (len < 64) buffer[len] = '\0'; 
+            else buffer[63] = '\0';
+        
+            char* str = (char*)buffer; 
+            char* cmd = strtok(str, " ");
+            char* paramName = strtok(NULL, " ");
+            char* valueStr = strtok(NULL, " ");
+
+            if (paramName != nullptr && valueStr != nullptr) 
+            {
+                SystemRegistry::GetInstance().SetValue(paramName, valueStr);
+            }
+        }
+        else if (buffer[0] == 'G' && buffer[1] == 'E' && buffer[2] == 'T') 
+        {
+            if (len < 64) buffer[len] = '\0'; 
+            else buffer[63] = '\0';
+            SystemRegistry::GetInstance().ReturnAllRegistryNames();
+        }
+    }
+
 public:
     virtual ~ICommunicationInterface(){}
     virtual void Init();
diff --git a/WST-FC/include/modules/CameraModule.h b/WST-FC/include/modules/CameraModule.h
index d1fa098..906f406 100644
--- a/WST-FC/include/modules/CameraModule.h
+++ b/WST-FC/include/modules/CameraModule.h
@@ -27,7 +27,7 @@
     #define HREF_GPIO_NUM     23
     #define PCLK_GPIO_NUM     22
     #define XCLK_FREQ_HZ      20000000
-    #define JPEG_QUALITY      25
+    #define JPEG_QUALITY      45
     #define FB_COUNT          2
     #define PART_BOUNDARY "123456789000000000000987654321"
 
diff --git a/WST-FC/platformio.ini b/WST-FC/platformio.ini
index 29ea818..d5a6f26 100644
--- a/WST-FC/platformio.ini
+++ b/WST-FC/platformio.ini
@@ -1,40 +1,39 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
+[platformio]
+description = Advanced, gloriously over-engineered, and fundamentally unreasonable take on making things move. It is an open-source framework built to prove that the sweet spot of engineering lies exactly where "genuinely useful" meets "utterly insane."
 
 [env]
 platform = espressif32
-platform_packages =
-   framework-arduinoespressif32@https://github.com/maxgerhardt/pio-framework-bluepad32/archive/refs/heads/main.zip
 framework = arduino
 monitor_speed = 115200
+extra_scripts = pre:configuration_preprocesor.py
+use_bluestack = no
+monitor_echo = yes
+monitor_filters = send_on_enter
+build_flags = -DCORE_DEBUG_LEVEL=5
 lib_deps = 
-    adafruit/Adafruit MPU6050@^2.2.6
-    adafruit/DHT sensor library@^1.4.6
-    madhephaestus/ESP32Servo@^3.0.9
-    br3ttb/PID@^1.2.1
-    adafruit/Adafruit ADXL345@^1.3.4
-    adafruit/Adafruit Unified Sensor@^1.1.14
-    ciniml/WireGuard-ESP32 @ ^0.1.5
+	adafruit/Adafruit MPU6050@^2.2.6
+	adafruit/DHT sensor library@^1.4.6
+	madhephaestus/ESP32Servo@^3.0.9
+	br3ttb/PID@^1.2.1
+	adafruit/Adafruit ADXL345@^1.3.4
+	adafruit/Adafruit Unified Sensor@^1.1.14
+	ciniml/WireGuard-ESP32 @ ^0.1.5
 
 [env:esp32doit-devkit-v1]
 board = esp32doit-devkit-v1
-build_flags = 
-    -D CORE_DEBUG_LEVEL=3
 board_build.partitions = huge_app.csv
 
 [env:esp32-c3-super-mini]
 board = esp32-c3-devkitm-1
 build_flags = 
-    -D ARDUINO_USB_MODE=1
-    -D ARDUINO_USB_CDC_ON_BOOT=1
-    -D CORE_DEBUG_LEVEL=0
+	-D ARDUINO_USB_MODE=1
+	-D ARDUINO_USB_CDC_ON_BOOT=1
 
 [env:esp32cam]
-board = esp32cam
\ No newline at end of file
+board = esp32cam
+platform_packages = 
+    framework-arduinoespressif32
+framework = arduino
+build_flags = 
+	-D BOARD_HAS_PSRAM
+    -mfix-esp32-psram-cache-issue
diff --git a/WST-FC/src/CommunicationModule.cpp b/WST-FC/src/CommunicationModule.cpp
index b2adbfc..2ee1666 100644
--- a/WST-FC/src/CommunicationModule.cpp
+++ b/WST-FC/src/CommunicationModule.cpp
@@ -9,34 +9,40 @@ CommunicationModule::CommunicationModule(DroneControlData *dataPtr, DroneStatus
 
 void CommunicationModule::Init()
 {
-    if(COMMUNICATION_METHOD == 0){
-        communicationInterface = new CommunicationWiFiUDPModule(sharedData, UDP_CONTROLL_PORT, droneStatus);
-    }
-    if(COMMUNICATION_METHOD == 1){
-        communicationInterface = new CommunicationESPNowModule(sharedData, droneStatus);
-    }
-    if(COMMUNICATION_METHOD == 2){
-        communicationInterface = new CommunicationSerialModule(sharedData, droneStatus);
-    }
-    if(COMMUNICATION_METHOD == 3){
-        communicationInterface = new CommunicationGamepadModule(sharedData, droneStatus);
-    }
+    #ifdef USE_WIFI_UDP
+        communicationInterfaces.push_back(new CommunicationWiFiUDPModule(sharedData, UDP_CONTROLL_PORT, droneStatus));
+    #endif
+    
+    #ifdef USE_ESP_NOW
+        communicationInterfaces.push_back( new CommunicationESPNowModule(sharedData, droneStatus));
+    #endif
+
+    #ifdef USE_SERIAL
+        communicationInterfaces.push_back(new CommunicationSerialModule(sharedData, droneStatus));
+    #endif
 
-    if(communicationInterface == nullptr)
+    #ifdef USE_GAMEPAD
+        communicationInterfaces.push_back(new CommunicationGamepadModule(sharedData, droneStatus));
+    #endif
+
+    for(auto interface : communicationInterfaces) 
     {
-        //Critical error!!!
-    }else{
-        communicationInterface->Init();
+        interface->Init();
     }
+
 }
 
 void CommunicationModule::Loop()
 {
-    if(communicationInterface == nullptr) return;
-    communicationInterface -> Loop();
+    for(auto interface : communicationInterfaces) 
+    {
+        interface->Loop();
+    };
 }
 void CommunicationModule::SendData(SensorsData* data)
 {
-    if(communicationInterface == nullptr) return;
-    communicationInterface->SendData(data);
+    for(auto interface : communicationInterfaces) 
+    {
+        interface->SendData(data);
+    };
 }
\ No newline at end of file
diff --git a/WST-FC/src/DroneFactory.cpp b/WST-FC/src/DroneFactory.cpp
new file mode 100644
index 0000000..3c0f38e
--- /dev/null
+++ b/WST-FC/src/DroneFactory.cpp
@@ -0,0 +1,50 @@
+#include "DroneFactory.h"
+
+#ifdef VEHICLE_TYPE_BICOPTER
+  #include "BicopterMixer.h"
+  #include "sensors/MpuSensor.h"
+  MpuSensor mpuSensor;
+#endif
+
+#ifdef VEHICLE_TYPE_AIRBOAT
+    #include "AirBoatMixer.h"
+    #include "sensors/AdxlSensor.h"
+    DCMotor motorL(16, 17, 4, 0); 
+    DCMotor motorR(18, 19, 5, 1);
+    AdxlSensor adxlSensor;
+#endif
+
+#ifdef VEHICLE_TYPE_TANK
+    #include "AirBoatMixer.h"
+    #include "modules/CameraModule.h"
+    #include "sensors/HCSR04Sensor.h"
+    DCMotor motorL(13, 14, 0); 
+    DCMotor motorR(15, 2, 1);
+#endif
+
+IMixer* DroneFactory::BuildVehicle(SensorsModule& sensorsModule, std::vector<IModule*>& modules)
+{
+    IMixer* droneMixer = nullptr;
+    
+    #ifdef VEHICLE_TYPE_BICOPTER
+        Serial.println("Configuring as BICOPTER");
+        sensorsModule.AddSensor(&mpuSensor);
+        droneMixer = new BicopterMixer();
+    #endif
+    
+    #ifdef VEHICLE_TYPE_AIRBOAT
+        Serial.println("Configuring as AIRBOAT");
+        sensorsModule.AddSensor(&adxlSensor);
+        droneMixer = new BoatMixer(&motorL, &motorR);
+    #endif
+    
+    #ifdef VEHICLE_TYPE_TANK
+        Serial.println("Configuring as TANK");
+        //Serial.end();//Not enough pins on esp cam 
+        droneMixer = new BoatMixer(&motorL, &motorR);
+        //modules.push_back(new CameraModule());
+        //sensorsModule.AddSensor(new HCSR04Sensor(12,16,0));
+    #endif
+
+    return droneMixer;
+}
\ No newline at end of file
diff --git a/WST-FC/src/communicationModules/CommunicationESPNowModule.cpp b/WST-FC/src/communicationModules/CommunicationESPNowModule.cpp
index 725a40f..c936aae 100644
--- a/WST-FC/src/communicationModules/CommunicationESPNowModule.cpp
+++ b/WST-FC/src/communicationModules/CommunicationESPNowModule.cpp
@@ -3,7 +3,8 @@
 #include "communicationModules\CommunicationESPNowModule.h"
 
 
-
+//TO-DO
+//Connect to ParseIncomingBytes
 
 CommunicationESPNowModule::CommunicationESPNowModule(DroneControlData *dataPtr, DroneStatus *status){
     sharedData = dataPtr;
diff --git a/WST-FC/src/communicationModules/CommunicationGamepadModule.cpp b/WST-FC/src/communicationModules/CommunicationGamepadModule.cpp
index a5a9f35..e686bac 100644
--- a/WST-FC/src/communicationModules/CommunicationGamepadModule.cpp
+++ b/WST-FC/src/communicationModules/CommunicationGamepadModule.cpp
@@ -1,4 +1,5 @@
 #include "communicationModules/CommunicationGamepadModule.h"
+#ifdef USE_BLUEPAD32
 CommunicationGamepadModule* CommunicationGamepadModule::instance = nullptr;
 
 void CommunicationGamepadModule::onConnectedGamepad(GamepadPtr gp) {
@@ -45,4 +46,5 @@ void CommunicationGamepadModule::SendData(SensorsData* data){
 }
 void CommunicationGamepadModule::SetGamepad(GamepadPtr gp) { 
     myGamepad = gp;
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
diff --git a/WST-FC/src/communicationModules/CommunicationSerialModule.cpp b/WST-FC/src/communicationModules/CommunicationSerialModule.cpp
index c5ac2b9..7e75cee 100644
--- a/WST-FC/src/communicationModules/CommunicationSerialModule.cpp
+++ b/WST-FC/src/communicationModules/CommunicationSerialModule.cpp
@@ -8,20 +8,18 @@ CommunicationSerialModule::CommunicationSerialModule(DroneControlData *dataPtr,
 }
 void CommunicationSerialModule::Init()
 {
-
+    
 }
 void CommunicationSerialModule::Loop()
 {
-    if (sharedData == nullptr) return;
-    if (Serial.available() < sizeof(DroneControlData) + 2) return;
-    if (Serial.read() != HEADER_BYTE_1) return;
-    if (Serial.read() != HEADER_BYTE_2) return;
-
-    Serial.readBytes(inputBuffer, sizeof(DroneControlData));
-    memcpy(sharedData, inputBuffer, sizeof(DroneControlData));
-    lastUpdate = millis();
-    
+    int bytesAvailable = Serial.available();
     
+    if (bytesAvailable > 0)
+    {
+        size_t bytesToRead = min(bytesAvailable, (int)sizeof(inputBuffer));
+        size_t bytesRead = Serial.readBytes(inputBuffer, bytesToRead);
+        ParseIncomingBytes((uint8_t*)inputBuffer, bytesRead);
+    }
 
     if ((millis() - lastUpdate) > MAX_ROGUE_TIME) 
     {
diff --git a/WST-FC/src/communicationModules/CommunicationWiFiUDPModule.cpp b/WST-FC/src/communicationModules/CommunicationWiFiUDPModule.cpp
index ffc7697..15ccd3b 100644
--- a/WST-FC/src/communicationModules/CommunicationWiFiUDPModule.cpp
+++ b/WST-FC/src/communicationModules/CommunicationWiFiUDPModule.cpp
@@ -12,6 +12,7 @@ CommunicationWiFiUDPModule::CommunicationWiFiUDPModule(DroneControlData *dataPtr
 void CommunicationWiFiUDPModule::Init()
 {
     Serial.print("Connecting to WiFi");
+    WiFi.mode(WIFI_STA);
     WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
     delay(500);
     while (WiFi.status() != WL_CONNECTED)
@@ -57,15 +58,8 @@ void CommunicationWiFiUDPModule::Loop()
 
     if (packetSize)
     {
-        int len = udp.read(packetBuffer, 255);
+        ParseIncomingBytes((uint8_t*)packetBuffer, packetSize);
 
-        if (len != sizeof(DroneControlData))
-        {
-            Serial.printf("Error: invalid packet");
-            return;
-        }
-        memcpy(sharedData, packetBuffer, sizeof(DroneControlData));
-        lastUpdate = millis();
         remoteIP = udp.remoteIP();
         remotePort = udp.remotePort();
     }
diff --git a/WST-FC/src/main.cpp b/WST-FC/src/main.cpp
index 18f992b..e258cba 100644
--- a/WST-FC/src/main.cpp
+++ b/WST-FC/src/main.cpp
@@ -5,26 +5,8 @@
 #include "SensorsModule.h"
 #include "SensorsData.h"
 #include "modules/IModule.h"
-
-#ifdef VEHICLE_TYPE_BICOPTER
-  #include "BicopterMixer.h"
-  #include "sensors/MpuSensor.h"
-  MpuSensor mpuSensor;
-#endif
-
-#ifdef VEHICLE_TYPE_AIRBOAT
-    #include "AirBoatMixer.h"
-    #include "sensors/AdxlSensor.h"
-    DCMotor motorL(16, 17, 4, 0); 
-    DCMotor motorR(18, 19, 5, 1);
-#endif
-
-#ifdef VEHICLE_TYPE_TANK
-    #include "AirBoatMixer.h"
-    #include "modules/CameraModule.h"
-    DCMotor motorL(13, 14, 0); 
-    DCMotor motorR(15, 2, 1); 
-#endif
+#include "IMixer.h"
+#include "DroneFactory.h"
 
 DroneControlData droneControllData{};
 SensorsData sensorsData{};
@@ -43,30 +25,25 @@ unsigned long lastTelemetryTimestamp {0};
 void setup()
 {
   Serial.begin(115200);
-  
-  #ifdef VEHICLE_TYPE_BICOPTER
-    Serial.println("Configuring as BICOPTER");
-    sensorsModule.AddSensor(&mpuSensor);
-    droneMixer = new BicopterMixer();
-  #endif
-  #ifdef VEHICLE_TYPE_AIRBOAT
-    Serial.println("Configuring as AIRBOAT");
-    sensorsModule.AddSensor(&adxlSensor);
-    droneMixer = new BoatMixer(&motorL, &motorR);
-    modules.push_back(new CameraModule());
-  #endif
-  #ifdef VEHICLE_TYPE_TANK
-    Serial.println("Configuring as TANK");
-    droneMixer = new BoatMixer(&motorL, &motorR);
-  #endif
-
+  Serial.println("Starting");
+  Serial.flush();
   comms.Init();
+  Serial.println("Comms initiated");
+  Serial.flush();
   sensorsModule.Init();
-  if(droneMixer != nullptr) droneMixer->Init();
-  for (auto module : modules)
-  {
+  Serial.println("Sensors initiated");
+  Serial.flush();
+  droneMixer = DroneFactory::BuildVehicle(sensorsModule, modules);
+  if(droneMixer != nullptr) 
+    droneMixer->Init();
+  Serial.println("Mixer initiated");
+  Serial.flush();
+  for (auto module : modules) 
     module->Init();
-  }
+  Serial.println("Modules initiated");
+  Serial.flush();
+  Serial.println("Ok");
+  Serial.flush();
 }
 
 void loop()
diff --git a/WST-FC/src/modules/CameraModule.cpp b/WST-FC/src/modules/CameraModule.cpp
index 00f661d..917ebc9 100644
--- a/WST-FC/src/modules/CameraModule.cpp
+++ b/WST-FC/src/modules/CameraModule.cpp
@@ -28,13 +28,13 @@ void CameraModule::Init()
     config.pin_reset = RESET_GPIO_NUM;
     config.xclk_freq_hz = XCLK_FREQ_HZ;
     config.pixel_format = PIXFORMAT_JPEG; 
-    config.frame_size = FRAMESIZE_HVGA;
+    config.frame_size = FRAMESIZE_QVGA;
     config.jpeg_quality = JPEG_QUALITY; 
     config.fb_count = FB_COUNT;
     config.grab_mode = CAMERA_GRAB_LATEST;
     
-    esp_camera_init(&config);
-    startCameraServer();
+    esp_err_t err = esp_camera_init(&config);
+    if (err == ESP_OK) startCameraServer();
 }
 
 void CameraModule::Loop(CommunicationModule* interface, SensorsData *data){}
@@ -46,7 +46,7 @@ esp_err_t CameraModule::stream_handler(httpd_req_t *req)
     char part_buf[64];
 
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = pdMS_TO_TICKS(33);
+    const TickType_t xFrequency = pdMS_TO_TICKS(66);
 
     res = httpd_resp_set_type(req, _STREAM_CONTENT_TYPE);