diff --git a/scripts/crazyflie_logger_node.py b/scripts/crazyflie_logger_node.py
index 68da3972511577e81b78fd4e5aa706be47336ca4..affb01890d98640f92cc0286e342cd9c8fa6a181 100755
--- a/scripts/crazyflie_logger_node.py
+++ b/scripts/crazyflie_logger_node.py
@@ -21,7 +21,7 @@ from std_msgs.msg import String
 from omniwheels_controller.msg import motorCommand
 from geometry_msgs.msg import Twist
 from geometry_msgs.msg import Pose
-
+from geometry_msgs.msg import Vector3
 
 
 uri = uri_helper.uri_from_env(default='usb://0') # Connection-uri for crazyflie via USB
@@ -57,9 +57,12 @@ class ParameterLogging:
         # ros stuff
         self._pose_data_ = Pose()
         self._vel_data_ = Twist()
+        self._acc_data_ = Vector3()
         # create publishers 
         self._position_pub = rospy.Publisher("pose", Pose,queue_size=100)
         self._velocity_pub = rospy.Publisher("vel", Twist,queue_size=100)
+        self._acceleration_pub = rospy.Publisher("acc", Vector3,queue_size=100)
+
         robot_name = rospy.get_param("/name")
         self._position_offset = rospy.get_param("/position_offset")
         #
@@ -99,24 +102,34 @@ class ParameterLogging:
         self._lg_est_vel.add_variable('stateEstimateZ.vy')
         self._lg_est_vel.add_variable('stateEstimateZ.rateYaw')
         
+        print("velocity configuraion finished")
+        
+        self._lg_est_acc = LogConfig(name='formation_test_acceleration', period_in_ms=self.period_in_ms)
+        self._lg_est_acc.add_variable('stateEstimateZ.ax')
+        self._lg_est_acc.add_variable('stateEstimateZ.ay')
+        self._lg_est_acc.add_variable('stateEstimateZ.az')
+        
         print("velocity configuraion finished")
 
         try:
             self._cf.log.add_config(self._lg_stab)
             self._cf.log.add_config(self._lg_est_vel)
+            self._cf.log.add_config(self._lg_est_acc)
             # This callback will receive the data
             self._lg_stab.data_received_cb.add_callback(self._pos_log_data)
             self._lg_est_vel.data_received_cb.add_callback(self._vel_log_data)
-        
+            self._lg_est_acc.data_received_cb.add_callback(self._acc_log_data)
+       
 
             # This callback will be called on errors
             self._lg_stab.error_cb.add_callback(self._log_error)
             self._lg_est_vel.error_cb.add_callback(self._log_error)
-           
+            self._lg_est_acc.error_cb.add_callback(self._log_error)
+          
             # Start the logging
             self._lg_stab.start()
             self._lg_est_vel.start()
-            
+            self._lg_est_acc.start()
             print("Completed configuration")
         except KeyError as e:
             print('Could not start log configuration,'
@@ -219,7 +232,12 @@ class ParameterLogging:
         self._vel_data_.linear.y = data['stateEstimateZ.vy']/1000.0
         self._vel_data_.angular.z = data['stateEstimateZ.rateYaw']/1000.0
         self._velocity_pub.publish(self._vel_data_)
-
+        
+    def _acc_log_data(self, timestamp,data, logconf):
+        self._acc_data_.x = data['stateEstimateZ.ax']/1000.0
+        self._acc_data_.y = data['stateEstimateZ.ay']/1000.0
+        self._acc_data_.z = data['stateEstimateZ.az']/1000.0
+        self._acceleration_pub.publish(self._acc_data_)
         
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
diff --git a/utils/configure_ros_master.bash b/utils/configure_ros_master.bash
index e8838a3de655ac8254c2ebf5d208462df467d0c2..0e7012f7e9b8e74240204dee4b32e6b256f33803 100644
--- a/utils/configure_ros_master.bash
+++ b/utils/configure_ros_master.bash
@@ -1,2 +1,2 @@
-export ROS_MASTER_URI=http://192.168.1.3:11311
+export ROS_MASTER_URI=http://192.168.1.4:11311
 # this configures the ros master and makes the main compute the ros master