Hello @rcron2 the code #include <CoDrone.h> void setup() { CoDrone.begin(115200); CoDrone.pair(); CoDrone.takeoff(); //goes up and hovers for 3 seconds CoDrone.hover(2); //hovers for 2 seconds CoDrone.land(); //lands the CoDrone } void loop(){ byte bt8 = digitalRead(18); byte bt4 = digitalRead(14); byte bt1 = digitalRead(11); if(bt1 && bt4 && !bt8){ CoDrone.emergencyStop(); } } has a killswitch inside the loop, since the setup code is doing one line after another it will take time to get to the inside of the loop. The killswitch is there for once the program is over if the CoDrone is still flying you can make it land. You can also double-click the BLE modules black button to kill the drone mid-program. Let me know if you have any other questions.