diff --git a/backyard_flyer.py b/backyard_flyer.py
index 4a07868..c56796c 100644
--- a/backyard_flyer.py
+++ b/backyard_flyer.py
@@ -71,15 +71,14 @@ def state_callback(self):
 
     def calculate_box(self):
         print("Setting Home")
-        local_waypoints = [[10.0, 0.0, 3.0], [10.0, 10.0, 3.0], [0.0, 10.0, 3.0], [0.0, 0.0, 3.0]]
+        local_waypoints = [[10.0, 0.0, 3.0, 0.0], [10.0, 10.0, 3.0, 0.0], [0.0, 10.0, 3.0, 0.0], [0.0, 0.0, 3.0, 0.0]]
         return local_waypoints
 
     def arming_transition(self):
         print("arming transition")
         self.take_control()
         self.arm()
-        self.set_home_position(self.global_position[0], self.global_position[1],
-                               self.global_position[2])  # set the current location to be the home position
+        self.set_home_position(*self.global_position)  # set the current location to be the home position
 
         self.flight_state = States.ARMING
 
@@ -95,7 +94,7 @@ def waypoint_transition(self):
         print("waypoint transition")
         self.target_position = self.all_waypoints.pop(0)
         print('target position', self.target_position)
-        self.cmd_position(self.target_position[0], self.target_position[1], self.target_position[2], 0.0)
+        self.cmd_position(*self.target_position)
         self.flight_state = States.WAYPOINT
 
     def landing_transition(self):