diff --git a/kr_mav_manager/include/kr_mav_manager/manager.h b/kr_mav_manager/include/kr_mav_manager/manager.h
index 6db59677..e00e0f40 100644
--- a/kr_mav_manager/include/kr_mav_manager/manager.h
+++ b/kr_mav_manager/include/kr_mav_manager/manager.h
@@ -188,6 +188,9 @@ class MAVManager
 
   // Services
   ros::ServiceClient srv_transition_;
+
+  // Params
+  int motors_msg_queue_num_;
 };
 
 }  // namespace kr_mav_manager
diff --git a/kr_mav_manager/src/manager.cpp b/kr_mav_manager/src/manager.cpp
index 1b3cf218..f9901cb0 100644
--- a/kr_mav_manager/src/manager.cpp
+++ b/kr_mav_manager/src/manager.cpp
@@ -135,6 +135,9 @@ MAVManager::MAVManager(std::string ns)
   // Disable motors
   if(!this->set_motors(false))
     ROS_ERROR("Could not disable motors");
+  
+  // Params
+  nh_.param<int>("motors_msg_queue_num", motors_msg_queue_num_, 10);
 }
 
 void MAVManager::tracker_done_callback(const actionlib::SimpleClientGoalState &state,
@@ -624,7 +627,7 @@ bool MAVManager::set_motors(bool motors)
   // Queue a few to make sure the signal gets through.
   // Also, the crazyflie interface throttles commands to 30 Hz, so this needs
   // to have a sufficent duration.
-  for(int i = 0; i < 10; i++)
+  for(int i = 0; i < motors_msg_queue_num_; i++)
   {
     pub_so3_command_.publish(so3_cmd);
     pub_trpy_command_.publish(trpy_cmd);