diff --git a/Software/MPS_dev_02/MPS_dev_02.ino b/Software/MPS_dev_02/MPS_dev_02.ino
new file mode 100644
index 0000000..fc87e00
--- /dev/null
+++ b/Software/MPS_dev_02/MPS_dev_02.ino
@@ -0,0 +1,190 @@
+#include <MicroPlaneSystem.h>
+MicroPlaneSystem rx;
+
+
+MicroPlaneSystem servo1;
+MicroPlaneSystem servo2;
+MicroPlaneSystem servo3;
+MicroPlaneSystem servo4;
+MicroPlaneSystem servo5;
+
+
+//MicroPlaneSystem motorA;
+//MicroPlaneSystem motorB;
+
+
+int rud;
+int ele;
+int thro;
+int ail;
+int aux1;
+int aux2;
+
+int iswitch = 0;
+
+float fBattV;
+
+unsigned long timeFirst;
+
+bool debugging = false;
+
+void setup() {
+  Serial.begin(115200);
+  Serial.println("-----------");
+  Serial.println("Hello World");
+
+  servo1.attach(7);
+  servo2.attach(8);
+  servo3.attach(9);
+  servo4.attach(10);
+  servo5.attach(11);
+
+  
+  // motorA.setMotorPin(6, A1, A0);
+  //motorB.setMotorPin(3, 5, 13);
+
+
+ //Motor A
+  pinMode(6, OUTPUT);
+  digitalWrite(6, LOW);
+
+//Motor B
+  pinMode(5, OUTPUT);
+  digitalWrite(5, LOW);
+
+
+  delay(4000);
+
+}
+
+
+void loop() {
+
+  updateChannels();
+
+
+  servo1.write(ail);
+  //servo2.write(ele);
+  //servo3.write(ail);
+  //servo4.write(rud);
+  //servo5.write(aux1);
+  //motorA.setThrust(0,thro);
+  //motorB.setThrust(1,thro);
+
+
+//2050
+ /* if (thro > 1500) {
+    digitalWrite(6, HIGH);
+    Serial.println("An");
+  } else {
+  */
+    //digitalWrite(6, LOW);
+    //Serial.println("Aus");
+    int value = map(thro, 800, 2102, 0, 255);
+
+    analogWrite(6, value);
+ // }
+
+
+
+
+  if (aux1 >= 1500) {
+    digitalWrite(A2, HIGH);
+  } else {
+    digitalWrite(A2, LOW);
+  }
+
+  if (aux2 >= 1500) {
+    posLight();
+    //digitalWrite(4, HIGH);
+
+  } else {
+    //digitalWrite(4, LOW);
+  }
+
+}
+
+void channelMapping() {
+  ail = rx.getRxChannel(0);
+  rud = rx.getRxChannel(1);
+  ele = rx.getRxChannel(2);
+  thro = rx.getRxChannel(3);
+  aux1 = rx.getRxChannel(4);
+  aux2 = rx.getRxChannel(5);
+}
+
+void updateChannels() {
+
+  if (Serial.available()) {
+    //Serial.println("Serial ist da");
+    if (rx.update()) {
+      channelMapping();
+      if (debugging) {
+        for (int i = 0; i < 6; i++) {
+          Serial.print(" Ch0");
+          Serial.print(i);
+          Serial.print(": ");
+          Serial.print(rx.getRxChannel(i));
+        }
+        Serial.println();
+      }
+    }
+  } else {
+    //No connection or Failsafe
+    // Serial.println("\nNo Connection");
+  }
+}
+
+void posLight() {
+
+  //Serial.println(millis());
+
+
+
+  switch (iswitch) {
+    case 0:
+      if (everyXMills(100)) {
+        iswitch++;
+        digitalWrite(4, HIGH);
+      }
+      break;
+    case 1:
+      if (everyXMills(50)) {
+        iswitch++;
+        digitalWrite(4, LOW);
+      }
+      break;
+    case 2:
+      if (everyXMills(100)) {
+        iswitch++;
+        digitalWrite(4, HIGH);
+      }
+      break;
+    case 3:
+      if (everyXMills(50)) {
+        iswitch++;
+        digitalWrite(4, LOW);
+      }
+      break;
+    case 4:
+      if (everyXMills(800)) {
+        iswitch = 0;
+      }
+      break;
+  }
+
+
+}
+
+
+bool everyXMills(int mills) {
+  bool bStatus;
+  if ((millis() - timeFirst) >= mills) {
+    bStatus = true;
+    timeFirst = millis();
+  } else {
+    bStatus = false;
+  }
+  return bStatus;
+}
+