diff --git a/msg/FlightAnomaly.msg b/msg/FlightAnomaly.msg
index d6a656f1..324256db 100644
--- a/msg/FlightAnomaly.msg
+++ b/msg/FlightAnomaly.msg
@@ -6,12 +6,12 @@
 #   if(flightAnomalyData)
 #   {
 #     ROS_INFO("Flight Anomaly Reported by Flight Controller. Here are details:");
-#     if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR)
+#     if(flightAnomalyData & dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR)
 #     {
 #         ROS_INFO("COMPASS_INSTALLATION_ERROR");
 #     }
 #
-#     if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR)
+#     if(flightAnomalyData & dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR)
 #     {
 #         ROS_INFO("IMU_INSTALLATION_ERROR");
 #     }
diff --git a/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp b/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp
index 4837b943..3abfe5fc 100644
--- a/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp
+++ b/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp
@@ -658,6 +658,8 @@ bool VehicleNode::waypointV2StartMissionCallback(
   }
 
   response.result = ptr_wrapper_->startWaypointV2Mission(WAIT_TIMEOUT);
+
+  return response.result;
 }
 
 bool VehicleNode::waypointV2StopMissionCallback(
@@ -673,6 +675,8 @@ bool VehicleNode::waypointV2StopMissionCallback(
   }
 
   response.result = ptr_wrapper_->stopWaypointV2Mission(WAIT_TIMEOUT);
+
+  return response.result;
 }
 
 bool VehicleNode::waypointV2PauseMissionCallback(
@@ -688,6 +692,8 @@ bool VehicleNode::waypointV2PauseMissionCallback(
   }
 
   response.result = ptr_wrapper_->pauseWaypointV2Mission(WAIT_TIMEOUT);
+
+  return response.result;
 }
 
 bool VehicleNode::waypointV2ResumeMissionCallback(
@@ -703,6 +709,8 @@ bool VehicleNode::waypointV2ResumeMissionCallback(
   }
 
   response.result = ptr_wrapper_->resumeWaypointV2Mission(WAIT_TIMEOUT);
+
+  return response.result;
 }
 
 bool VehicleNode::waypointV2GenerateActionsCallback(
@@ -911,6 +919,7 @@ bool VehicleNode::waypointV2GenerateActionsCallback(
       response.result = true;
     }
   }
+
   return response.result;
 }
 
@@ -948,6 +957,8 @@ bool VehicleNode::waypointV2GetGlobalCruisespeedCallback(
   }
 
   response.result = ptr_wrapper_->getGlobalCruiseSpeed(response.global_cruisespeed, WAIT_TIMEOUT);
+
+  return response.result;
 }
 
 //10HZ push
diff --git a/src/dji_osdk_ros/samples/telemetry_node.cpp b/src/dji_osdk_ros/samples/telemetry_node.cpp
index 91bed36a..d4f08720 100644
--- a/src/dji_osdk_ros/samples/telemetry_node.cpp
+++ b/src/dji_osdk_ros/samples/telemetry_node.cpp
@@ -416,11 +416,11 @@ int main(int argc ,char** argv)
         ROS_INFO("rcConnectionStatus:");
         ROS_INFO("rc_connection_status_: %d\n", rc_connection_status_.data);
         ROS_INFO("flightAnomaly:");
-        if (flight_anomaly_.data && dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR)
+        if (flight_anomaly_.data & dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR)
         {
            ROS_INFO("COMPASS_INSTALLATION_ERROR\n");
         }
-        if (flight_anomaly_.data && dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR)
+        if (flight_anomaly_.data & dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR)
         {
            ROS_INFO("IMU_INSTALLATION_ERROR\n");
         }