diff --git a/AirLib/AirLib.vcxproj b/AirLib/AirLib.vcxproj
index 72c04f5b74..ad2e45a683 100644
--- a/AirLib/AirLib.vcxproj
+++ b/AirLib/AirLib.vcxproj
@@ -115,6 +115,7 @@
     <ClInclude Include="include\physics\DebugPhysicsBody.hpp" />
     <ClInclude Include="include\api\ControlServerBase.hpp" />
     <ClInclude Include="include\physics\PhysicsBodyWorld.hpp" />
+    <ClInclude Include="include\physics\PhysicsWorld.hpp" />
     <ClInclude Include="include\safety\CubeGeoFence.hpp" />
     <ClInclude Include="include\controllers\DroneCommon.hpp" />
     <ClInclude Include="include\controllers\DroneControllerBase.hpp" />
diff --git a/AirLib/AirLib.vcxproj.filters b/AirLib/AirLib.vcxproj.filters
index 674e537d59..bfb28e7cc8 100644
--- a/AirLib/AirLib.vcxproj.filters
+++ b/AirLib/AirLib.vcxproj.filters
@@ -444,6 +444,9 @@
     <ClInclude Include="include\physics\PhysicsBodyWorld.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\physics\PhysicsWorld.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">
diff --git a/AirLibUnitTests/PixhawkTest.hpp b/AirLibUnitTests/PixhawkTest.hpp
index c97e42fc89..2807433463 100644
--- a/AirLibUnitTests/PixhawkTest.hpp
+++ b/AirLibUnitTests/PixhawkTest.hpp
@@ -19,9 +19,7 @@ class PixhawkTest : public TestBase {
         testAssert(controller != nullptr, "Couldn't get pixhawk controller");
         
         try {
-            controller->start();
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
-            controller->stop();
         }
         catch (std::domain_error& ex) {
             std::cout << ex.what() << std::endl;
diff --git a/AirLibUnitTests/RosFlightTest.hpp b/AirLibUnitTests/RosFlightTest.hpp
index dd68ca185c..9022da5007 100644
--- a/AirLibUnitTests/RosFlightTest.hpp
+++ b/AirLibUnitTests/RosFlightTest.hpp
@@ -17,9 +17,7 @@ class RosFlightTest : public TestBase {
         DroneControllerBase* controller = rosFlight->getController();
         testAssert(controller != nullptr, "Couldn't get controller");
 
-        controller->start();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
-        controller->stop();
     }
 };
 
diff --git a/AirLibUnitTests/SimpleFlightTest.hpp b/AirLibUnitTests/SimpleFlightTest.hpp
index 5a22062834..6c6a6376b2 100644
--- a/AirLibUnitTests/SimpleFlightTest.hpp
+++ b/AirLibUnitTests/SimpleFlightTest.hpp
@@ -18,9 +18,7 @@ class SimpleFlightTest : public TestBase
         DroneControllerBase* controller = simpleFlight->getController();
         testAssert(controller != nullptr, "Couldn't get controller");
 
-        controller->start();
         std::this_thread::sleep_for(std::chrono::milliseconds(10));
-        controller->stop();
     }
 };
 
diff --git a/DroneServer/main.cpp b/DroneServer/main.cpp
index 2a76856a0d..66e4f1c098 100644
--- a/DroneServer/main.cpp
+++ b/DroneServer/main.cpp
@@ -75,7 +75,6 @@ int main(int argc, const char* argv[])
     MavLinkDroneController mav_drone;
     mav_drone.initialize(connection_info, nullptr, is_simulation);
     mav_drone.reset();
-    mav_drone.start();
 
     DroneControllerCancelable server_wrapper(&mav_drone);
     msr::airlib::RpcLibServer server(&server_wrapper, connection_info.local_host_ip);