diff --git a/ReadMe.md b/ReadMe.md
index b0e280ce..50aae15a 100644
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -26,7 +26,7 @@ DJI Onboard SDK ROS 3.3 was developed to support N3/A3 FW 1.7.5 and above, and i
 |                   | 1.7.0.0                  | 3.2.15.37                 | OSDK-ROS 3.2               |                                                                 |
 |                   |                          |                           |                            |                                                                 |
 | **M600/M600 Pro** | *1.0.1.60*               | *3.2.41.5*                | *OSDK-ROS 3.3 (Current)*   | Firmware being investigated for potential in-flight instability |
-|                   | **1.0.1.20**             | **3.2.15.62**             | **OSDK-ROS 3.2**           | OSDK-ROS 3.3 support for this firmware coming soon              |
+|                   | **1.0.1.20**             | **3.2.15.62**             | **OSDK-ROS 3.3 (Current)** |                                                                 |
 |                   | 1.0.0.80                 | 3.2.15.00                 | OSDK-ROS 3.2               |                                                                 |
 |                   |                          |                           |                            |                                                                 |
 | **M100**          | 1.3.1.0                  | 3.1.10.0                  | **OSDK-ROS 3.3 (Current)** |                                                                 |
diff --git a/dji_sdk/src/modules/dji_sdk_node.cpp b/dji_sdk/src/modules/dji_sdk_node.cpp
index 87ec7253..4aa18e5a 100644
--- a/dji_sdk/src/modules/dji_sdk_node.cpp
+++ b/dji_sdk/src/modules/dji_sdk_node.cpp
@@ -104,7 +104,7 @@ DJISDKNode::initVehicle(ros::NodeHandle& nh_private)
     return false;
   }
 
-  if(!isM100())
+  if((!isM100()) && (user_select_BC == false))
   {
     for(int i = 0; i < MAX_SUBSCRIBE_PACKAGES; i++)
       vehicle->subscribe->removePackage(i, WAIT_TIMEOUT);
@@ -510,11 +510,11 @@ DJISDKNode::setUpM100DefaultFreq(uint8_t freq[16])
 void
 DJISDKNode::setUpA3N3DefaultFreq(uint8_t freq[16])
 {
-  freq[0]  = DataBroadcast::FREQ_400HZ;
-  freq[1]  = DataBroadcast::FREQ_400HZ;
-  freq[2]  = DataBroadcast::FREQ_400HZ;
+  freq[0]  = DataBroadcast::FREQ_100HZ;
+  freq[1]  = DataBroadcast::FREQ_100HZ;
+  freq[2]  = DataBroadcast::FREQ_100HZ;
   freq[3]  = DataBroadcast::FREQ_50HZ;
-  freq[4]  = DataBroadcast::FREQ_400HZ;
+  freq[4]  = DataBroadcast::FREQ_100HZ;
   freq[5]  = DataBroadcast::FREQ_50HZ;
   freq[6]  = DataBroadcast::FREQ_50HZ;
   freq[7]  = DataBroadcast::FREQ_50HZ;
diff --git a/dji_sdk/src/modules/dji_sdk_node_publisher.cpp b/dji_sdk/src/modules/dji_sdk_node_publisher.cpp
index 6f1f2a45..b34831f5 100644
--- a/dji_sdk/src/modules/dji_sdk_node_publisher.cpp
+++ b/dji_sdk/src/modules/dji_sdk_node_publisher.cpp
@@ -164,7 +164,7 @@ DJISDKNode::dataBroadcastCallback()
   {
     sensor_msgs::BatteryState msg_battery_state;
     msg_battery_state.capacity = NAN;
-    msg_battery_state.voltage  = vehicle->broadcast->getBatteryInfo().voltage / 1000.0;
+    msg_battery_state.voltage  = NAN;
     msg_battery_state.current  = NAN;
     msg_battery_state.percentage = vehicle->broadcast->getBatteryInfo().percentage;
     msg_battery_state.charge   = NAN;