diff --git a/workspace/src/chassis_control_pkg/chassis_control_pkg/chassis_node.py b/workspace/src/chassis_control_pkg/chassis_control_pkg/chassis_node.py
index 81879e3..1dd0a3f 100644
--- a/workspace/src/chassis_control_pkg/chassis_control_pkg/chassis_node.py
+++ b/workspace/src/chassis_control_pkg/chassis_control_pkg/chassis_node.py
@@ -61,7 +61,7 @@ class ChassisNode(Node):
             Float32, '/chassis/feedforward', 10
         )
 
-        self._current_mode = 'auto'
+        self._current_mode = 'debug'
 
         self._read_thread = threading.Thread(
             target=self._serial_read_loop, daemon=True
@@ -118,6 +118,12 @@ class ChassisNode(Node):
         self._write_frame(data)
 
     def _pid_config_callback(self, msg: String):
+        if self._current_mode != 'debug':
+            self.get_logger().warn(
+                'Chassis PID config only allowed in debug mode, '
+                f'current mode: {self._current_mode}')
+            return
+
         try:
             pid = json.loads(msg.data)
         except json.JSONDecodeError as e:
diff --git a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
index 87d764a..622c1bf 100644
--- a/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
+++ b/workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py
@@ -107,6 +107,12 @@ class GimbalNode(Node):
         self._write_frame(data)
 
     def _pid_config_callback(self, msg: String):
+        if self._current_mode != 'debug':
+            self.get_logger().warn(
+                'PID config only allowed in debug mode, '
+                f'current mode: {self._current_mode}')
+            return
+
         try:
             pid = json.loads(msg.data)
         except json.JSONDecodeError as e: