diff --git a/modules/bootcamp/decision_simple_waypoint.py b/modules/bootcamp/decision_simple_waypoint.py
index bdb8d5d9..bf794bc0 100644
--- a/modules/bootcamp/decision_simple_waypoint.py
+++ b/modules/bootcamp/decision_simple_waypoint.py
@@ -37,7 +37,13 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
+        self.command_index = 0
+        self.commands = [
+            commands.Command.create_set_relative_destination_command( 4,  1),
+            commands.Command.create_set_relative_destination_command(  0.0, -2),
+            commands.Command.create_set_relative_destination_command(-4,  1),
+        ]
+        self.has_sent_landing_command = False
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
@@ -68,10 +74,14 @@ def run(self,
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
+        if report.status == drone_report.drone_status.DroneStatus.HALTED and self.command_index<len(self.commands):
+            command = self.commands[self.command_index]
+            self.command_index += 1
 
-        # Remove this when done
-        raise NotImplementedError
+        elif report.status == drone_report.drone_status.DroneStatus.HALTED and not self.has_sent_landing_command:
+            self.has_sent_landing_command = True
+            command = commands.Command.create_land_command()
+    
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
diff --git a/modules/bootcamp/decision_waypoint_landing_pads.py b/modules/bootcamp/decision_waypoint_landing_pads.py
index a1b4f69b..2ae3d846 100644
--- a/modules/bootcamp/decision_waypoint_landing_pads.py
+++ b/modules/bootcamp/decision_waypoint_landing_pads.py
@@ -32,17 +32,26 @@ def __init__(self, waypoint: location.Location, acceptance_radius: float):
         print("Waypoint: " + str(waypoint))
 
         self.acceptance_radius = acceptance_radius
+        
 
         # ============
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Add your own
+        self.command_index = 0
+        self.commands = [
+            commands.Command.create_set_relative_destination_command(waypoint.location_x, waypoint.location_y)
+        ]
+        self.landed_at_waypoint = False
+        self.has_sent_landing_command = False
+        self.landing_pad_cache = None
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
         # ============
-
+    def getL2Norm(self, l1: location.Location, l2: location.Location) -> int:
+        return (l2.location_x - l1.location_x) * (l2.location_x - l1.location_x) + (l2.location_y - l1.location_y) * (l2.location_y - l1.location_y)
+    
     def run(self,
             report: drone_report.DroneReport,
             landing_pad_locations: "list[location.Location]") -> commands.Command:
@@ -68,10 +77,30 @@ def run(self,
         # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓
         # ============
 
-        # Do something based on the report and the state of this class...
-
-        # Remove this when done
-        raise NotImplementedError
+        if report.status == drone_report.drone_status.DroneStatus.HALTED and self.command_index<len(self.commands):
+            command = self.commands[self.command_index]
+            self.command_index += 1
+
+        elif report.status == drone_report.drone_status.DroneStatus.HALTED and not self.landed_at_waypoint:
+            
+            self.landed_at_waypoint = True
+            min_landing_distance = 10000000
+            for landing_pad in landing_pad_locations:
+                distance_to_lp = self.getL2Norm(landing_pad, report.position)
+                if distance_to_lp < min_landing_distance:
+                    self.landing_pad_cache = landing_pad
+                    min_landing_distance = distance_to_lp
+            
+            location_delta_x = self.landing_pad_cache.location_x - report.position.location_x
+            location_delta_y = self.landing_pad_cache.location_y - report.position.location_y
+            self.commands.append(commands.Command.create_set_relative_destination_command(location_delta_x, location_delta_y))
+            command = self.commands[self.command_index]
+            
+            self.command_index += 1
+
+        elif report.status == drone_report.drone_status.DroneStatus.HALTED and not self.has_sent_landing_command:
+            self.has_sent_landing_command = True
+            command = commands.Command.create_land_command()
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑
diff --git a/modules/bootcamp/detect_landing_pad.py b/modules/bootcamp/detect_landing_pad.py
index 685c9795..d1875b03 100644
--- a/modules/bootcamp/detect_landing_pad.py
+++ b/modules/bootcamp/detect_landing_pad.py
@@ -86,32 +86,35 @@ def run(self, image: np.ndarray) -> "tuple[list[bounding_box.BoundingBox], np.nd
         # * conf
         # * device
         # * verbose
-        predictions = ...
+        predictions = self.__model.predict(source=image, conf=0.7, show_conf=True)
 
         # Get the Result object
-        prediction = ...
+        prediction = predictions[0]
 
         # Plot the annotated image from the Result object
         # Include the confidence value
-        image_annotated = ...
+        image_annotated = prediction.orig_img
 
         # Get the xyxy boxes list from the Boxes object in the Result object
-        boxes_xyxy = ...
+        boxes_xyxy = prediction.boxes.xyxy
 
         # Detach the xyxy boxes to make a copy,
         # move the copy into CPU space,
         # and convert to a numpy array
-        boxes_cpu = ...
+        boxes_cpu = boxes_xyxy.detach().cpu().numpy()
 
         # Loop over the boxes list and create a list of bounding boxes
         bounding_boxes = []
         # Hint: .shape gets the dimensions of the numpy array
-        # for i in range(0, ...):
+        for i in range(0, boxes_cpu.shape[0]):
             # Create BoundingBox object and append to list
-            # result, box = ...
-
-        # Remove this when done
-        raise NotImplementedError
+            result, box = bounding_box.BoundingBox.create(boxes_cpu[i])
+            
+            if not result:
+                return ([], image_annotated)
+            
+            bounding_boxes.append(box)
+        return bounding_boxes, image_annotated
 
         # ============
         # ↑ BOOTCAMPERS MODIFY ABOVE THIS COMMENT ↑