diff --git a/detect_qr.py b/detect_qr.py
index 410fe41..3605673 100644
--- a/detect_qr.py
+++ b/detect_qr.py
@@ -14,7 +14,7 @@ def process(frame):
     Args:
         frame: Frame de vídeo a ser processado para detecção de QR codes.
     Returns:
-        frame: Frame processado após a detecção e execução dos comandos.
+        [frame, x, y, x+w, y+h, len(decoded_objects), qr_text]
     '''
     decoded_objects = decode(frame)
     global x, y, w, h, data, qr_text
@@ -28,4 +28,4 @@ def process(frame):
     #print(data)
     return [frame, x, y, x+w, y+h, len(decoded_objects), qr_text]
 
-#cv2.namedWindow('QR Code', cv2.WINDOW_AUTOSIZE)
+#cv2.namedWindow('QR Code', cv2.WINDOW_AUTOSIZE)
\ No newline at end of file
diff --git a/main.py b/main.py
index 2d8658b..00af129 100644
--- a/main.py
+++ b/main.py
@@ -19,5 +19,4 @@
 #print(data)
 #cap.release()
 tello.end_tello()
-cv2.destroyAllWindows()
-
+cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/tello_control.py b/tello_control.py
index 3f282d0..33e019f 100644
--- a/tello_control.py
+++ b/tello_control.py
@@ -1,3 +1,4 @@
+import logging
 from tracking_base import tracking
 from detect_qr import process
 import time
@@ -8,6 +9,22 @@
 start_time = time.time()  # Inicializa o tempo
 searching = False
 
+logging.basicConfig(
+    filename="codes/log.txt",
+    level=logging.INFO,
+    format="%(asctime)s - %(message)s",
+    datefmt="%d-%m-%Y %H:%M:%S"
+)
+
+def log_command(command, response=None):
+    '''
+    Registra um comando enviado e a resposta recebida no log.
+    Args:
+        command (str): Comando enviado ao drone.
+        response (str, opcional): Resposta recebida do drone.
+    '''
+    logging.info(f"{command}, {response}")
+
 def timer():
     '''
     Função que verifica se o timer de 5 segundos expirou.
@@ -32,7 +49,8 @@ def search(tello, frame):
     '''
     response = tello.send_cmd('ccw 20')  # Rotaciona 20 graus
     time.sleep(0.01)                     # testar se resposta é exibida
-    print(f"Rotação enviada: {response}")
+    print(f"Rotação: {response}")
+    log_command('ccw 20', response)
     return frame
 
 def moves(tello, frame):
@@ -58,22 +76,28 @@ def moves(tello, frame):
             frame = search(tello, frame)
         elif old_move == 'follow': # necessário para que o drone não continue a se movimentar sem detecção de follow
             tello.send_rc_control(0, 0, 0, 0)
+            log_command('rc 0 0 0 0')
 
     if text == 'follow':
         frame = tracking(tello, frame)
+        log_command('follow') # ver como vai ficar isso
     
     if detections == 1 and text == 'land':
         while float(tello.get_state_field('h')) >= 13:
             tello.send_rc_control(0, 0, -70, 0)
         tello.send_cmd(str(text))
+        log_command(text)
     
     elif detections == 1 and text == 'takeoff' and old_move != 'takeoff':
         response = tello.send_cmd_return(text)
         print(f"{text}' '{response}")
+        log_command(text, response)
     
     elif detections == 1 and text in pace_moves:
         response = tello.send_cmd_return(f"{text}{pace}")
         print(f"{text}{pace}' '{response}")
+        log_command(f"{text}{pace}", response)
 
     old_move = text
-    return frame
+    print(f"Old move: {old_move}")
+    return frame
\ No newline at end of file
diff --git a/tracking_base.py b/tracking_base.py
index 5a2f392..6d2a27b 100644
--- a/tracking_base.py
+++ b/tracking_base.py
@@ -18,10 +18,9 @@
 Kd = 0.2
 
 width_detect = 0
-area_land = 0
 text = ''
-response = ''
 old_move = ''
+
 def tracking(tello, frame):
     '''
     Processa o frame para detectar QR codes e executa comandos no drone Tello com base no texto detectado.
@@ -31,7 +30,7 @@ def tracking(tello, frame):
     Returns:
         frame: Frame processado após a detecção e execução dos comandos.
     '''
-    global prevErrorX, prevErrorY, CenterX, CenterY, Kp, Kd, text, width_detect, area_land
+    global prevErrorX, prevErrorY, CenterX, CenterY, Kp, Kd, text, width_detect
     _, x1, y1, x2, y2, detections, text = process(frame)
     speedFB = 0
     cxDetect = (x2 + x1) // 2
@@ -80,7 +79,4 @@ def tracking(tello, frame):
     #o erro atual vira o erro anterior
     prevErrorX = errorX
     prevErrorY = errorY
-    return frame
-
-
-
+    return frame
\ No newline at end of file