This is setting the attitude subscription to update at 1 Hz. This won't work. Try setting it to 5 ms -> 200Hz.
Same thing for the other subscriptions, the rates should be corrected to match whatever was being used previously. If he wasn't explicitly setting this for the topic previously, we should choose appropriate rates.

attitude -- 200 Hz -> 5 ms
manual -- 50 Hz -> 20 ms
control -- 50 Hz -> 20 ms
arming -- 2 Hz -> 500 ms
global_pos -- 50 Hz -> 20 ms (could go less here probably)