diff --git a/NuttX b/NuttX
index 088146b90e..41fffa0df1 160000
--- a/NuttX
+++ b/NuttX
@@ -1 +1 @@
-Subproject commit 088146b90eee5b614ea6386a64dae343a49a5172
+Subproject commit 41fffa0df192e4a26d2325c7ac5d9b5d7ba0211c
diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig
index 8d0bae7b9f..317194f685 100644
--- a/nuttx-configs/aerocore/nsh/defconfig
+++ b/nuttx-configs/aerocore/nsh/defconfig
@@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index a651faffab..d7697cd673 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -309,7 +309,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index a55c95a291..bd956f7bf5 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -350,7 +350,7 @@ CONFIG_SDIO_PRI=128
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y
diff --git a/nuttx-configs/px4io-v1/nsh/defconfig b/nuttx-configs/px4io-v1/nsh/defconfig
index 3785e03678..512c6a0f23 100755
--- a/nuttx-configs/px4io-v1/nsh/defconfig
+++ b/nuttx-configs/px4io-v1/nsh/defconfig
@@ -83,7 +83,6 @@ CONFIG_ARCH_BOARD="px4io-v1"
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig
index e6563e5878..02b51e3d73 100755
--- a/nuttx-configs/px4io-v2/nsh/defconfig
+++ b/nuttx-configs/px4io-v2/nsh/defconfig
@@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp
index 6c3bdb0026..81d1238cfd 100644
--- a/src/modules/bottle_drop/bottle_drop.cpp
+++ b/src/modules/bottle_drop/bottle_drop.cpp
@@ -404,16 +404,18 @@ BottleDrop::task_main()
 	memset(&update, 0, sizeof(update));
 	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
 
-	struct mission_item_s flight_vector_s;
-	struct mission_item_s flight_vector_e;
+	struct mission_item_s flight_vector_s {};
+	struct mission_item_s flight_vector_e {};
 
 	flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT;
 	flight_vector_s.acceptance_radius = 50; // TODO: make parameter
 	flight_vector_s.autocontinue = true;
+	flight_vector_s.altitude_is_relative = false;
 
 	flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT;
 	flight_vector_e.acceptance_radius = 50; // TODO: make parameter
 	flight_vector_e.autocontinue = true;
+	flight_vector_s.altitude_is_relative = false;
 
 	struct wind_estimate_s wind;
 
@@ -583,10 +585,10 @@ BottleDrop::task_main()
 
 
 					// Compute flight vector
-					map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_n,
+					map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_e,
 								 &(flight_vector_s.lat), &(flight_vector_s.lon));
 					flight_vector_s.altitude = _drop_position.alt;
-					map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_e, y_drop - turn_radius * wind_direction_e,
+					map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_n, y_drop - turn_radius * wind_direction_e,
 								 &flight_vector_e.lat, &flight_vector_e.lon);
 					flight_vector_e.altitude = _drop_position.alt;
 					//warnx("Flight vector: starting point = %.7f  %.7f , end point = %.7f  %.7f", flight_vector_s.lat,flight_vector_s.lon,flight_vector_e.lat,flight_vector_e.lon); //////////////////////////////////////////////////////////////////// DEBUGGING