diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index 6f62fa135d..58a4961e87 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -53,6 +53,9 @@
     <load name="nav_survey_rectangle_rotorcraft.xml">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
     </load>
+    <load name="nav_survey_poly_rotorcraft.xml">
+      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
+    </load>
     <load name="digital_cam_video.xml">
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
     </load>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index 031a731f2a..adf3c6aac7 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -7,8 +7,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
   />
   <aircraft
    name="Bebop_INDI"
@@ -16,9 +16,9 @@
    airframe="airframes/BR/bebop_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
index 7f5c7e25e6..605706ae1a 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
+++ b/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
@@ -5,10 +5,8 @@
     <waypoint name="HOME" x="0.0" y="0.0"/>
     <waypoint name="CLIMB" x="0.0" y="5.0"/>
     <waypoint name="STDBY" x="-2.0" y="-5.0"/>
-
     <waypoint lat="50.791905" lon="6.050280" name="raceA"/>
     <waypoint lat="50.790329" lon="6.047711" name="raceB"/>
-
     <waypoint lat="50.789794" lon="6.047433" name="water_gather"/>
     <waypoint lat="50.788935" lon="6.04677" name="water_drop"/>
     <waypoint lat="50.788882" lon="6.04664" name="buidling"/>
@@ -20,8 +18,8 @@
     <waypoint lat="50.788867" lon="6.047097" name="landing"/>
     <waypoint lat="50.788867" lon="6.047097" name="take_off"/>
     <waypoint lat="50.788917" lon="6.047113" name="corner_e"/>
-    <waypoint lat="50.788597" lon="6.046721" name="corner_s"/>
-    <waypoint lat="50.788973" lon="6.045944" name="corner_w"/>
+    <waypoint lat="50.788615" lon="6.046760" name="corner_s"/>
+    <waypoint lat="50.788992" lon="6.045993" name="corner_w"/>
     <waypoint lat="50.789323" lon="6.04633" name="corner_n"/>
     <waypoint lat="50.790144" lon="6.046879" name="green1A"/>
     <waypoint lat="50.789748" lon="6.047844" name="green1B"/>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
index 3b686c5f6b..b28cb11145 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+++ b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
@@ -67,10 +67,18 @@
       <call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
       <deroute block="Survey RECTANGLE RUN"/>
     </block>
+    <block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
+      <call fun="nav_survey_poly_setup_towards(WP_corner_e, 4, sweep, WP_corner_s)"/>
+      <deroute block="Survey Poly RUN"/>
+    </block>
     <block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
       <exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
       <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
     </block>
+    <block group="extra_pattern" name="Survey Poly RUN" strip_button="Svy-P CONT">
+      <exception cond="PolySurveySweepNum >= 10" deroute="Standby"/>
+      <call fun="nav_survey_poly_run()"/>
+    </block>
     <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
       <circle radius="nav_radius" wp="CAM"/>
     </block>
diff --git a/conf/modules/nav_survey_poly_rotorcraft.xml b/conf/modules/nav_survey_poly_rotorcraft.xml
index afd1a90957..0a18a8b920 100644
--- a/conf/modules/nav_survey_poly_rotorcraft.xml
+++ b/conf/modules/nav_survey_poly_rotorcraft.xml
@@ -26,7 +26,7 @@ You can use:
   <header>
     <file name="nav_survey_poly_rotorcraft.h"/>
   </header>
-  <makefile target="ap|sim|nps">
+  <makefile target="ap|nps">
     <file name="nav_survey_poly_rotorcraft.c"/>
   </makefile>
 </module>