diff --git a/conf/flight_plans/failsafe_modes.xml b/conf/flight_plans/failsafe_modes.xml
index 786d11d445..12e7d16410 100644
--- a/conf/flight_plans/failsafe_modes.xml
+++ b/conf/flight_plans/failsafe_modes.xml
@@ -8,8 +8,8 @@
   </waypoints>
 
   <exceptions>
-    <exception cond="And(block_time>20, dist2_to_home > 500*500)" deroute="home"/>
-    <exception cond="And(block_time>20, dist2_to_home > 600*600)" deroute="kill"/>
+    <exception cond="And(block_time>20, dist2_to_home > 500.*500.)" deroute="home"/>
+    <exception cond="And(block_time>20, dist2_to_home > 600.*600.)" deroute="kill"/>
     <exception cond="And(launch, gps_lost)" deroute="kill"/>
   </exceptions>
 
diff --git a/conf/flight_plans/generic.xml b/conf/flight_plans/generic.xml
index 817c2e9c84..f0002d7ef0 100644
--- a/conf/flight_plans/generic.xml
+++ b/conf/flight_plans/generic.xml
@@ -9,8 +9,6 @@
     <dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
     <dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
     <dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
-    <dl_setting VAR="nav_prebank" MIN="0." STEP="1" MAX="1."/>
-    <dl_setting VAR="nav_speed_depend" MIN="0." STEP="1" MAX="1."/>
     <dl_setting VAR="z_constrast_mode" MIN="0." STEP="1" MAX="1."/>
     <dl_setting VAR="rate_mode" MIN="0." STEP="1" MAX="1."/>
     <dl_setting VAR="altitude_shift" MIN="-50" STEP="10" MAX="1000"/>
diff --git a/conf/flight_plans/mav05_ccw.xml b/conf/flight_plans/mav05_ccw.xml
index 129086613e..c1549a4d3f 100644
--- a/conf/flight_plans/mav05_ccw.xml
+++ b/conf/flight_plans/mav05_ccw.xml
@@ -16,8 +16,6 @@
     <dl_setting VAR="phi_c" MIN="-1." STEP="0.05" MAX="1."/>
     <dl_setting VAR="theta_c" MIN="-1." STEP="0.05" MAX="1."/>
     <dl_setting VAR="course_pgain" MIN="-1." STEP="0.05" MAX="-0.1"/>
-    <dl_setting VAR="nav_prebank" MIN="0." STEP="0.1" MAX="1."/>
-    <dl_setting VAR="nav_speed_depend" MIN="0." STEP="0.1" MAX="1."/>
   </dl_settings>
 
   <waypoints>
diff --git a/conf/flight_plans/ricou_mini.xml b/conf/flight_plans/ricou_mini.xml
index 908e777b34..947758a31e 100644
--- a/conf/flight_plans/ricou_mini.xml
+++ b/conf/flight_plans/ricou_mini.xml
@@ -7,8 +7,6 @@
     <dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
     <dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
     <dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
-    <dl_setting VAR="nav_prebank" MIN="0." STEP="0.1" MAX="1."/>
-    <dl_setting VAR="nav_speed_depend" MIN="0." STEP="0.1" MAX="1."/>
     <dl_setting VAR="z_constrast_mode" MIN="0." STEP="0.1" MAX="1."/>
     <dl_setting VAR="rate_mode" MIN="0." STEP="0.1" MAX="1."/>
 <!--
diff --git a/sw/airborne/nav.c b/sw/airborne/nav.c
index 16d86656d7..f31524093d 100644
--- a/sw/airborne/nav.c
+++ b/sw/airborne/nav.c
@@ -69,7 +69,6 @@ int16_t circle_x, circle_y, circle_radius;
 int16_t segment_x_1, segment_y_1, segment_x_2, segment_y_2;
 uint8_t horizontal_mode;
 float circle_bank = 0;
-float nav_prebank, nav_speed_depend;
 
 
 #define RcRoll(travel) (fbw_state->channels[RADIO_ROLL]* (float)travel /(float)MAX_PPRZ)
@@ -131,14 +130,13 @@ static float qdr;
     0 : \
      sign_radius * atan2(estimator_hspeed_mod*estimator_hspeed_mod, \
                          G*abs_radius); \
-  circle_bank *= nav_prebank; \
   circle_count = fabs(sum_alpha) / (2*M_PI); \
   float carrot_angle = CARROT / abs_radius * estimator_hspeed_mod; \
   carrot_angle = Min(carrot_angle, M_PI/4); \
   carrot_angle = Max(carrot_angle, M_PI/16); \
   float alpha_carrot = alpha - sign_radius * carrot_angle; \
   horizontal_mode = HORIZONTAL_MODE_CIRCLE; \
-  float radius_carrot = abs_radius + nav_prebank * (abs_radius / cos(carrot_angle) - abs_radius); \
+  float radius_carrot = abs_radius + (abs_radius / cos(carrot_angle) - abs_radius); \
   fly_to_xy(x+cos(alpha_carrot)*radius_carrot, \
 	    y+sin(alpha_carrot)*radius_carrot); \
   qdr = DegOfRad(M_PI/2 - alpha); \
@@ -536,7 +534,6 @@ void course_pid_run( void ) {
   float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED; 
   speed_depend_nav = Max(speed_depend_nav,0.66);
   speed_depend_nav = Min(speed_depend_nav,1.5);
-  speed_depend_nav = 1. + nav_speed_depend * (speed_depend_nav-1.);
   float roll_from_err = course_pgain * speed_depend_nav * err;
 #if defined  AGR_CLIMB_GAZ
   if (climb_mode == CLIMB_MODE_AGRESSIVE) {
diff --git a/sw/airborne/nav.h b/sw/airborne/nav.h
index f28be07f2a..8ab59462ce 100644
--- a/sw/airborne/nav.h
+++ b/sw/airborne/nav.h
@@ -106,7 +106,6 @@ extern float pitch_of_vz_pgain;
 extern float pitch_of_vz;
 extern float aileron_of_gaz;
 extern float climb_level_gaz;
-extern float nav_prebank, nav_speed_depend;
 extern float ground_alt;
 
 extern float survey_west, survey_east, survey_north, survey_south;