diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 42b948c1bd..c5d5e9becc 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -76,10 +76,18 @@
     <block name="Climb nav_climb m/s">
       <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
     </block>
-    <block name="Descent 0% throttle">
-      <circle pitch="-5" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
+
+    <block name="Circle 0% throttle">
+      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
       <deroute block="Standby"/>
     </block>
+
+    <block name="Oval 0% throttle">
+      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle"/>
+      <deroute block="Standby"/>
+    </block>
+
+
     <block name="Route 1-2">
       <go approaching_time="0" from="1" hmode="route" wp="2"/>
     </block>
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index a2d34f53f1..9c45abcb3b 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -93,6 +93,7 @@
         <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
         <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
         <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift">
 	</dl_setting>
 	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
diff --git a/sw/airborne/nav.c b/sw/airborne/nav.c
index fab8b096f0..06b32c044f 100644
--- a/sw/airborne/nav.c
+++ b/sw/airborne/nav.c
@@ -272,7 +272,8 @@ static inline void nav_follow(uint8_t _ac_id, float _distance, float _height) {
 float nav_altitude = GROUND_ALT + MIN_HEIGHT_CARROT;
 float desired_x, desired_y;
 pprz_t nav_throttle_setpoint;
-float nav_pitch;
+float nav_pitch; /* Rad */
+float fp_pitch; /* deg */
 
 
 /** \brief Decide if the UAV is approaching the current waypoint.
diff --git a/sw/airborne/nav.h b/sw/airborne/nav.h
index dfc20a22ce..d5acdb1b00 100644
--- a/sw/airborne/nav.h
+++ b/sw/airborne/nav.h
@@ -50,7 +50,9 @@ extern float last_x, last_y;
 extern float desired_x, desired_y, nav_altitude, flight_altitude, nav_glide_pitch_trim;
 
 extern pprz_t nav_throttle_setpoint;
-extern float nav_pitch, rc_pitch;
+extern float nav_pitch; /* Rad */
+extern float rc_pitch;
+extern float fp_pitch; /* Degrees */
 
 extern float carrot_x, carrot_y;