diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index f8b315bdd4..00d7d41a5e 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -93,8 +93,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop4.xml" />
-<!--  <include href="conf/airframes/TUDelft/calibrations/bebop6.xml" />-->
+  <include href="conf/airframes/TUDelft/calibrations/bebop8.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/airframes/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog2.xml
similarity index 94%
rename from conf/airframes/TUDelft/airframes/bebop_indi_frog.xml
rename to conf/airframes/BR/bebop_indi_frog2.xml
index 81268bd6d7..92af0062b6 100644
--- a/conf/airframes/TUDelft/airframes/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog2.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop_indi">
 
@@ -38,12 +38,10 @@
     </load-->
     <load name="video_thread.xml">
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
+    <load name="cv_blob_locator.xml"/>
     <load name="video_rtp_stream.xml">
       <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
       <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -52,13 +50,12 @@
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
     </load>
     <load name="nav_survey_poly_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
     </load>
     <load name="digital_cam_video.xml">
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </load>
     <load name="video_exif.xml"/>
-    <load name="cv_colorfilter.xml"/>
   </modules>
 
   <commands>
@@ -96,7 +93,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop8.xml"/>
+  <include href="conf/airframes/TUDelft/calibrations/bebop4.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -221,8 +218,8 @@
     <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="7"/>
-    <define name="DGAIN" value="76"/>
+    <define name="PGAIN" value="15"/>
+    <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
diff --git a/conf/airframes/CDW/mavtec_cdw.xml b/conf/airframes/CDW/mavtec_cdw.xml
index 07d0745714..e1c9dd9d34 100644
--- a/conf/airframes/CDW/mavtec_cdw.xml
+++ b/conf/airframes/CDW/mavtec_cdw.xml
@@ -30,9 +30,10 @@
   </firmware>
 
   <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
   </section>
 
   <!-- ************************* MODULES ************************* -->
diff --git a/conf/airframes/TUDelft/conf.xml b/conf/airframes/TUDelft/conf.xml
index fe5f724803..e5c55e1d65 100644
--- a/conf/airframes/TUDelft/conf.xml
+++ b/conf/airframes/TUDelft/conf.xml
@@ -65,6 +65,28 @@
    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
+   name="Bebop_INDI_frog1"
+   ac_id="25"
+   airframe="airframes/BR/bebop_indi_frog.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.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/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
+   name="Bebop_INDI_frog2"
+   ac_id="25"
+   airframe="airframes/BR/bebop_indi_frog2.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.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"
+   gui_color="#ffff0689b7a1"
+  />
   <aircraft
    name="Bebop_default"
    ac_id="20"
@@ -93,10 +115,10 @@
    airframe="airframes/CDW/mavtec_cdw.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
+   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/rotorcraft_speed.xml"
    gui_color="blue"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
   />
   <aircraft
    name="MAVTec4_Bart"
@@ -164,17 +186,6 @@
    settings_modules="modules/geo_mag.xml modules/air_data.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="frog"
-   ac_id="5"
-   airframe="airframes/TUDelft/airframes/bebop_indi_frog.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
-   settings="settings/rotorcraft_basic.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"
-   gui_color="blue"
-  />
   <aircraft
    name="frog_flip"
    ac_id="4"
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
index 9f69f1261b..30978277cc 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+++ b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
@@ -5,7 +5,7 @@
   <header>
 #include "autopilot.h"
 #include "subsystems/electrical.h"
-#ifdef DC_AUTOSHOOT_STOP
+#ifdef DC_AUTOSHOOT_SURVEY_INTERVAL
 #define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
 #define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
 #endif
@@ -56,6 +56,10 @@
       <stay wp="FC"/>
     </block>
 
+    <block name="CAM" strip_button="Follow-Vision-Geolocation-Results" strip_icon="lookdown.png" group="hover">
+      <stay wp="CAM"/>
+    </block>
+
     <block name="stay_p1">
       <stay wp="p1"/>
     </block>