diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index 8f2a450405..cb720abd57 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -66,6 +66,17 @@
     <define name="ADC_ROLL_NEUTRAL" value="-512"/>
     <define name="ADC_PITCH_NEUTRAL" value="-512"/>
     <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
+
+    <define name="360_LATERAL_CORRECTION" value="1."/>
+    <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="360_VERTICAL_CORRECTION" value="1."/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
@@ -179,7 +190,10 @@
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
+    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> 
+
     <define name="LIGHT_PIN_1" value="3"/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
  
   <section name="SIMU">
@@ -258,16 +272,24 @@ ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DINFRARED 
+ap.CFLAGS += -DINFRARED -DIR_360
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP 
 ap.srcs += gyro.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c pid.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
+
+ap.srcs += bomb.c
+
+# Hack to use the same tuning file than slayer1
+ap.CFLAGS += -DUSE_GPIO
+ap.srcs += $(SRC_ARCH)/gpio.c
+
 
-ap.srcs += bomb3.c
 
 
 test.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
index 2837a10e2f..2b575e4170 100644
--- a/conf/flight_plans/IS.xml
+++ b/conf/flight_plans/IS.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
-<flight_plan ground_alt="185" alt="250" lat0="43.4624" lon0="1.2727" max_dist_from_home="500" name="Intelligent Surveillance" qfu="270" security_height="25">
+<flight_plan ground_alt="185" alt="250" lat0="43.4624" lon0="1.2727" max_dist_from_home="600" name="Intelligent Surveillance" qfu="270" security_height="25">
 <header>
 #include "anemotaxis.h"
 #include "chemotaxis.h"
@@ -16,8 +16,8 @@
     <waypoint name="S1" x="-200" y="-200"/>
     <waypoint name="S2" x="300" y="400"/>
     <waypoint name="C" x="-250" y="-200"/>
-    <waypoint name="C1" x="-200" y="-200"/>
-    <waypoint name="C2" x="300" y="400"/>
+    <waypoint name="C1" x="-250" y="-200"/>
+    <waypoint name="C2" x="350" y="400"/>
     <waypoint name="PLUME" x="400" y="300"/>
     <waypoint name="BASELEG" x="400" y="300"/>
     <waypoint name="RELEASE" x="400" y="300"/>
@@ -42,7 +42,7 @@
       <circle radius="75" wp="1"/>
     </block>
 
-    <block name="eight 1">
+    <block name="eight 1" strip_button="8">
       <eight radius="75" center="1" turn_around="2"/>
     </block>
 
@@ -68,7 +68,7 @@
       <call fun="nav_anemotaxis(WP_C, WP_C1, WP_C2, WP_PLUME)"/>
     </block>
 
-    <block name="Chemotaxis" strip_button="Chem">
+    <block name="Chemotaxis">
       <call fun="nav_chemotaxis_init(WP_C, WP_PLUME)"/>
       <call fun="nav_chemotaxis(WP_C, WP_PLUME)"/>
     </block>
@@ -101,7 +101,7 @@
       <circle radius="50+(estimator_z-ground_alt)/2" wp="1" climb="1" pitch="0.1" vmode="climb" until="10 > PowerVoltage()"/>
     </block>
 
-    <block name="descent 0" strip_button="Descent">
+    <block name="descent 0">
       <circle radius="50+(estimator_z-ground_alt)/2" wp="1" throttle="0.0" pitch="-0.3" vmode="throttle" until="ground_alt+50 > estimator_z"/>
       <deroute block="wait"/>
     </block>