diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index a6434fc934..643ffc5feb 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -29,6 +29,7 @@
       </module>
 
       <module name="imu" type="px4fmu_v2.4"/>
+      <module name="gps" type="ublox"/>
 
       <!--module name="stabilization" type="indi_simple"/-->
       <module name="stabilization" type="float_euler"/>
diff --git a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
index b2f03ccb65..e1c0f48782 100644
--- a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+++ b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
@@ -188,6 +188,7 @@ NOTES:
       <define name="RADIO_FLAP" value="RADIO_AUX3"/>
       <!--<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>-->
       <module name="telemetry" type="transparent"/>
+      <module name="imu" type="sim"/>
       <!--<module name="imu" type="aspirin_v2.2"/>-->
       <!--<module name="ahrs" type="float_dcm"/>
       <module name="ins" type="alt_float"/>-->
diff --git a/conf/modules/baro_board.xml b/conf/modules/baro_board.xml
index 944a5128b8..356e2e9282 100644
--- a/conf/modules/baro_board.xml
+++ b/conf/modules/baro_board.xml
@@ -242,6 +242,8 @@ endif # check board
 ap.CFLAGS += $(BARO_BOARD_CFLAGS)
 ap.srcs += $(BARO_BOARD_SRCS)
 
+else
+ap.CFLAGS += -DUSE_BARO_BOARD=FALSE
 endif # check USE_BARO_BOARD
     </raw>
   </makefile>
diff --git a/conf/modules/boards/disco.xml b/conf/modules/boards/disco.xml
index 74b48101bc..55fa3a36b8 100644
--- a/conf/modules/boards/disco.xml
+++ b/conf/modules/boards/disco.xml
@@ -10,8 +10,6 @@
     <depends>baro_ms5611_i2c</depends>
   </dep>
   <makefile target="!sim|nps|fbw">
-    <configure name="MS5611_I2C_DEV" value="i2c1"/>
-    <define name="BARO_BOARD" value="BARO_MS5611_I2C"/>
   </makefile>
 </module>
 
diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
index 94a96cb9f9..b9ad84d671 100644
--- a/conf/modules/cv_opticflow.xml
+++ b/conf/modules/cv_opticflow.xml
@@ -182,6 +182,7 @@
 
   <dep>
     <depends>video_thread,agl_dist,pose_history</depends>
+    <provides>velocity</provides>
   </dep>
 
   <header>
diff --git a/conf/modules/ins.xml b/conf/modules/ins.xml
index 30999e963a..906225a5a3 100644
--- a/conf/modules/ins.xml
+++ b/conf/modules/ins.xml
@@ -12,7 +12,7 @@
     <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
   </doc>
   <dep>
-    <depends>@imu,@gps</depends>
+    <depends>@imu,@gps|@position|@velocity</depends>
     <provides>ins</provides>
   </dep>
   <header>
diff --git a/conf/modules/ins_hff.xml b/conf/modules/ins_hff.xml
index 2e8320e367..e47313d49f 100644
--- a/conf/modules/ins_hff.xml
+++ b/conf/modules/ins_hff.xml
@@ -12,7 +12,7 @@
     <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
   </doc>
   <dep>
-    <depends>@imu,@gps</depends>
+    <depends>@imu,@gps|@position|@velocity</depends>
     <provides>ins</provides>
   </dep>
   <header>
diff --git a/conf/modules/ins_hff_extended.xml b/conf/modules/ins_hff_extended.xml
index 250e7267b9..9ea8f018e5 100644
--- a/conf/modules/ins_hff_extended.xml
+++ b/conf/modules/ins_hff_extended.xml
@@ -27,7 +27,7 @@
     </dl_settings>
   </settings>
   <dep>
-    <depends>@imu,@gps</depends>
+    <depends>@imu,@gps|@position|@velocity</depends>
     <provides>ins</provides>
   </dep>
 
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 8518bd949f..20aabc745a 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -303,7 +303,7 @@
    airframe="airframes/tudelft/nederdrone5.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_waal.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
diff --git a/sw/airborne/boards/disco.h b/sw/airborne/boards/disco.h
index d72a44d9d3..0058967c77 100644
--- a/sw/airborne/boards/disco.h
+++ b/sw/airborne/boards/disco.h
@@ -71,9 +71,9 @@ extern struct video_config_t front_camera;
 /* ISP */
 //struct mt9f002_t mt9f002;
 
-/* by default activate onboard baro */
+/* by default baro module is used */
 #ifndef USE_BARO_BOARD
-#define USE_BARO_BOARD 1
+#define USE_BARO_BOARD 0
 #endif
 
 /* The ADC from the sonar */