diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
index ffcebe55f2..aec51d5fcd 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
+++ b/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
@@ -11,11 +11,11 @@
     <waypoint lat="50.790483" lon="6.047899" name="raceA"/>
     <waypoint lat="50.791800" lon="6.050200" name="raceB"/>
     <waypoint lat="50.789794" lon="6.047431" name="WG"/>
-    <waypoint lat="50.7889307058111" lon="6.04677769236132" name="WD"/>
-    <waypoint lat="50.788775526101" lon="6.04652336854142" name="DROP"/>
-    <waypoint lat="50.788775526101" lon="6.04652336854142" name="RZ1"/>
-    <waypoint lat="50.7889170568219" lon="6.04640018582595" name="RZ2"/>
-    <waypoint lat="50.7889755961272" lon="6.04642327267965" name="RZ3"/>
+    <waypoint lat="50.7889307058111" lon="6.04677769236132" name="WD" height="15"/>
+    <waypoint lat="50.788775526101" lon="6.04652336854142" name="DROP" height="15"/>
+    <waypoint lat="50.788775526101" lon="6.04652336854142" name="RZ1" height="15"/>
+    <waypoint lat="50.7889170568219" lon="6.04640018582595" name="RZ2" height="15"/>
+    <waypoint lat="50.7889755961272" lon="6.04642327267965" name="RZ3" height="15"/>
     <waypoint lat="50.789522" lon="6.047118" name="FC"/>
     <waypoint lat="50.788597" lon="6.046721" name="S1"/>
     <waypoint lat="50.788973" lon="6.045944" name="S2"/>
@@ -27,7 +27,7 @@
     <waypoint lat="50.791818" lon="6.050201" name="p4"/>
     <waypoint name="CAM" x="27.5" y="95.0"/>
     <waypoint name="CRUISE" x="19.2" y="-55.4" height="25"/>
-    <waypoint lat="50.7887171157922" lon="6.04695109268497" name="TD"/>
+    <waypoint lat="50.7887171157922" lon="6.04695109268497" name="TD" height="15"/>
     <waypoint lat="50.790144" lon="6.046879" name="_green1A"/>
     <waypoint lat="50.789748" lon="6.047844" name="_green1B"/>
     <waypoint lat="50.789058" lon="6.047072" name="_green1C"/>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
index 30978277cc..737878261d 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_SURVEY_INTERVAL
+#ifdef dc_Survey
 #define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
 #define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
 #endif
@@ -36,12 +36,22 @@
     </block>
 
 <!-- START -->
-    <block name="Start Engine" strip_button="Start Engine" strip_icon="resurrect.png" group="takeoff">
+    <block name="Start Engine" strip_button="Start Engine" strip_icon="resurrect.png" group="engine">
       <call fun="NavResurrect()"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
-    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="takeoff">
-      <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+    <block name="Takeoff-Standby" strip_button="Takeoff-Drop" strip_icon="takeoff.png" group="takeoff">
+      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
+    </block>
+    <block name="Takeoff-Map" strip_button="Takeoff-Map" strip_icon="survey.png" group="takeoff">
+      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="SurveyPoly"/>
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
+    </block>
+    <block name="Takeoff-Drop" strip_button="Takeoff-Drop" strip_icon="parachute.png" group="takeoff">
+      <exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
@@ -122,6 +132,7 @@
     </block>
 
 <!-- SURVEYS -->
+<!--
     <block group="survey" name="Survey S1-S2 NS" strip_button="Survey-NS-S1-S2" strip_icon="survey.png">
       <call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
       <deroute block="Survey RECTANGLE RUN"/>
@@ -134,8 +145,8 @@
       <exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
       <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
     </block>
-
-    <block group="survey" name="Survey Poly" strip_button="Survey-Polygon-S1-S2-S3-S4" strip_icon="googleearth.png">
+-->
+    <block group="survey" name="SurveyPoly" strip_button="Survey-Polygon-S1-S2-S3-S4" strip_icon="googleearth.png">
       <call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S2)"/>
       <deroute block="Survey Poly RUN"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_survey.xml b/conf/flight_plans/rotorcraft_survey.xml
index f77d57c938..f4ff6d107f 100644
--- a/conf/flight_plans/rotorcraft_survey.xml
+++ b/conf/flight_plans/rotorcraft_survey.xml
@@ -3,7 +3,7 @@
 <flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
   <header>
 #include "autopilot.h"
-#ifdef DC_AUTOSHOOT_STOP
+#ifdef dc_Survey
 #define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
 #define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
 #endif