diff --git a/conf/airframes/TUDELFT/tudelft_iris_indi.xml b/conf/airframes/TUDELFT/tudelft_iris_indi.xml
index 1e9607dc02..25c8ab5430 100644
--- a/conf/airframes/TUDELFT/tudelft_iris_indi.xml
+++ b/conf/airframes/TUDELFT/tudelft_iris_indi.xml
@@ -16,7 +16,7 @@
     <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
     <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
     <!-- in seconds-->
-    <module name="telemetry" type="transparent_usb" />
+    <module name="telemetry" type="xbee_api" />
 
     <module name="imu" type="mpu9250_spi">
       <configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
@@ -53,9 +53,9 @@
   </firmware>
 
   <modules main_freq="512">
-    <!--module name="px4_flash" >
+    <module name="px4_flash" >
       <configure name="PX4IO_UART" value="UART3"/> <!-- TMP solution! How to undefine PX4IO to nothing in px4_flash.xml? -->
-    <!--/module-->
+    </module>
     <module name="geo_mag" />
     <module name="air_data" />
     <module name="send_imu_mag_current" />
@@ -96,10 +96,10 @@
     <set command="YAW" value="@YAW" />
   </rc_commands>
   <servos driver="Default">
-    <servo name="TOP_LEFT" no="2" min="1000" neutral="1100" max="2000" />
-    <servo name="TOP_RIGHT" no="0" min="1000" neutral="1100" max="2000" />
-    <servo name="BOTTOM_RIGHT" no="3" min="1000" neutral="1100" max="2000" />
-    <servo name="BOTTOM_LEFT" no="1" min="1000" neutral="1100" max="2000" />
+    <servo name="TOP_LEFT" no="0" min="1000" neutral="1100" max="2000" />
+    <servo name="TOP_RIGHT" no="1" min="1000" neutral="1100" max="2000" />
+    <servo name="BOTTOM_RIGHT" no="2" min="1000" neutral="1100" max="2000" />
+    <servo name="BOTTOM_LEFT" no="3" min="1000" neutral="1100" max="2000" />
   </servos>
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <define name="TRIM_ROLL" value="0" />
diff --git a/conf/boards/px4fmu_4.0.makefile b/conf/boards/px4fmu_4.0.makefile
index 65cf3bd021..6cd756c5da 100644
--- a/conf/boards/px4fmu_4.0.makefile
+++ b/conf/boards/px4fmu_4.0.makefile
@@ -42,7 +42,7 @@ SYS_TIME_LED       ?= 1
 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   ?= UART6
 #RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT   ?= UART7
 
-MODEM_PORT ?= UART2
+MODEM_PORT ?= UART1
 MODEM_BAUD ?= B57600
 
 GPS_PORT ?= UART4
diff --git a/sw/airborne/boards/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h
index 39acd41e2e..2a3428898c 100644
--- a/sw/airborne/boards/px4fmu_4.0.h
+++ b/sw/airborne/boards/px4fmu_4.0.h
@@ -54,10 +54,6 @@
 #define UART1_GPIO_RX GPIO7
 #define UART1_GPIO_PORT_TX GPIOB
 #define UART1_GPIO_TX GPIO6
-//#define UART1_GPIO_PORT_CTS GPIOE
-//#define UART1_GPIO_CTS GPIO10
-//#define UART1_GPIO_PORT_CTS GPIOE
-//#define UART1_GPIO_CTS GPIO8
 
 /* -TELEM1 Connector */
 #define UART2_GPIO_AF GPIO_AF7
@@ -65,10 +61,10 @@
 #define UART2_GPIO_RX GPIO6
 #define UART2_GPIO_PORT_TX GPIOD
 #define UART2_GPIO_TX GPIO5
-//#define UART1_GPIO_PORT_CTS GPIOE FIXME
-//#define UART1_GPIO_CTS GPIO3 FIXME
-//#define UART1_GPIO_PORT_CTS GPIOE FIXME
-//#define UART1_GPIO_CTS GPIO4 FIXME
+#define UART2_GPIO_PORT_CTS GPIOD
+#define UART2_GPIO_CTS GPIO3
+#define UART2_GPIO_PORT_RTS GPIOD
+#define UART2_GPIO_RTS GPIO4
 
 /* -TELEM2 Connector */
 #define UART3_GPIO_AF GPIO_AF7
@@ -76,10 +72,10 @@
 #define UART3_GPIO_RX GPIO9
 #define UART3_GPIO_PORT_TX GPIOD
 #define UART3_GPIO_TX GPIO8
-//#define UART1_GPIO_PORT_CTS GPIOE FIXME
-//#define UART1_GPIO_CTS GPIO11 FIXME
-//#define UART1_GPIO_PORT_CTS GPIOE FIXME
-//#define UART1_GPIO_CTS GPIO12 FIXME
+#define UART3_GPIO_PORT_CTS GPIOD
+#define UART3_GPIO_CTS GPIO11
+#define UART3_GPIO_PORT_RTS GPIOD
+#define UART3_GPIO_RTS GPIO12
 
 /* -GPS Connector */
 #define UART4_GPIO_AF GPIO_AF8