diff --git a/conf/airframes/tudelft/disco_rotorcraft_indi.xml b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
index 723887eaa6..2700c3c273 100644
--- a/conf/airframes/tudelft/disco_rotorcraft_indi.xml
+++ b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
@@ -11,7 +11,7 @@
     <configure name="USE_MAGNETOMETER" value="TRUE"/>
 
     <target name="ap" board="disco">
-      
+
       <module name="radio_control" type="sbus"/>
       <module name="logger_file">
         <define name="LOGGER_FILE_PATH" value="/data/ftp/internal_000"/>
@@ -34,7 +34,7 @@
       <module name="fdm" type="jsbsim"/>
       <module name="udp"/>
       <module name="radio_control" type="datalink"/>
-      
+
 
       <!--Not dealing with these in the simulation-->
       <define name="RADIO_TH_HOLD"     value="0"/> <!-- Throttle hold in command laws -->
@@ -51,7 +51,7 @@
     <module name="gps" type="ublox"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="ins" type="ekf2"/>
-    
+
     <module name="air_data"/>
     <module name="actuators" type="disco"/>
     <!--<module name="control" type="new"/>-->
@@ -65,6 +65,9 @@
       <define name="USE_SONAR"/>
       <define name="SENSOR_SYNC_SEND_SONAR"/>
     </module>-->
+    <module name="nav" type="hybrid">
+      <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
+    </module>
 
     <!--Switch advanced INDI scheduling functions on or off-->
     <define name="INDI_FUNCTIONS_RC_CHANNEL" value="6"/>
diff --git a/conf/flight_plans/tudelft/disco_convergence.xml b/conf/flight_plans/tudelft/disco_convergence.xml
index 30d39d808a..627052e0db 100644
--- a/conf/flight_plans/tudelft/disco_convergence.xml
+++ b/conf/flight_plans/tudelft/disco_convergence.xml
@@ -73,14 +73,14 @@
       <set value="true" var="force_forward"/>
       <call_once fun="NavResurrect()"/>
       <while cond="true">
-        <path wpts="p1,p2,p3,p4"/>
+        <path wpts="p1,p2,p3,p4,p1"/>
       </while>
     </block>
     <block name="route_run">
       <set value="true" var="force_forward"/>
       <call_once fun="NavResurrect()"/>
       <while cond="true">
-        <path wpts="p1,p2,p3,p4,p5,p6,p7,p8,p5,p6,p7,p8"/>
+        <path wpts="p1,p2,p3,p4,p5,p6,p7,p8,p5,p6,p7,p8,p1"/>
       </while>
     </block>
     <block name="ReturnStbyNoThrottle">
diff --git a/conf/simulator/jsbsim/aircraft/disco_rotorcraft.xml b/conf/simulator/jsbsim/aircraft/disco_rotorcraft.xml
index f2f7bdfc4f..4c914fa6ab 100644
--- a/conf/simulator/jsbsim/aircraft/disco_rotorcraft.xml
+++ b/conf/simulator/jsbsim/aircraft/disco_rotorcraft.xml
@@ -55,7 +55,7 @@
       <location unit="M">
         <x>-0.15 </x>
         <y> 0 </y>
-        <z>-0.1 </z>
+        <z>0.3 </z>
       </location>
       <static_friction>  0.8 </static_friction>
       <dynamic_friction> 0.5 </dynamic_friction>