diff --git a/conf/airframes/esden/calib/asp22-019.xml b/conf/airframes/esden/calib/asp22-019.xml
new file mode 100644
index 0000000000..c3eb571d5b
--- /dev/null
+++ b/conf/airframes/esden/calib/asp22-019.xml
@@ -0,0 +1,17 @@
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="40"/>
+    <define name="ACCEL_Y_NEUTRAL" value="-11"/>
+    <define name="ACCEL_Z_NEUTRAL" value="250"/>
+    <define name="ACCEL_X_SENS" value="4.86864977158" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.90451364272" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.85134642596" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-178"/>
+    <define name="MAG_Y_NEUTRAL" value="73"/>
+    <define name="MAG_Z_NEUTRAL" value="-11"/>
+    <define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index 583004514a..a37d1d6f2c 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -175,7 +175,7 @@
    <define name="HOVER_KI"    value="72"/>
    <define name="RC_CLIMB_COEF" value ="163"/>
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.5"/>
+<!--    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> -->
   </section>
 
   <section name="AHRS" prefix="AHRS_">
@@ -195,7 +195,7 @@
    <define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
    <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
 <!--    <define name="USE_REFERENCE_SYSTEM" value="FALSE"/> -->
-<!--    <define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/> -->
+   <define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
    <define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
  </section>
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 376efbf4c5..4d07646f7a 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -164,7 +164,11 @@ void guidance_h_read_rc(bool_t  in_flight) {
       break;
 
     case GUIDANCE_H_MODE_RATE:
+#if SWITCH_STICKS_FOR_RATE_CONTROL
+      stabilization_rate_read_rc_switched_sticks();
+#else
       stabilization_rate_read_rc();
+#endif
       break;
 
     case GUIDANCE_H_MODE_FORWARD:
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
index b1f39edc4f..486ca4deb9 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
@@ -164,6 +164,28 @@ void stabilization_rate_read_rc( void ) {
   INT_RATES_LSHIFT(stabilization_rate_sp, stabilization_rate_sp, REF_FRAC - INT32_RATE_FRAC);
 }
 
+//Read rc with roll and yaw sitcks switched if the default orientation is vertical but airplane sticks are desired
+void stabilization_rate_read_rc_switched_sticks( void ) {
+  
+  if(ROLL_RATE_DEADBAND_EXCEEDED())
+    stabilization_rate_sp.r = (int32_t) -radio_control.values[RADIO_ROLL] * STABILIZATION_RATE_SP_MAX_P / MAX_PPRZ;
+  else
+    stabilization_rate_sp.r = 0;
+  
+  if(PITCH_RATE_DEADBAND_EXCEEDED())
+    stabilization_rate_sp.q = (int32_t)radio_control.values[RADIO_PITCH] * STABILIZATION_RATE_SP_MAX_Q / MAX_PPRZ;
+  else
+    stabilization_rate_sp.q = 0;
+  
+  if(YAW_RATE_DEADBAND_EXCEEDED())
+    stabilization_rate_sp.p = (int32_t)radio_control.values[RADIO_YAW] * STABILIZATION_RATE_SP_MAX_R / MAX_PPRZ;
+  else
+    stabilization_rate_sp.p = 0;
+  
+  // Setpoint at ref resolution
+    INT_RATES_LSHIFT(stabilization_rate_sp, stabilization_rate_sp, REF_FRAC - INT32_RATE_FRAC);
+}
+
 void stabilization_rate_enter(void) {
   RATES_COPY(stabilization_rate_ref, stabilization_rate_sp);
   INT_RATES_ZERO(stabilization_rate_sum_err);
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
index 41a6eaf99b..5263e4dd31 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.h
@@ -32,6 +32,7 @@
 
 extern void stabilization_rate_init(void);
 extern void stabilization_rate_read_rc(void);
+extern void stabilization_rate_read_rc_switched_sticks(void);
 extern void stabilization_rate_run(bool_t in_flight);
 extern void stabilization_rate_enter(void);