diff --git a/conf/airframes/TUDELFT/tudelft_KM_conf.xml b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
index 23fcf08951..7b09a5aa81 100644
--- a/conf/airframes/TUDELFT/tudelft_KM_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
@@ -2,12 +2,12 @@
   <aircraft
    name="ARDrone2_opticflow"
    ac_id="12"
-   airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/video_thread.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
    gui_color="red"
   />
   <aircraft
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml
deleted file mode 100644
index 68232304c2..0000000000
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml
+++ /dev/null
@@ -1,209 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_opticflow">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2"/>
-
-    <!--target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-    </target-->
-
-    <define name="USE_SONAR" value="TRUE"/>
-
-	<!-- Subsystem section -->
-    <subsystem name="telemetry" type="transparent_udp"/>
-    <subsystem name="radio_control" type="datalink"/>
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="ardrone2"/>
-    <subsystem name="imu" type="ardrone2"/>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs" type="int_cmpl_quat"/>
-    <subsystem name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <load name="bat_voltage_ardrone2.xml"/>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="logger_file.xml"/>
-    <load name="cv_opticflow.xml">
-      <define name="OPTICFLOW_DEBUG" value = "FALSE"/>
-      <define name="OPTICFLOW_SHOW_FLOW" value = "FALSE"/>
-      <define name="USE_EDGEFLOW" value = "TRUE"/>
-      <define name="USE_LK" value = "FALSE"/>
-    </load>
-    <load name="video_thread.xml">
-        <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
-    </load>
-    <!--load name="video_rtp_stream.xml"/-->
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-   <section name="VISION" prefix="VISION_">
-    <define name="HOVER" value="FALSE"/>
-    <define name="PHI_PGAIN" value="300"/>
-    <define name="PHI_IGAIN" value="5"/>
-    <define name="THETA_PGAIN" value="300"/>
-    <define name="THETA_IGAIN" value="5"/>
-    <define name="DESIRED_VX" value="0"/>
-    <define name="DESIRED_VY" value="0"/>
-   </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Toulouse -->
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
-    <!-- Delft -->
-    <!--define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/ -->
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="600" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="200" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="300." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="850"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="850"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="100"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
index 09f0cec153..76bcc87172 100644
--- a/conf/modules/cv_opticflow.xml
+++ b/conf/modules/cv_opticflow.xml
@@ -39,8 +39,6 @@
       <define name="FAST9_ADAPTIVE" value="TRUE" description="Whether we should use and adapative FAST9 crner detection threshold"/>
       <define name="FAST9_THRESHOLD" value="20" description="FAST9 default threshold"/>
       <define name="FAST9_MIN_DISTANCE" value="10" description="The amount of pixels between corners that should be detected"/>
-
-
     </section>
   </doc>
 
@@ -62,7 +60,6 @@
         <dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="TRUE|FALSE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
         <dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
         <dl_setting var="opticflow.fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/>
-
       </dl_settings>
     </dl_settings>
   </settings>
@@ -94,24 +91,6 @@
     <file name="fast_rosten.c" dir="modules/computer_vision/lib/vision"/>
     <file name="lucas_kanade.c" dir="modules/computer_vision/lib/vision"/>
     <file name="edge_flow.c" dir="modules/computer_vision/lib/vision"/>
-
-  <raw>
-      include $(CFG_SHARED)/udp.makefile
-
-      VIEWVIDEO_HOST        ?= $(MODEM_HOST)
-      VIEWVIDEO_PORT_OUT    ?= 5000
-      VIEWVIDEO_BROADCAST   ?= TRUE
-      VIEWVIDEO_USE_NETCAT  ?= FALSE
-
-      VIEWVID_CFLAGS  = -DVIEWVIDEO_HOST=$(VIEWVIDEO_HOST) -DVIEWVIDEO_PORT_OUT=$(VIEWVIDEO_PORT_OUT)
-      ifneq (,$(findstring $(VIEWVIDEO_USE_NETCAT),0 FALSE))
-        ap.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_BROADCAST=$(VIEWVIDEO_BROADCAST)
-        nps.CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_BROADCAST=FALSE
-      else
-        $(TARGET).CFLAGS += $(VIEWVID_CFLAGS) -DVIEWVIDEO_USE_NETCAT
-      endif
-    </raw>
-
   </makefile>
 
 
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
index 24bbf8c890..aa3a84ec88 100644
--- a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+++ b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
@@ -161,7 +161,13 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
   opticflow->fast9_min_distance = OPTICFLOW_FAST9_MIN_DISTANCE;
 
 }
-
+/**
+ * Run the optical flow with fast9 and lukaskanade on a new image frame
+ * @param[in] *opticflow The opticalflow structure that keeps track of previous images
+ * @param[in] *state The state of the drone
+ * @param[in] *img The image frame to calculate the optical flow from
+ * @param[out] *result The optical flow result
+ */
 void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_state_t *state, struct image_t *img,
                              struct opticflow_result_t *result)
 {
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
index 430594bef5..c3c2c44cfc 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.c
+++ b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -68,16 +68,6 @@ PRINT_CONFIG_MSG("OPTICFLOW_DEVICE_SIZE = " _SIZE_HELPER(OPTICFLOW_DEVICE_SIZE))
 #endif
 PRINT_CONFIG_VAR(OPTICFLOW_DEVICE_BUFFERS)
 
-#ifndef USE_EDGEFLOW
-#define USE_EDGEFLOW FALSE
-#endif
-PRINT_CONFIG_VAR(USE_EDGEFLOW)
-
-#ifndef USE_LK
-#define USE_LK TRUE       ///< The video device buffers (the amount of V4L2 buffers)
-#endif
-PRINT_CONFIG_VAR(USE_LK)
-
 /* The main opticflow variables */
 struct opticflow_t opticflow;                      ///< Opticflow calculations
 static struct opticflow_result_t opticflow_result; ///< The opticflow result