diff --git a/conf/airframes/TU_Delft/yapa_xsens.xml b/conf/airframes/TU_Delft/yapa_xsens.xml
index 7d1b565799..84d95e43c8 100644
--- a/conf/airframes/TU_Delft/yapa_xsens.xml
+++ b/conf/airframes/TU_Delft/yapa_xsens.xml
@@ -215,11 +215,9 @@
     <!-- Actuators -->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-    <!--<subsystem name="i2c"/>-->
-
   </firmware>
 
 </airframe>
diff --git a/sw/airborne/modules/ins/imu_chimu.h b/sw/airborne/modules/ins/imu_chimu.h
index 3e1434daaa..6fade8a21e 100644
--- a/sw/airborne/modules/ins/imu_chimu.h
+++ b/sw/airborne/modules/ins/imu_chimu.h
@@ -93,11 +93,7 @@ typedef struct {
         unsigned char   m_MsgLen;
         unsigned char   m_TempDeviceID;
         unsigned char   m_DeviceID;
-<<<<<<< HEAD
 	unsigned char   m_Payload[CHIMU_RX_BUFFERSIZE];        // CHIMU data
-=======
-        unsigned char   m_Payload[CHIMU_RX_BUFFERSIZE];        // CHIMU data
->>>>>>> paparazzi/CHIMU
         unsigned char   m_FullMessage[CHIMU_RX_BUFFERSIZE];	// CHIMU data
         CHIMU_attitude_data m_attitude;
         CHIMU_attitude_data m_attrates;
diff --git a/sw/airborne/modules/ins/ins_xsens.h b/sw/airborne/modules/ins/ins_xsens.h
index 96248cef20..446faabad8 100644
--- a/sw/airborne/modules/ins/ins_xsens.h
+++ b/sw/airborne/modules/ins/ins_xsens.h
@@ -31,9 +31,6 @@
 
 #include "std.h"
 
-extern float ins_pitch_neutral;
-extern float ins_roll_neutral;
-
 extern int8_t xsens_hour;
 extern int8_t xsens_min;
 extern int8_t xsens_sec;
diff --git a/sw/airborne/subsystems/navigation/spiral.c b/sw/airborne/subsystems/navigation/spiral.c
index c506be572c..219e778603 100644
--- a/sw/airborne/subsystems/navigation/spiral.c
+++ b/sw/airborne/subsystems/navigation/spiral.c
@@ -37,7 +37,7 @@ static float SRad;
 static float IRad;
 static float Alphalimit;
 static float Segmente;
-static float CamAngle;
+// static float CamAngle;
 static float ZPoint;
 static float nav_radius_min;