diff --git a/conf/airframes/TUDELFT/tudelft_heli450.xml b/conf/airframes/TUDELFT/tudelft_heli450.xml
index ecd2f554d6..b9ef473ed0 100644
--- a/conf/airframes/TUDELFT/tudelft_heli450.xml
+++ b/conf/airframes/TUDELFT/tudelft_heli450.xml
@@ -37,10 +37,10 @@
 
   <servos driver="Pwm">
     <servo name="THROTTLE"   no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="FRONT"      no="1" min="2100" neutral="1500" max="900"/>
-    <servo name="RIGHTBACK"  no="2" min="900"  neutral="1500" max="2100"/>
-    <servo name="LEFTBACK"   no="3" min="2100" neutral="1500" max="900"/>
-    <servo name="TAIL"       no="4" min="1100" neutral="1450" max="1800"/>
+    <servo name="BACK"      no="1" min="1050" neutral="1500" max="1950"/>
+    <servo name="LEFTFRONT"  no="2" min="1050"  neutral="1500" max="1950"/>
+    <servo name="RIGHTFRONT"   no="3" min="1950" neutral="1500" max="1050"/>
+    <servo name="TAIL"       no="4" min="1850" neutral="1600" max="1350"/>
   </servos>
 
   <commands>
@@ -61,7 +61,7 @@
 
   <section name="MIXING" prefix="SW_MIXING_">
     <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="H120"/>
+    <define name="TYPE" value="HR120"/>
     <define name="TRIM_ROLL"  value="0"/>
     <define name="TRIM_PITCH" value="0"/>
     <define name="TRIM_COLL"  value="0"/>
@@ -71,9 +71,9 @@
     <call fun="throttle_curve_run(autopilot_motors_on, values)"/>
     <call fun="swashplate_mixing_run(values)"/>
     <set servo="THROTTLE"    value="throttle_curve.throttle"/>
-    <set servo="FRONT"       value="swashplate_mixing.commands[SW_FRONT]"/>
-    <set servo="RIGHTBACK"   value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
-    <set servo="LEFTBACK"    value="swashplate_mixing.commands[SW_LEFTBACK]"/>
+    <set servo="BACK"        value="swashplate_mixing.commands[SW_BACK]"/>
+    <set servo="LEFTFRONT"   value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
+    <set servo="RIGHTFRONT"  value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
     <set servo="TAIL"        value="@YAW + throttle_curve.throttle*2800/7000"/>
   </command_laws>
 
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
index 9f7c356da5..cdf45625b6 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
@@ -21,12 +21,13 @@
  */
 
 /** @file stabilization_attitude_quat_indi.c
- * MAVLab Delft University of Technology
+ * @brief MAVLab Delft University of Technology
  * This control algorithm is Incremental Nonlinear Dynamic Inversion (INDI)
  *
- * This is a simplified implementation of the (soon to be) publication in the
+ * This is a simplified implementation of the publication in the
  * journal of Control Guidance and Dynamics: Adaptive Incremental Nonlinear
  * Dynamic Inversion for Attitude Control of Micro Aerial Vehicles
+ * http://arc.aiaa.org/doi/pdf/10.2514/1.G001490
  */
 
 #include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
@@ -43,6 +44,8 @@
 #error You have to define the first order time constant of the actuator dynamics!
 #endif
 
+// these parameters are used in the filtering of the angular acceleration
+// define them in the airframe file if different values are required
 #ifndef STABILIZATION_INDI_FILT_OMEGA
 #define STABILIZATION_INDI_FILT_OMEGA 50.0
 #endif
@@ -51,6 +54,7 @@
 #define STABILIZATION_INDI_FILT_ZETA 0.55
 #endif
 
+// the yaw sometimes requires more filtering
 #ifndef STABILIZATION_INDI_FILT_OMEGA_R
 #define STABILIZATION_INDI_FILT_OMEGA_R STABILIZATION_INDI_FILT_OMEGA
 #endif
@@ -231,8 +235,8 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I
     indi.angular_accel_ref.r =  indi.reference_acceleration.rate_r * ((float)radio_control.values[RADIO_YAW]   / MAX_PPRZ * indi.max_rate - body_rates->r);
   }
 
-  //Incremented in angular acceleration requires increment in control input
-  //G1 is the actuator effectiveness. In the yaw axis, we need something additional: G2.
+  //Increment in angular acceleration requires increment in control input
+  //G1 is the control effectiveness. In the yaw axis, we need something additional: G2.
   //It takes care of the angular acceleration caused by the change in rotation rate of the propellers
   //(they have significant inertia, see the paper mentioned in the header for more explanation)
   indi.du.p = 1.0 / indi.g1.p * (indi.angular_accel_ref.p - indi.rate.dx.p);
@@ -259,6 +263,8 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I
   stabilization_indi_second_order_filter(&indi.u, &indi.u_act_dyn);
 
   //Don't increment if thrust is off
+  //TODO: this should be something more elegant, but without this the inputs will increment to the maximum before
+  //even getting in the air.
   if (stabilization_cmd[COMMAND_THRUST] < 300) {
     FLOAT_RATES_ZERO(indi.du);
     FLOAT_RATES_ZERO(indi.u_act_dyn);
@@ -267,6 +273,7 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I
     FLOAT_RATES_ZERO(indi.u.dx);
     FLOAT_RATES_ZERO(indi.u.ddx);
   } else {
+    // only run the estimation if the commands are not zero.
     lms_estimation();
   }