diff --git a/sw/airborne/tl_control.c b/sw/airborne/tl_control.c
index 2bf055372e..ceb8c4b190 100644
--- a/sw/airborne/tl_control.c
+++ b/sw/airborne/tl_control.c
@@ -138,11 +138,11 @@ void tl_control_attitude_read_setpoints_from_rc(void) {
 #else
   switch (cpu_time_sec % 4) {
   case 0:
-    tl_control_attitude_psi_sp = RadOfDeg(-45.); break;
+    tl_control_attitude_psi_sp = RadOfDeg(-22.5); break;
   case 1:
     tl_control_attitude_psi_sp = RadOfDeg(0.); break;
   case 2:
-    tl_control_attitude_psi_sp = RadOfDeg(45.); break;
+    tl_control_attitude_psi_sp = RadOfDeg(22.5); break;
   case 3:
     tl_control_attitude_psi_sp = RadOfDeg(0.); break;
   }
diff --git a/sw/airborne/tl_vfilter.h b/sw/airborne/tl_vfilter.h
index 612e3984c5..cf2b2d74b4 100644
--- a/sw/airborne/tl_vfilter.h
+++ b/sw/airborne/tl_vfilter.h
@@ -1,7 +1,8 @@
 #ifndef TL_VFILTER_H
 #define TL_VFILTER_H
 
-#define FLOAT_T double
+//#define FLOAT_T double
+#define FLOAT_T float
 #define STATE_SIZE 3
 
 extern FLOAT_T tl_vf_z;
@@ -9,6 +10,8 @@ extern FLOAT_T tl_vf_zdot;
 extern FLOAT_T tl_vf_bias;
 extern FLOAT_T tl_vf_P[STATE_SIZE][STATE_SIZE];
 
+extern FLOAT_T tl_vf_z_meas;
+
 extern void tl_vf_init(FLOAT_T z, FLOAT_T zdot, FLOAT_T bias);
 extern void tl_vf_predict(FLOAT_T accel);
 extern void tl_vf_update(FLOAT_T z_meas);