diff --git a/conf/airframes/TUDelft/airframes/bebop2_indi.xml b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
index a027c70b6f..82e2bdce25 100644
--- a/conf/airframes/TUDelft/airframes/bebop2_indi.xml
+++ b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
@@ -10,7 +10,7 @@
       <subsystem name="udp"/>
     </target>
 
-	<!-- Subsystem section -->
+	  <!-- Subsystem section -->
     <subsystem name="telemetry" type="transparent_udp"/>
     <subsystem name="radio_control" type="datalink"/>
     <subsystem name="motor_mixing"/>
@@ -23,7 +23,6 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </subsystem>
     <subsystem name="ins" type="extended"/>
-    <subsystem name="guidance" type="indi"/>
   </firmware>
 
   <modules main_freq="512">
@@ -34,13 +33,6 @@
     <load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load>
-    <load name="mavlink.xml">
-      <define name="UDP1_PORT_OUT" value="5000"/>
-      <define name="UDP1_PORT_IN" value="5000"/>
-      <define name="UDP1_HOST" value="192.168.42.2"/>
-      <configure name="MAVLINK_PORT" value="UDP1"/>
-      <define name="MAVLINK_SYSID" value="1"/>
-    </load>
   </modules>
 
   <commands>
@@ -81,12 +73,6 @@
 
   <include href="conf/airframes/TUDelft/calibrations/bebop2_$AC_ID.xml" />
 
-  <section name="IMU" prefix="IMU_">
-    <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_">
@@ -196,8 +182,8 @@
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KP" value="350"/>
+    <define name="HOVER_KD" value="85"/>
     <define name="HOVER_KI" value="20"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
@@ -209,13 +195,13 @@
     <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
+    <define name="PGAIN" value="120"/>
     <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
   <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="2.5"/>
+    <define name="CLIMB_VSPEED" value="4.5"/>
     <define name="DESCEND_VSPEED" value="-1.0"/>
   </section>
 
diff --git a/conf/airframes/TUDelft/calibrations/bebop2_22.xml b/conf/airframes/TUDelft/calibrations/bebop2_22.xml
index 06bf8b490f..9b384bcaf1 100644
--- a/conf/airframes/TUDelft/calibrations/bebop2_22.xml
+++ b/conf/airframes/TUDelft/calibrations/bebop2_22.xml
@@ -3,18 +3,16 @@
 <airframe>
   <section name="IMU" prefix="IMU_">
     <!-- Magneto calibration -->
-<define name="MAG_X_NEUTRAL" value="-21"/>
-<define name="MAG_Y_NEUTRAL" value="60"/>
-<define name="MAG_Z_NEUTRAL" value="209"/>
-<define name="MAG_X_SENS" value="9.31429497222" integer="16"/>
-<define name="MAG_Y_SENS" value="8.63466075593" integer="16"/>
-<define name="MAG_Z_SENS" value="9.57742148079" integer="16"/>
-
-
+    <define name="MAG_X_NEUTRAL" value="18"/>
+    <define name="MAG_Y_NEUTRAL" value="46"/>
+    <define name="MAG_Z_NEUTRAL" value="202"/>
+    <define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
+    <define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
+    <define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
 
     <!-- Magneto current calibration -->
-<define name= "MAG_X_CURRENT_COEF" value="-0.00129333644507"/>
-<define name= "MAG_Y_CURRENT_COEF" value="-0.00180224741034"/>
-<define name= "MAG_Z_CURRENT_COEF" value="0.00514030157101"/>
+    <!--define name= "MAG_X_CURRENT_COEF" value="0.00129333644507"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="-0.00180224741034"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="0.00514030157101"/-->
   </section>
 </airframe>
diff --git a/conf/airframes/examples/bebop2_indi.xml b/conf/airframes/examples/bebop2_indi.xml
index 9b8bf441b3..7e64dc2b14 100644
--- a/conf/airframes/examples/bebop2_indi.xml
+++ b/conf/airframes/examples/bebop2_indi.xml
@@ -10,7 +10,7 @@
       <subsystem name="udp"/>
     </target>
 
-	<!-- Subsystem section -->
+	  <!-- Subsystem section -->
     <subsystem name="telemetry" type="transparent_udp"/>
     <subsystem name="radio_control" type="datalink"/>
     <subsystem name="motor_mixing"/>
@@ -71,12 +71,14 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
-
   <section name="IMU" prefix="IMU_">
-    <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"/>
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="18"/>
+    <define name="MAG_Y_NEUTRAL" value="46"/>
+    <define name="MAG_Z_NEUTRAL" value="202"/>
+    <define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
+    <define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
+    <define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
   </section>
 
   <!-- local magnetic field -->
@@ -188,8 +190,8 @@
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KP" value="350"/>
+    <define name="HOVER_KD" value="85"/>
     <define name="HOVER_KI" value="20"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
@@ -201,13 +203,13 @@
     <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
     <!-- Bad weather -->
     <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
+    <define name="PGAIN" value="120"/>
     <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="30"/>
   </section>
 
   <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="2.5"/>
+    <define name="CLIMB_VSPEED" value="4.5"/>
     <define name="DESCEND_VSPEED" value="-1.0"/>
   </section>
 
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 6a6c7eecae..8d5665dcc7 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -233,12 +233,12 @@
   <aircraft
    name="bebop2"
    ac_id="203"
-   airframe="airframes/examples/bebop2.xml"
+   airframe="airframes/examples/bebop2_indi.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/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml"
    gui_color="red"
   />
   <aircraft
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c
index 1bfafad47e..d8d97f54bd 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.c
+++ b/sw/airborne/subsystems/imu/imu_bebop.c
@@ -133,7 +133,7 @@ void imu_bebop_event(void)
   if (imu_bebop.ak.data_available) {
 #if BEBOP_VERSION2
     // In the second bebop version the magneto is turned 90 degrees
-    VECT3_ASSIGN(imu.mag_unscaled, imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
+    VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
 #else
     VECT3_ASSIGN(imu.mag_unscaled, imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
 #endif