diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 3e7c5c5230..0dca776a29 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -185,7 +185,7 @@
   <firmware name="fixedwing">
     <target name="ap" 			board="tiny_1.1">
       <configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="120" />
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="240" />
       <configure name="AHRS_CORRECT_FREQUENCY" value="60" />
       <configure name="AHRS_ALIGNER_LED" value="1" />
       <configure name="CPU_LED" value="2" />
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index 50ff4b0df7..b41c76a9fa 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -44,7 +44,7 @@
         <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
         <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="1000" MIN="-1000" STEP="1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index cb2589f101..58a5a22acf 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -34,10 +34,19 @@
 
 #include <string.h>
 
-//FIXME this is still needed for fixedwing integration
+// FIXME this is still needed for fixedwing integration
 #include "estimator.h"
 #include "led.h"
 
+// FIXME Debugging Only
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+
 struct AhrsFloatDCM ahrs_impl;
 
 // remotely settable
@@ -105,6 +114,21 @@ void ahrs_update_fw_estimator( void )
 
   estimator_p = Omega_Vector[0];
 
+  RunOnceEvery(6,DOWNLINK_SEND_RMAT_DEBUG(DefaultChannel, 
+    &(DCM_Matrix[0][0]),
+    &(DCM_Matrix[0][1]),
+    &(DCM_Matrix[0][2]),
+
+    &(DCM_Matrix[1][0]),
+    &(DCM_Matrix[1][1]),
+    &(DCM_Matrix[1][2]),
+
+    &(DCM_Matrix[2][0]),
+    &(DCM_Matrix[2][1]),
+    &(DCM_Matrix[2][2])
+
+  ));
+
 //  estimator_p     = 
 }
 
@@ -170,7 +194,7 @@ void ahrs_propagate(void)
   Matrix_update();
   // INFO, ahrs struct only updated in ahrs_update_fw_estimator
 
-  // Normalize();
+  //Normalize();
 }
 
 void ahrs_update_accel(void)