diff --git a/conf/airframes/TUDelft/calibrations/bebop2.xml b/conf/airframes/TUDelft/calibrations/bebop2.xml
new file mode 100644
index 0000000000..ff86a07086
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/bebop2.xml
@@ -0,0 +1,18 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="-70"/>
+    <define name="MAG_Y_NEUTRAL" value="-10"/>
+    <define name="MAG_Z_NEUTRAL" value="123"/>
+    <define name="MAG_X_SENS" value="7.49414302683" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.4625210247" integer="16"/>
+    <define name="MAG_Z_SENS" value="7.91056261187" integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/TUDelft/calibrations/bebop5.xml b/conf/airframes/TUDelft/calibrations/bebop5.xml
new file mode 100644
index 0000000000..cfc200dec5
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/bebop5.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="-99"/>
+    <define name="MAG_Y_NEUTRAL" value="-185"/>
+    <define name="MAG_Z_NEUTRAL" value="231"/>
+    <define name="MAG_X_SENS" value="7.34644053151" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.4512906596" integer="16"/>
+    <define name="MAG_Z_SENS" value="7.58830326448" integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/TUDelft/calibrations/bebop_bart.xml b/conf/airframes/TUDelft/calibrations/bebop_bart.xml
new file mode 100644
index 0000000000..add9fdf1c2
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/bebop_bart.xml
@@ -0,0 +1,18 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="-52"/>
+    <define name="MAG_Y_NEUTRAL" value="-58"/>
+    <define name="MAG_Z_NEUTRAL" value="187"/>
+    <define name="MAG_X_SENS" value="7.31288049757" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.25278204203" integer="16"/>
+    <define name="MAG_Z_SENS" value="7.79836316136" integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
+  </section>
+</airframe>
diff --git a/conf/joystick/esky_mode2.xml b/conf/joystick/esky_mode2.xml
new file mode 100644
index 0000000000..1196eaffd9
--- /dev/null
+++ b/conf/joystick/esky_mode2.xml
@@ -0,0 +1,23 @@
+<joystick>
+  <input>
+    <axis index="0" name="roll" />
+    <axis index="1" name="pitch" />
+    <axis index="2" name="throttle" />
+    <axis index="3" name="dummy" />
+    <axis index="4" name="yaw" />
+    <button index="0" name="b1" />
+    <button index="1" name="b2" />
+    <button index="2" name="b3" />
+  </input>
+
+  <messages period="0.025">
+    <message class="datalink" name="RC_4CH" send_always="true">
+      <field name="throttle" value="Fit(throttle,-120,120,0,127)" />
+      <field name="roll" value="Fit(-roll,-100,100,-127,127)" />
+      <field name="yaw" value="Fit(-yaw,-100,100,-127,127)" />
+      <field name="pitch" value="Fit(-pitch,-100,100,-127,127)" />
+      <field name="mode" value="Fit(dummy, -100, 100, 0, 127)" />
+    </message>
+  </messages>
+
+</joystick>