diff --git a/conf/airframes/ENAC/rover_ostrich.xml b/conf/airframes/ENAC/rover_ostrich.xml
index 664a6ed801..21b28f145e 100644
--- a/conf/airframes/ENAC/rover_ostrich.xml
+++ b/conf/airframes/ENAC/rover_ostrich.xml
@@ -10,17 +10,22 @@
     <define name="LOW_NOISE_THRESHOLD" value="3500"/>
     <define name="LOW_NOISE_TIME" value="10"/>
 
-    <target name="ap" board="apogee_1.0_chibios">
+    <target name="ap" board="chimera_1.0">
     </target>
 
     <module name="radio_control" type="datalink">
       <!--define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/-->
     </module>
 
-    <module name="actuators"     type="ostrich"/>
+    <module name="actuators"     type="ostrich">
+      <configure name="ACTUATORS_OSTRICH_PORT" value="uart1"/>
+    </module>
 
-    <module name="telemetry"     type="xbee_api"/>
-    <module name="imu"           type="apogee"/>
+    <module name="telemetry"     type="transparent">
+      <configure name="MODEM_BAUD" value="B57600"/>
+      <!--configure name="MODEM_BAUD" value="UART3"/-->
+    </module>
+    <module name="imu"           type="chimera"/>
     
     <module name="gps" type="datalink">
       <configure name="USE_MAGNETOMETER" value="FALSE"/>
@@ -67,12 +72,12 @@
 
   <section name="IMU" prefix="IMU_">
   
-    <define name="GYRO_P_SIGN" value="-1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="-1"/>
+    <define name="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="-1"/> <!-- ugly hack for dead accel -->
 
-    <define name="ACCEL_X_SIGN" value="-1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
     <define name="ACCEL_Z_SIGN" value="-1"/>
     
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -99,6 +104,10 @@
     <define name="TURN_IGAIN" value="0."/>
   </section>
 
+  <section name="MISC">
+    <define name="DEFAULT_CIRCLE_RADIUS" value="1.5"/>
+  </section>
+
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
diff --git a/conf/flight_plans/rover_optitrack_PIR.xml b/conf/flight_plans/rover_optitrack_PIR.xml
new file mode 100644
index 0000000000..e5031e0d44
--- /dev/null
+++ b/conf/flight_plans/rover_optitrack_PIR.xml
@@ -0,0 +1,72 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="148" ground_alt="146" lat0="43.5640917" lon0="1.4829201" max_dist_from_home="20" name="Rover Optitrack (ENAC)" security_height="0.3">
+  <header>
+
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="GOAL" x="2.0" y="2.0"/>
+    <waypoint name="STDBY" x="-0.7" y="-0.8"/>
+    <waypoint name="TD" x="0.8" y="-1.7"/>
+    <waypoint name="P1" x="-1" y="-4"/>
+    <waypoint name="P2" x="-1" y="4"/>
+    <waypoint name="_S1" x="3" y="4"/>
+    <waypoint name="_S2" x="3" y="-4"/>
+    <waypoint name="_S3" x="-3" y="-4"/>
+    <waypoint name="_S4" x="-3" y="4"/>
+    <waypoint name="_N1" x="4.5" y="5.2"/>
+    <waypoint name="_N2" x="4.5" y="-5.2"/>
+    <waypoint name="_N3" x="-4.5" y="-5.2"/>
+    <waypoint name="_N4" x="-4.5" y="5.2"/>
+  </waypoints>
+  <sectors>
+    <sector name="Net" color="red">
+      <corner name="_N1"/>
+      <corner name="_N2"/>
+      <corner name="_N3"/>
+      <corner name="_N4"/>
+    </sector>
+    <sector name="Survey" color="green" type="dynamic">
+      <corner name="_S1"/>
+      <corner name="_S2"/>
+      <corner name="_S3"/>
+      <corner name="_S4"/>
+    </sector>
+  </sectors>
+  <variables>
+    <variable var="turn_rate" init="10." min="0." max="50." step="1.0"/>
+  </variables>
+  <blocks>
+    <block name="Wait GPS">
+      <call_once fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Holding point">
+      <call_once fun="NavKillThrottle()"/>
+      <attitude roll="0" throttle="0" until="FALSE" vmode="throttle"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <stay wp="STDBY"/>
+    </block>
+    <block name="line_P1_P2">
+      <go wp="P1" approaching_time="0"/>
+      <while cond="TRUE">
+        <go from="P1" hmode="route" wp="P2" approaching_time="0"/>
+        <stay wp="P2" until="stage_time>10"/>
+        <go from="P2" hmode="route" wp="P1" approaching_time="0"/>
+      </while>
+    </block>
+    <block name="circle">
+      <circle radius="nav.radius" wp="STDBY"/>
+    </block>
+    <block name="line_P1_P2_turn">
+      <go wp="P1" approaching_time="0"/>
+      <while cond="TRUE">
+        <go from="P1" hmode="route" wp="P2" approaching_time="0" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
+        <stay wp="P2" until="stage_time>10" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
+        <go from="P2" hmode="route" wp="P1" approaching_time="0" pre_call="nav_set_heading_deg(turn_rate*block_time)"/>
+      </while>
+    </block>
+  </blocks>
+</flight_plan>
diff --git a/conf/modules/telemetry_transparent.xml b/conf/modules/telemetry_transparent.xml
index 9a67b26d53..0f78445515 100644
--- a/conf/modules/telemetry_transparent.xml
+++ b/conf/modules/telemetry_transparent.xml
@@ -44,5 +44,9 @@
     <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
     <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
   </makefile>
+  <makefile target="ap" firmware="rover">
+    <file name="rover_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="rover_telemetry.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
 </module>
 
diff --git a/conf/modules/telemetry_transparent_udp.xml b/conf/modules/telemetry_transparent_udp.xml
index 6a896b59e7..e22d993333 100644
--- a/conf/modules/telemetry_transparent_udp.xml
+++ b/conf/modules/telemetry_transparent_udp.xml
@@ -53,5 +53,9 @@
     <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
     <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
   </makefile>
+  <makefile target="ap" firmware="rover">
+    <file name="rover_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="rover_telemetry.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
 </module>
 
diff --git a/conf/modules/telemetry_transparent_usb.xml b/conf/modules/telemetry_transparent_usb.xml
index 9a28be8e1e..b33d6ddc9d 100644
--- a/conf/modules/telemetry_transparent_usb.xml
+++ b/conf/modules/telemetry_transparent_usb.xml
@@ -45,5 +45,9 @@
     <file name="rotorcraft_datalink.c" dir="$(SRC_FIRMWARE)"/>
     <file name="rotorcraft_telemetry.c" dir="$(SRC_FIRMWARE)"/>
   </makefile>
+  <makefile target="ap" firmware="rover">
+    <file name="rover_datalink.c" dir="$(SRC_FIRMWARE)"/>
+    <file name="rover_telemetry.c" dir="$(SRC_FIRMWARE)"/>
+  </makefile>
 </module>
 
diff --git a/conf/telemetry/default_rover.xml b/conf/telemetry/default_rover.xml
index dd94af5c00..9e9abea45e 100644
--- a/conf/telemetry/default_rover.xml
+++ b/conf/telemetry/default_rover.xml
@@ -26,6 +26,20 @@
       <message name="UART_ERRORS"            period="3.1"/>
     </mode>
 
+    <mode name="low" key_press="l">
+      <message name="AUTOPILOT_VERSION"      period="11.1"/>
+      <message name="ROVER_STATUS"           period="1.2"/>
+      <message name="ROTORCRAFT_FP"          period="1.0"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="DL_VALUE"               period="1.1"/>
+      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
+      <message name="WP_MOVED"               period="1.3"/>
+      <message name="INS_REF"                period="5.1"/>
+      <message name="ENERGY"                 period="2.5"/>
+      <message name="DATALINK_REPORT"        period="5.1"/>
+      <message name="STATE_FILTER_STATUS"    period="3.2"/>
+    </mode>
+
     <mode name="rc">
       <message name="DL_VALUE"                 period="0.5"/>
       <message name="ALIVE"                    period="2.1"/>