diff --git a/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml b/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
index eb023beb6c..35511a6a6a 100644
--- a/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
+++ b/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
@@ -6,9 +6,9 @@
 
 Frame size: 2 cams with 240x240
     
-pyramid level 0 -> 30 fps average, min=29fps lowest)
-pyramid level 1 -> 26 fps average, min=15fps
-pyramid level 2 -> 21 fps average, min=11fps
+pyramid level 0: 30 fps average, min=29fps lowest)
+pyramid level 1: 26 fps average, min=15fps
+pyramid level 2: 21 fps average, min=11fps
   </description>
   <firmware name="rotorcraft">
     <target name="ap" board="bebop"/>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 128e895984..509f9defb7 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -85,7 +85,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft