diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 87465ccd46..0027581695 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -34,7 +34,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
@@ -78,14 +78,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -154,7 +154,7 @@
     <define name="ELEVATOR_OF_ROLL" value="1250."/>
     <define name="ROLL_RATE_GAIN" value="-112.781997681"/>
     <define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
@@ -257,10 +257,10 @@
     </subsystem>
 
     <!-- Sensors -->
-    <subsystem name="gyro"		type="roll">
+<!--    <subsystem name="gyro"		type="roll">
       <param name="ADC_GYRO_ROLL" 	value="ADC_3" />
     </subsystem>
-    <subsystem name="attitude" 		type="infrared"/>
+-->    <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox_lea4p"/>
     <subsystem name="control"	/>
     <subsystem name="navigation"	type="extra"/>
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 9d7e43451a..32cbb91002 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -89,7 +89,9 @@
     <define name="BODY_TO_IMU_PHI" value="0"/>
     <define name="BODY_TO_IMU_THETA" value="0"/>
     <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
 
+  <section name="INS" prefix="INS_" >
     <define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
   </section>
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index a96d759a9e..d1f02766d7 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -36,7 +36,7 @@
 #if defined USE_UART0 || defined USE_UART1  || defined USE_UART2 || defined USE_UART3 || defined USE_UART4  || defined USE_UART5
 #include "mcu_periph/uart.h"
 #endif
-#if defined USE_I2C1 || defined USE_I2C2
+#if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2 
 #include "mcu_periph/i2c.h"
 #endif
 #if defined USE_ADC
diff --git a/sw/airborne/subsystems/navigation/OSAMNav.c b/sw/airborne/subsystems/navigation/OSAMNav.c
index efd1c72099..95cd4959ee 100644
--- a/sw/airborne/subsystems/navigation/OSAMNav.c
+++ b/sw/airborne/subsystems/navigation/OSAMNav.c
@@ -365,6 +365,9 @@ bool_t InitializePolygonSurvey(uint8_t EntryWP, uint8_t Size, float sw, float Or
 
 	CSurveyStatus = Init;
 
+	if (Size == 0)
+	  return TRUE;
+
 	if (Size == 0)
 	  return TRUE;