diff --git a/conf/airframes/tudelft/rotwing5.xml b/conf/airframes/tudelft/rotwing5.xml
index 06fce5ec16..5b7d9a7ada 100644
--- a/conf/airframes/tudelft/rotwing5.xml
+++ b/conf/airframes/tudelft/rotwing5.xml
@@ -80,7 +80,7 @@
 
         <!-- Herelink datalink -->
         <module name="telemetry" type="transparent">
-            <!--configure name="MODEM_PORT" value="usb_serial"/-->
+            <!-- <configure name="MODEM_PORT" value="usb_serial"/> -->
             <configure name="MODEM_BAUD" value="B460800"/>
         </module>
 
@@ -297,11 +297,12 @@
             <field type="struct">
                 <field name="abi_id" value="26"/>
                 <field name="calibrated" type="struct">
-                    <field name="neutral" value="false"/>
-                    <field name="scale" value="false"/>
-                    <field name="rotation" value="false"/>
-                    <field name="filter" value="true"/>
-                </field>
+                <field name="neutral" value="true"/>
+                <field name="scale_f" value="true"/>
+                <field name="filter" value="true"/>
+            </field>
+                <field name="neutral" value="-2,-3,48" type="int[]"/>
+                <field name="scale_f" value="{ 4.8973, 4.9059, 4.9063 }"/>
                 <field name="filter_sample_freq" value="4042"/>
                 <field name="filter_freq" value="30"/>
             </field>
@@ -353,8 +354,8 @@
 
     <section name="BAT">
         <define name="CATASTROPHIC_BAT_LEVEL"   value="36.0" unit="V"/>
-        <define name="CRITIC_BAT_LEVEL"         value="37.2" unit="V"/>
-        <define name="LOW_BAT_LEVEL"            value="48.4" unit="V"/>
+        <define name="CRITIC_BAT_LEVEL"         value="42.6" unit="V"/>
+        <define name="LOW_BAT_LEVEL"            value="44.4" unit="V"/>
         <define name="MAX_BAT_LEVEL"            value="52.2" unit="V"/>
         <define name="TAKEOFF_BAT_LEVEL"        value="48.4" unit="V"/>
         <define name="BAT_NB_CELLS"             value="12"/>
diff --git a/conf/airframes/tudelft/rotwing6.xml b/conf/airframes/tudelft/rotwing6.xml
index 3469af594f..9feda4ef3b 100644
--- a/conf/airframes/tudelft/rotwing6.xml
+++ b/conf/airframes/tudelft/rotwing6.xml
@@ -80,7 +80,7 @@
 
         <!-- Herelink datalink -->
         <module name="telemetry" type="transparent">
-            <!--configure name="MODEM_PORT" value="usb_serial"/-->
+            <!-- <configure name="MODEM_PORT" value="usb_serial"/> -->
             <configure name="MODEM_BAUD" value="B460800"/>
         </module>
 
@@ -292,16 +292,17 @@
             </field>
         </define>
 
-        <!-- Accelerometers calibration (NOT DONE!) -->
         <define name="ACCEL_CALIB" type="array">
             <field type="struct">
                 <field name="abi_id" value="26"/>
                 <field name="calibrated" type="struct">
-                    <field name="neutral" value="false"/>
-                    <field name="scale" value="false"/>
+                    <field name="neutral" value="true"/>
+                    <field name="scale_f" value="true"/>
                     <field name="rotation" value="false"/>
                     <field name="filter" value="true"/>
                 </field>
+                <field name="neutral" value="-3,-3,-18" type="int[]"/>
+                <field name="scale_f" value="{ 4.9047, 4.9219, 4.9307 }"/>
                 <field name="filter_sample_freq" value="4042"/>
                 <field name="filter_freq" value="30"/>
             </field>
@@ -353,8 +354,8 @@
 
     <section name="BAT">
         <define name="CATASTROPHIC_BAT_LEVEL"   value="36.0" unit="V"/>
-        <define name="CRITIC_BAT_LEVEL"         value="37.2" unit="V"/>
-        <define name="LOW_BAT_LEVEL"            value="48.4" unit="V"/>
+        <define name="CRITIC_BAT_LEVEL"         value="42.6" unit="V"/>
+        <define name="LOW_BAT_LEVEL"            value="44.4" unit="V"/>
         <define name="MAX_BAT_LEVEL"            value="52.2" unit="V"/>
         <define name="TAKEOFF_BAT_LEVEL"        value="48.4" unit="V"/>
         <define name="BAT_NB_CELLS"             value="12"/>
diff --git a/conf/airframes/tudelft/rotwing7.xml b/conf/airframes/tudelft/rotwing7.xml
index 03ee815fc3..248683985d 100644
--- a/conf/airframes/tudelft/rotwing7.xml
+++ b/conf/airframes/tudelft/rotwing7.xml
@@ -80,7 +80,7 @@
 
         <!-- Herelink datalink -->
         <module name="telemetry" type="transparent">
-            <!--configure name="MODEM_PORT" value="usb_serial"/-->
+            <!-- <configure name="MODEM_PORT" value="usb_serial"/> -->
             <configure name="MODEM_BAUD" value="B460800"/>
         </module>
 
@@ -165,7 +165,7 @@
         <module name="approach_moving_target"/>
 
         <!-- Forward FuelCell data back to the GCS -->
-        <module name="can_fuelcell"/>
+        <!-- <module name="can_fuelcell"/> -->
 
     </firmware>
 
@@ -300,14 +300,14 @@
                 <field name="abi_id" value="26"/>
                 <field name="calibrated" type="struct">
                     <field name="neutral" value="true"/>
-                    <field name="scale" value="true"/>
-                    <field name="rotation" value="false"/>
+                    <field name="scale_f" value="true"/>
                     <field name="filter" value="true"/>
+                    <field name="rotation" value="false"/>
                 </field>
+                <field name="neutral" value="-6,-6,0" type="int[]"/>
+                <field name="scale_f" value="{ 4.8955, 4.9070, 4.9074 }"/>
                 <field name="filter_sample_freq" value="4042"/>
                 <field name="filter_freq" value="30"/>
-                <field name="neutral" value="-6,-7,-47" type="int[]"/>
-                <field name="scale" value="{{32406,25097,35786},{6623,5114,7131}}"/>
             </field>
         </define>
 
@@ -357,8 +357,8 @@
 
     <section name="BAT">
         <define name="CATASTROPHIC_BAT_LEVEL"   value="36.0" unit="V"/>
-        <define name="CRITIC_BAT_LEVEL"         value="37.2" unit="V"/>
-        <define name="LOW_BAT_LEVEL"            value="48.4" unit="V"/>
+        <define name="CRITIC_BAT_LEVEL"         value="42.6" unit="V"/>
+        <define name="LOW_BAT_LEVEL"            value="44.4" unit="V"/>
         <define name="MAX_BAT_LEVEL"            value="52.2" unit="V"/>
         <define name="TAKEOFF_BAT_LEVEL"        value="48.4" unit="V"/>
         <define name="BAT_NB_CELLS"             value="12"/>
diff --git a/conf/airframes/tudelft/rotwing_25kg_common.xml b/conf/airframes/tudelft/rotwing_25kg_common.xml
index b2be3088d7..056f1d43b5 100644
--- a/conf/airframes/tudelft/rotwing_25kg_common.xml
+++ b/conf/airframes/tudelft/rotwing_25kg_common.xml
@@ -61,6 +61,13 @@
 
         <!-- SD logger -->
         <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
+
+        <!-- Flight plan defines -->
+        <define name="FLARE_HEIGHT"                         value="12"/>
+        <define name="HYBRID_HEIGHT"                        value="20"/>
+        <define name="TRANSITION_HEIGHT"                    value="40"/>
+        <define name="LIFTOFF_PITCH_LIMIT_DEG"              value="5"/>
+        <define name="LIFTOFF_ROLL_LIMIT_DEG"               value="5"/>
     </section>
 
     <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/flight_plans/tudelft/rotwing_EHVB.xml b/conf/flight_plans/tudelft/rotwing_EHVB.xml
index dc5bc95e7d..d075f6d24b 100644
--- a/conf/flight_plans/tudelft/rotwing_EHVB.xml
+++ b/conf/flight_plans/tudelft/rotwing_EHVB.xml
@@ -80,10 +80,6 @@
     <exception cond="Or(!InsideSoftGeofence(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 250.0) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
     <!-- Datalink timeout go to standby free -->
     <exception cond="datalink_time @GT 25 @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point')) @AND !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
-    <!-- Bat low return to standby-->
-    <exception cond="(electrical.bat_low @AND !(IndexOfBlock('Holding point') @GT nav_block) @AND !(nav_block >= IndexOfBlock('land here')) @AND (autopilot_in_flight() == true) )" deroute="Standby"/>
-    <!-- Bat critical land here-->
-    <exception cond="(electrical.bat_critical @AND !(IndexOfBlock('Holding point') @GT nav_block) @AND !(nav_block >= IndexOfBlock('land here')) @AND (autopilot_in_flight() == true) )" deroute="land here"/>
   </exceptions>
   <blocks>
    <block name="Wait GPS">