diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
index f825a0e4df..45605c57bf 100644
--- a/conf/airframes/BR/bebop_default.xml
+++ b/conf/airframes/BR/bebop_default.xml
@@ -27,6 +27,7 @@
   <modules main_freq="512">
     <load name="geo_mag.xml"/>
     <load name="air_data.xml"/>
+    <load name="exception_flags.xml"/>
     <load name="send_imu_mag_current.xml"/>
     <!--load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index 59afb44fd2..43e193d4b4 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -32,6 +32,7 @@
   <modules main_freq="512">
     <load name="geo_mag.xml"/>
     <load name="air_data.xml"/>
+    <load name="exception_flags.xml"/>
     <load name="send_imu_mag_current.xml"/>
     <!--load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
@@ -93,7 +94,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
+  <include href="conf/airframes/TUDelft/calibrations/bebop6.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index 5087834dd7..031a731f2a 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -40,8 +40,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
    gui_color="green"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
   />
   <aircraft
    name="DelFlyDualPWM"
diff --git a/conf/airframes/TUDelft/calibrations/bebop6.xml b/conf/airframes/TUDelft/calibrations/bebop6.xml
index 0a19ac245d..1036d67ce1 100644
--- a/conf/airframes/TUDelft/calibrations/bebop6.xml
+++ b/conf/airframes/TUDelft/calibrations/bebop6.xml
@@ -3,12 +3,13 @@
 <airframe>
   <section name="IMU" prefix="IMU_">
     <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="-52"/>
-    <define name="MAG_Y_NEUTRAL" value="-115"/>
-    <define name="MAG_Z_NEUTRAL" value="201"/>
-    <define name="MAG_X_SENS" value="6.9627474665" integer="16"/>
-    <define name="MAG_Y_SENS" value="7.24727528878" integer="16"/>
-    <define name="MAG_Z_SENS" value="7.85093057927" integer="16"/>
+<define name="MAG_X_NEUTRAL" value="-12"/>
+<define name="MAG_Y_NEUTRAL" value="-43"/>
+<define name="MAG_Z_NEUTRAL" value="291"/>
+<define name="MAG_X_SENS" value="7.14032740065" integer="16"/>
+<define name="MAG_Y_SENS" value="6.86708822052" integer="16"/>
+<define name="MAG_Z_SENS" value="7.80708621059" integer="16"/>
+
 
     <!-- Magneto current calibration -->
     <define name="MAG_X_CURRENT_COEF" value="0.0"/>