diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index a0f9529f27..c5b9395843 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -98,7 +98,7 @@
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
     <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+<!--    <define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
@@ -204,10 +204,6 @@
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
       <define name="LOITER_TRIM"/>
-<!--
-      <define name="ALT_KALMAN"/>
-      <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
--->
     </target>
     <target name="sim" board="pc"/>
 
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index c2335393ce..4e1e12fccc 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -247,7 +247,7 @@ void handle_ins_msg( void) {
   {
     fspeed = 0;
   }
-  float fclimb = -ins_vz * ;
+  float fclimb = -ins_vz;
   float fcourse = atan2f((float)ins_vy, (float)ins_vx);
   EstimatorSetSpeedPol(fspeed, fcourse, fclimb);