diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index ee3384716b..3ef28141cd 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -5,9 +5,9 @@
 <!-- commands section -->
   <servos>
     <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
-    <servo name="AILEVON_LEFT" no="1" min="1000" neutral="1615" max="2000"/>
-    <servo name="AILEVON_RIGHT" no="3" min="2000" neutral="1465" max="1000"/>
-    <servo name="CAM_PAN" no="5" min="2000" neutral="1550" max="1000"/>
+    <servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
+    <servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
     <servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
   </servos>
 
@@ -253,7 +253,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
-      <configure name="MODEM_BAUD" 		value="57600"/>
+      <configure name="MODEM_BAUD" 		value="B57600"/>
     </subsystem>
 
     <!-- Sensors -->
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index baba44fc6f..5026c40a27 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -72,14 +72,16 @@
     <define name="GYRO_Q_SIGN" value="-1"/>
     <define name="GYRO_R_SIGN" value="-1"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="26424"/>
-    <define name="ACCEL_Y_NEUTRAL" value="26640"/>
+    <define name="ACCEL_X_NEUTRAL" value="26584"/>
+    <define name="ACCEL_Y_NEUTRAL" value="26660"/>
     <define name="ACCEL_Z_NEUTRAL" value="26732"/>
 
-    <!-- SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -->
-    <define name="ACCEL_X_SENS" value="0.9372" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="0.9346" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="0.9178" integer="16"/>
+    <!-- 3.5G: SENS = 330mV/g / 9.81 ms2/g = 33.63 mV/ms2 * 16 LSB/mV = 538.22 LSB/ms2 / 10bit FRAC -->
+    <!-- 2G: SENS = 660mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 1076 LSB/ms2 / 10bit FRAC -> 0.9372-->
+    <!-- 6G: SENS = 220mV/g / 9.81 ms2/g = 67.27 mV/ms2 * 16 LSB/mV = 358.8 LSB/ms2 / 10bit FRAC -> 2.853818182-->
+    <define name="ACCEL_X_SENS" value="2.85382" integer="10"/>
+    <define name="ACCEL_Y_SENS" value="2.85382" integer="10"/>
+    <define name="ACCEL_Z_SENS" value="2.85382" integer="10"/>
 
     <define name="ACCEL_X_SIGN" value="1"/>
     <define name="ACCEL_Y_SIGN" value="-1"/>
@@ -190,7 +192,7 @@
   <firmware name="fixedwing">
     <target name="ap" board="tiny_1.1">
       <configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="240"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
       <configure name="AHRS_ALIGNER_LED" value="1"/>
       <configure name="CPU_LED" value="2"/>
diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index 226be3e427..78943c5ba4 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -77,16 +77,16 @@
   </command_laws>
 
   <!-- Local magnetic field -->
-  <section name="AHRS" prefix="AHRS_" >
-    <define name="H_X" value="0.51562740288882" />
-    <define name="H_Y" value="-0.05707735220832" />
-    <define name="H_Z" value="0.85490967783446" />
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value="0.85490967783446"/>
   </section>
 
   <section name="XSENS">
-    <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f" />
-    <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f" />
-    <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f" />
+    <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
+    <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
+    <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -103,8 +103,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.027" unit="deg"/>
   </section>
 
   <section name="MISC">
@@ -130,29 +130,29 @@
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.57800000906"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.108999997377" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0."/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.324999988079"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.250999987125" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.0309999994934"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.171000003815"/>
 
     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.300000011921"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="1.01600003242"/>
+    <define name="COURSE_PGAIN" value="-1.16799998283"/>
+    <define name="COURSE_DGAIN" value="0.280999988317"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
 
     <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="PITCH_PGAIN" value="-13476.5615234"/>
+    <define name="PITCH_PGAIN" value="-15429.6865234"/>
     <define name="PITCH_DGAIN" value="7.73400020599"/>
 
     <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
@@ -166,12 +166,12 @@
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="30"/>
     <define name="BLEND_END" value="15"/>
-    <define name="CLIMB_THROTTLE" value="1.00"/>
-    <define name="CLIMB_PITCH" value="RadOfDeg(30)"/>
-    <define name="DESCENT_THROTTLE" value="0.0"/>
-    <define name="DESCENT_PITCH" value="RadOfDeg(-15)"/>
-    <define name="CLIMB_NAV_RATIO" value="0.8"/>
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    <define name="CLIMB_THROTTLE" value="1."/>
+    <define name="CLIMB_PITCH" value="0.4"/>
+    <define name="DESCENT_THROTTLE" value="0."/>
+    <define name="DESCENT_PITCH" value="-0.1"/>
+    <define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
+    <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
   </section>
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
@@ -217,6 +217,8 @@
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
       <define name="LOITER_TRIM"/>
+      <define name="TUNE_AGRESSIVE_CLIMB"/>
+      <define name="AGR_CLIMB"/>
     </target>
     <target name="sim" board="pc"/>
 
@@ -224,7 +226,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B57600"/>
+      <configure name="MODEM_BAUD" value="B9600"/>
     </subsystem>
 
     <!-- Actuators -->