diff --git a/conf/airframes/TUDELFT/tudelft_KM_conf.xml b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
index f8e7ded9b6..23fcf08951 100644
--- a/conf/airframes/TUDELFT/tudelft_KM_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
@@ -1,4 +1,15 @@
 <conf>
+  <aircraft
+   name="ARDrone2_opticflow"
+   ac_id="12"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/video_thread.xml"
+   gui_color="red"
+  />
   <aircraft
    name="LadyLisaBluegiga"
    ac_id="114"
diff --git a/conf/airframes/TUDELFT/tudelft_KM_control_panel.xml b/conf/airframes/TUDELFT/tudelft_KM_control_panel.xml
index 26e7a43fe5..f3c8035bd0 100644
--- a/conf/airframes/TUDELFT/tudelft_KM_control_panel.xml
+++ b/conf/airframes/TUDELFT/tudelft_KM_control_panel.xml
@@ -85,5 +85,12 @@
       <arg flag="4252" />
     </program>
     </session>
+   <session name="Flight UDP/WiFi">
+      <program name="Server"/>
+      <program name="GCS"/>
+      <program name="Data Link">
+        <arg flag="-udp"/>
+      </program>
+    </session>
   </section>
 </control_panel>
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml
new file mode 100644
index 0000000000..e85d4fb4ef
--- /dev/null
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_edgeflow.xml
@@ -0,0 +1,207 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="ardrone2_opticflow">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="ardrone2"/>
+
+    <!--target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+    </target-->
+
+    <define name="USE_SONAR" value="TRUE"/>
+
+	<!-- Subsystem section -->
+    <subsystem name="telemetry" type="transparent_udp"/>
+    <subsystem name="radio_control" type="datalink"/>
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="ardrone2"/>
+    <subsystem name="imu" type="ardrone2"/>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins" type="extended"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="bat_voltage_ardrone2.xml"/>
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="send_imu_mag_current.xml"/>
+    <load name="logger_file.xml"/>
+    <load name="cv_opticflow.xml">
+      <define name="OPTICFLOW_DEBUG" value = "TRUE"/>
+      <define name="OPTICFLOW_SHOW_FLOW" value = "TRUE"/>
+    </load>
+    <load name="video_thread.xml">
+        <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
+    </load>
+    <!--load name="video_rtp_stream.xml"/-->
+  </modules>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="3000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
+    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
+  </servos>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+
+    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
+    <define name="TYPE" value="QUAD_X"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
+  </command_laws>
+
+   <section name="VISION" prefix="VISION_">
+    <define name="HOVER" value="FALSE"/>
+    <define name="PHI_PGAIN" value="300"/>
+    <define name="PHI_IGAIN" value="5"/>
+    <define name="THETA_PGAIN" value="300"/>
+    <define name="THETA_IGAIN" value="5"/>
+    <define name="DESIRED_VX" value="0"/>
+    <define name="DESIRED_VY" value="0"/>
+   </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Accelero -->
+    <define name="ACCEL_X_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
+
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="-180"/>
+    <define name="MAG_X_SENS" value="16." integer="16"/>
+    <define name="MAG_Y_SENS" value="16." integer="16"/>
+    <define name="MAG_Z_SENS" value="16." integer="16"/>
+
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+  </section>
+
+  <!-- local magnetic field -->
+  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
+  <section name="AHRS" prefix="AHRS_">
+    <!-- Toulouse -->
+    <define name="H_X" value="0.513081"/>
+    <define name="H_Y" value="-0.00242783"/>
+    <define name="H_Z" value="0.858336"/>
+    <!-- Delft -->
+    <!--define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/ -->
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="SONAR_MAX_RANGE" value="2.2"/>
+    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="600" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.9"/>
+    <define name="REF_MAX_P" value="600." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.9"/>
+    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R" value="200" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.9"/>
+    <define name="REF_MAX_R" value="300." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="850"/>
+    <define name="PHI_DGAIN" value="425"/>
+    <define name="PHI_IGAIN" value="0"/>
+
+    <define name="THETA_PGAIN" value="850"/>
+    <define name="THETA_DGAIN" value="425"/>
+    <define name="THETA_IGAIN" value="0"/>
+
+    <define name="PSI_PGAIN" value="1000"/>
+    <define name="PSI_DGAIN" value="700"/>
+    <define name="PSI_IGAIN" value="0"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value="0"/>
+    <define name="THETA_DDGAIN" value="0"/>
+    <define name="PSI_DDGAIN" value="100"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="283"/>
+    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KI" value="13"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <!-- Good weather -->
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <!-- Bad weather -->
+    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
+    <define name="PGAIN" value="79"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="30"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_MODULE"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+</airframe>