diff --git a/conf/airframes/TUDELFT/tudelft_splash.xml b/conf/airframes/TUDELFT/tudelft_splash.xml
index b13a10c994..1632b509fe 100644
--- a/conf/airframes/TUDELFT/tudelft_splash.xml
+++ b/conf/airframes/TUDELFT/tudelft_splash.xml
@@ -29,7 +29,7 @@
     </module>
     <module name="gps" type="ubx_ucenter" />
     <module name="stabilization" type="indi_simple" />
-    <module name="stabilization" type="rate_indi" />
+    <!--<module name="stabilization" type="rate_indi" />-->
     <module name="ahrs" type="int_cmpl_quat" >
       <define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />         <!-- Meaning the external hmc-->
 
@@ -217,7 +217,8 @@
     <define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
     <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
-    <define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT" />
+    <define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
+<!--    <define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT" />-->
     <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
   </section>
   <section name="BAT">
diff --git a/sw/airborne/boards/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h
index bcea37bcaa..809192d869 100644
--- a/sw/airborne/boards/px4fmu_4.0.h
+++ b/sw/airborne/boards/px4fmu_4.0.h
@@ -105,16 +105,16 @@
 
 /* Soft binding Spektrum */
 //ok
-#define RADIO_CONTROL_POWER_PORT GPIOC
-#define RADIO_CONTROL_POWER_PIN GPIO5
-#define RADIO_CONTROL_POWER_ON gpio_set
-#define RADIO_CONTROL_POWER_OFF gpio_clear
+#define RADIO_CONTROL_POWER_PORT GPIOE
+#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER
+#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
+#define RADIO_CONTROL_POWER_OFF gpio_set
 
 
-#define PERIPHERAL3V3_ENABLE_PORT GPIOE
-#define PERIPHERAL3V3_ENABLE_PIN GPIO4
-#define PERIPHERAL3V3_ENABLE_ON gpio_clear // yes, inverted
-#define PERIPHERAL3V3_ENABLE_OFF gpio_set
+#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
+#define PERIPHERAL3V3_ENABLE_PIN GPIO5
+#define PERIPHERAL3V3_ENABLE_ON gpio_set
+#define PERIPHERAL3V3_ENABLE_OFF gpio_clear
 
 /* Turn SBUS invert */
 //ok
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index 7a970b9f11..77a6b78231 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -115,6 +115,10 @@ void mcu_init(void)
 #if defined RADIO_CONTROL_POWER_PORT
   gpio_setup_output(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
   RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+#endif
+#ifdef PERIPHERAL3V3_ENABLE_PORT
+  gpio_setup_output(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);
+  PERIPHERAL3V3_ENABLE_ON(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);
 #endif
   /* for now this means using spektrum */
 #if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC & defined SPEKTRUM_BIND_PIN_PORT
diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c
index 7034d16a61..4bf435da81 100644
--- a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c
+++ b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.c
@@ -33,41 +33,38 @@
 
 #include "mcu_periph/gpio.h"
 
-void spektrum_soft_bind_init(void) {
-    gpio_setup_output(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
-    RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
-
-#ifdef PERIPHERAL3V3_ENABLE_PORT // px4fmu 4 (pixracer) has this
-    gpio_setup_output(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);
-    PERIPHERAL3V3_ENABLE_ON(PERIPHERAL3V3_ENABLE_PORT, PERIPHERAL3V3_ENABLE_PIN);    
-#endif
+void spektrum_soft_bind_init(void) {    
 
 }
 
-uint8_t bind_soft_value;
-void spektrum_soft_bind_click(uint8_t val __attribute__((unused)))
-{
+bool bind_soft_value;
+void spektrum_soft_bind_click(bool val ) {
 #ifndef INTER_MCU_AP
-    send_spektrum_bind();    
+  send_spektrum_bind();
 #else
-  intermcu_send_spektrum_bind();  
+  intermcu_send_spektrum_bind();
 #endif
 
+  bind_soft_value = val;
 }
 
 
 void send_spektrum_bind(void) {
+  //power cycle the spektrum
+#if defined(RADIO_CONTROL_LED)
+  LED_OFF(RADIO_CONTROL_LED);
+#endif
 
-    //power cycle the spektrum
-    RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
-    sys_time_usleep(1000000);
-    RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+  RADIO_CONTROL_POWER_OFF(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+  sys_time_usleep(100000);
+  RADIO_CONTROL_POWER_ON(RADIO_CONTROL_POWER_PORT, RADIO_CONTROL_POWER_PIN);
+#if defined(RADIO_CONTROL_LED)
+  LED_ON(RADIO_CONTROL_LED);
+#endif
 
+  //put to bind mode
+  RADIO_CONTROL_BIND_IMPL_FUNC();    //basically  = radio_control_spektrum_try_bind()
 
-
-    //put to bind mode
-    RADIO_CONTROL_BIND_IMPL_FUNC();    //basically  = radio_control_spektrum_try_bind()
-
-    SpektrumUartInit();
+  SpektrumUartInit();
 
 }
diff --git a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.h b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.h
index 463a568de5..6c88ebb25b 100644
--- a/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.h
+++ b/sw/airborne/modules/spektrum_soft_bind/spektrum_soft_bind_ap.h
@@ -29,11 +29,11 @@
 #include "std.h"
 
 extern void spektrum_soft_bind_init(void);
-extern void spektrum_soft_bind_click(uint8_t val);
+extern void spektrum_soft_bind_click(bool val);
 
 void send_spektrum_bind(void);
 
-extern uint8_t bind_soft_value;
+extern bool bind_soft_value;
 
 #endif