diff --git a/conf/flight_plans/rotorcraft_basic_superbitrf.xml b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
new file mode 100644
index 0000000000..635610b6ae
--- /dev/null
+++ b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
@@ -0,0 +1,113 @@
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+#include "autopilot.h"
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diff --git a/conf/messages.xml b/conf/messages.xml
index 1e38778f87..687c7c3e4d 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1860,7 +1860,13 @@
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diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 5a6916b984..96d9cc0666 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -646,6 +646,14 @@
&guidance_v_delta_t); \
}
+#define PERIODIC_SEND_TUNE_VERT(_trans, _dev) { \
+ DOWNLINK_SEND_TUNE_VERT(_trans, _dev, \
+ &guidance_v_z_sp, \
+ &ins_ltp_pos.z, \
+ &guidance_v_z_ref, \
+ &guidance_v_zd_ref); \
+ }
+
#define PERIODIC_SEND_HOVER_LOOP(_trans, _dev) { \
DOWNLINK_SEND_HOVER_LOOP(_trans, _dev, \
&guidance_h_pos_sp.x, \