diff --git a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
index df7868de4e..9862663f79 100644
--- a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
@@ -4,8 +4,7 @@
 AggieAir Atomic Tangerine
 -->
 
-<airframe name="Atomic Tangerine">
-
+<airframe name="AggieAir Atomic Tangerine">
   <firmware name="fixedwing">
     <target name="ap" board="lisa_mx_2.1">
       <module name="radio_control" type="sbus">
@@ -91,7 +90,7 @@ AggieAir Atomic Tangerine
     <servo name="AILERON_LEFT"	no="2" min="2100" neutral="1500" max="900"/>
     <servo name="ELEVATOR"      no="3" min="975" neutral="1500" max="2100"/>
     <servo name="RUDDER"        no="4" min="2100" neutral="1500" max="900"/>
-    <servo name="FLAP"		no="0" min="1900" neutral="1500" max="900"/>
+    <servo name="FLAP"		no="0" min="990" neutral="1945" max="1945"/>
   </servos>
 
   <!-- Servo Command Structure -->
@@ -100,14 +99,14 @@ AggieAir Atomic Tangerine
     <axis name="ROLL"       failsafe_value="0"/>
     <axis name="PITCH"      failsafe_value="0"/>
     <axis name="YAW"          failsafe_value="0"/>
-    <axis name="FLAP"         failsafe_value="0"/>
+    <axis name="FLAP"         failsafe_value="9600"/>
   </commands>
 
   <!-- RC Command Structure -->
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value=" - @PITCH"/>
+    <set command="PITCH"    value="@PITCH"/>
     <set command="YAW"	value="@YAW"/>
     <set command="FLAP"     value="@FLAP"/>
   </rc_commands>
@@ -115,7 +114,6 @@ AggieAir Atomic Tangerine
   <!-- Define RC commands to Servo in Auto Mode -->
   <auto_rc_commands>
     <set command="YAW"  value="@YAW"/>
-    <set command="FLAP"     value="@FLAP"/>
   </auto_rc_commands>
 
   <!-- Define Mixing Parameters -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index feb9ca481a..1cc389dcbe 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -27,7 +27,7 @@
    airframe="airframes/AGGIEAIR/aggieair_atomic_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
-   flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
+   flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
    settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#ffff42870000"
diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index 9e6472ab43..1d4fcfa409 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -22,9 +22,9 @@
     <define name="BAT_CHECKER_DELAY" value="80" /><!-- in seconds-->
     <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" /><!-- in seconds-->
 
-    <module name="telemetry" type="transparent">
+    <module name="telemetry" type="transparent_gec">
       <configure name="MODEM_PORT" value="UART2"/>
-      <configure name="MODEM_BAUD" value="B115200"/>
+      <configure name="MODEM_BAUD" value="B57600"/>
     </module>
 
     <module name="imu" type="px4fmu_v2.4"/>
diff --git a/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml b/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml
new file mode 100644
index 0000000000..f8a8383dd6
--- /dev/null
+++ b/conf/flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml
@@ -0,0 +1,100 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<flight_plan alt="1550" ground_alt="1350" lat0="41.742897" lon0="-111.806986" max_dist_from_home="1600" name="BasicTuning" security_height="25" home_mode_height="200" qfu="90" geofence_sector="FlightArea" geofence_max_alt="2000" geofence_max_height="500">
+  <header>
+#include "subsystems/datalink/datalink.h"
+</header>
+  <waypoints>
+    <waypoint alt="1545.0" name="HOME" x="1006.3" y="-116.4"/>
+    <waypoint alt="1346.0" name="Bungee" x="1010.2" y="-266.0"/>
+    <waypoint alt="1545.0" name="STDBY" x="791.0" y="-215.8"/>
+    <waypoint alt="1547.0" name="1" x="1000.0" y="308.8"/>
+    <waypoint alt="1544.0" name="2" x="996.1" y="-541.7"/>
+    <waypoint alt="1793.0" name="S1" x="877.1" y="1093.2"/>
+    <waypoint alt="1793.0" name="_S2" x="2124.9" y="1115.0"/>
+    <waypoint alt="1793.0" name="_S3" x="2124.9" y="-668.0"/>
+    <waypoint alt="1793.0" name="_S4" x="877.1" y="-660.8"/>
+    <waypoint name="_P1" x="-1013.7" y="-2188.7"/>
+    <waypoint name="_P2" x="-999.8" y="1849.7"/>
+    <waypoint name="_P3" x="3104.1" y="1776.1"/>
+    <waypoint name="_P4" x="2772.9" y="-2236.1"/>
+    <waypoint alt="1404.0" name="AF" x="656.6" y="-321.0"/>
+    <waypoint alt="1347.0" name="TD" x="1155.4" y="-354.1"/>
+    <waypoint name="CLIMB" x="1142.0" y="-97.9"/>
+    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
+    <waypoint name="PAYLOAD" x="100" y="50"/>
+  </waypoints>
+  <sectors>
+    <sector name="Section1">
+      <corner name="S1"/>
+      <corner name="_S2"/>
+      <corner name="_S3"/>
+      <corner name="_S4"/>
+    </sector>
+    <sector name="FlightArea" color="red">
+      <corner name="_P1"/>
+      <corner name="_P2"/>
+      <corner name="_P3"/>
+      <corner name="_P4"/>
+    </sector>
+  </sectors>
+  <includes>
+    <include name="L" procedure="AGGIEAIR/aggieair_landing.xml"/>
+  </includes>
+  <exceptions>
+    <exception cond="InsideFlightArea(GetPosX(), GetPosY()) == FALSE" deroute="Go Home"/>
+  </exceptions>
+  <blocks>
+    <block name="Wait GPS">
+      <set value="1" var="autopilot.kill_throttle"/>
+      <while cond="!GpsFixValid()"/>
+    </block>
+    <block name="Geo init">
+      <call_once fun="NavSetGroundReferenceHere()"/>
+    </block>
+    <block name="Setup Wait">
+      <set value="1" var="autopilot.kill_throttle"/>
+      <while cond="TRUE"/>
+    </block>
+    <block name="Launch" strip_button="TakeOff (wp CLIMB)" strip_icon="takeoff.png">
+      <set value="0" var="autopilot.kill_throttle"/>
+      <call_once fun="nav_launcher_setup()"/>
+      <call fun="nav_launcher_run()"/>
+      <deroute block="Standby"/>
+    </block>
+    <block name="CircleUpTo1000">
+      <circle alt="2350" radius="500" wp="STDBY"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <circle radius="200" wp="STDBY"/>
+    </block>
+    <block name="StandbyLeft">
+      <circle radius="-200" wp="STDBY"/>
+    </block>
+    <block name="Figure 8 around Standby" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
+      <eight center="STDBY" radius="nav_radius" turn_around="1"/>
+    </block>
+    <block name="Small Figure 8 around Standby" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
+      <eight center="STDBY" radius="25" turn_around="1"/>
+    </block>
+    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
+      <oval p1="1" p2="2" radius="nav_radius"/>
+    </block>
+    <block name="Poly Survey">
+      <call_once fun="nav_survey_poly_osam_setup(WP_S1, 4, 200, 90)"/>
+      <exception cond="PolySurveySweepBackNum >=1" deroute="Standby"/>
+      <call fun="nav_survey_poly_osam_run()"/>
+    </block>
+    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
+      <call_once fun="nav_line_setup()"/>
+      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
+    </block>
+    <block name="Flower">
+      <call_once fun="nav_flower_setup(WP_1,WP_2)"/>
+      <call fun="nav_flower_run()"/>
+    </block>
+    <block name="Go Home">
+      <circle radius="nav_radius" wp="HOME"/>
+    </block>
+  </blocks>
+</flight_plan>
diff --git a/conf/radios/AGGIEAIR/aggieair_taranis.xml b/conf/radios/AGGIEAIR/aggieair_taranis.xml
index 9b832963ea..a338e503b4 100644
--- a/conf/radios/AGGIEAIR/aggieair_taranis.xml
+++ b/conf/radios/AGGIEAIR/aggieair_taranis.xml
@@ -24,10 +24,10 @@ Note: a command may be reversed by exchanging min and max values
 <radio name="Taranis" data_min="987" data_max="2012" sync_min ="5000" sync_max ="15000" pulse_type="POSITIVE">
  <channel ctl="1"  function="THROTTLE"     min="990" neutral="990" max="2012" average="0"/>
  <channel ctl="2"  function="ROLL"         min="990" neutral="1500" max="2012" average="0"/>
- <channel ctl="3"  function="PITCH"        min="990" neutral="1500" max="2012" average="0"/>
+ <channel ctl="3"  function="PITCH"        min="2012" neutral="1500" max="990" average="0"/>
  <channel ctl="4"  function="YAW"          min="990" neutral="1500" max="2012" average="0"/>
  <channel ctl="5"  function="SWITCH_A"     min="990" neutral="1500" max="2012" average="1"/>
- <channel ctl="6"  function="FLAP"         min="990" neutral="1500" max="2012" average="1"/>
+ <channel ctl="6"  function="FLAP"         min="2012" neutral="1500" max="990" average="1"/>
  <channel ctl="7"  function="SWITCH_C"     min="990" neutral="1500" max="2012" average="1"/>
  <channel ctl="8"  function="MODE"         min="2012" neutral="1500" max="990" average="1"/>
  <channel ctl="9"  function="SWITCH_E"     min="990" neutral="1500" max="2012" average="1"/>