diff --git a/conf/airframes/tudelft/rotwing5.xml b/conf/airframes/tudelft/rotwing5.xml
index e3fbf3fc4d..3799450579 100644
--- a/conf/airframes/tudelft/rotwing5.xml
+++ b/conf/airframes/tudelft/rotwing5.xml
@@ -141,7 +141,6 @@
         <!-- Other -->
         <module name="sys_id_doublet"/>
         <module name="sys_id_auto_doublets"/>
-        <module name="rotwing_automation"/>
         <module name="ground_detect"/>
         <module name="rotwing_state"/>
         <module name="preflight_checks">
diff --git a/conf/modules/rotwing_automation.xml b/conf/modules/rotwing_automation.xml
deleted file mode 100644
index 2d87d275e6..0000000000
--- a/conf/modules/rotwing_automation.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-<module name="rotwing_automation" dir="rotwing_drone">
-  <doc>
-    <description>Functions to automate the navigation and guidance of the rotating wing drone</description>
-    <section name="ROTWING_AUTOMATION" prefix="ROTWING_AUTOMATION_">
-      <define name="TRANS_ACCEL" value="1.0" description="Longitudinal maximum acceleration during a transition"/>
-      <define name="TRANS_DECEL" value="0.5" description="Longitudinal maximum deceleration during a transition"/>
-      <define name="TRANS_LENGTH" value="200.0" description="Maximum transition distance (at which to draw waypoints)"/>
-      <define name="TRANS_AIRSPEED" value="" description="Airspeed threshold above which the  transiton is considered complete"/>
-      <define name="ROTWING_AUTOMATION_WIND_FILT_CUTOFF" value="0.001" description="Wind low-pass filtering cutoff frequency"/>
-    </section>
-  </doc>
-  <settings>
-    <dl_settings>
-      <dl_settings NAME="transition">
-        <dl_setting var="rotwing_a.trans_accel" min="0.1" max="5.0" step="0.1" shortname="trans_accel" param="ROTWING_AUTOMATION_TRANS_ACCEL"/>
-        <dl_setting var="rotwing_a.trans_decel" min="0.1" max="5.0" step="0.1" shortname="trans_decel" param="ROTWING_AUTOMATION_TRANS_DECEL"/>
-        <dl_setting var="rotwing_a.trans_length" min="10" max="500." step="1.0" shortname="trans_distance" param="ROTWING_AUTOMATION_TRANS_LENGTH"/>
-        <dl_setting var="rotwing_a.trans_airspeed" min="10.0" max="20.0" step="0.1" shortname="trans_airspeed" param="ROTWING_AUTOMATION_TRANS_AIRSPEED"/>
-      </dl_settings>
-    </dl_settings>
-  </settings>
-  <header>
-    <file name="rotwing_automation.h"/>
-  </header>
-    <init fun="init_rotwing_automation()"/>
-    <periodic fun="periodic_rotwing_automation()" freq="10."/>
-  <makefile>
-    <file name="rotwing_automation.c"/>
-  </makefile>
-</module>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
index 8e6cc783cb..c14986e55d 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
@@ -46,7 +46,6 @@ extern float thrust_bx_state_filt;
 
 extern float act_pref[INDI_NUM_ACT];
 
-extern float indi_Wu[INDI_NUM_ACT];
 struct Indi_gains {
   struct FloatRates att;
   struct FloatRates rate;
diff --git a/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c b/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
index f4a8bd5ce4..6421f4f4ab 100644
--- a/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
+++ b/sw/airborne/modules/ctrl/eff_scheduling_nederdrone.c
@@ -32,7 +32,7 @@ not use this module at the same time!
 #include "state.h"
 #include "autopilot.h"
 #include "modules/radio_control/radio_control.h"
-#include "generated/radio.h"
+//#include "generated/radio.h"
 #include "modules/actuators/actuators.h"
 #define INDI_SCHEDULING_LOWER_BOUND_G1 0.0001
 
@@ -232,15 +232,15 @@ void schdule_control_effectiveness(void) {
   if(airspeed > 15.0) {
     uint8_t i;
     for (i = 0; i < 4; i++) {
-      indi_Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
+      wls_stab_p.Wu[i] = indi_Wu_original[i]*pref_flaps_factor;
     }
     for (i = 4; i < 8; i++) {
-      indi_Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
+      wls_stab_p.Wu[i] = indi_Wu_original[i]/pref_flaps_factor;
     }
   } else {
     uint8_t i;
     for (i = 0; i < 8; i++) {
-      indi_Wu[i] = indi_Wu_original[i];
+      wls_stab_p.Wu[i] = indi_Wu_original[i];
     }
   }
 }