diff --git a/conf/airframes/tudelft/fan_demo.xml b/conf/airframes/tudelft/fan_demo.xml
index fa1f151b67..61805cf5f8 100644
--- a/conf/airframes/tudelft/fan_demo.xml
+++ b/conf/airframes/tudelft/fan_demo.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="bebop_indi">
+<airframe name="fan_demo">
 
   <firmware name="rotorcraft">
     <target name="ap" board="bebop"/>
@@ -36,6 +36,19 @@
     </module-->
   </firmware>
 
+  <section name="gyro_scaling">
+    <define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
+    <define name="IMU_GYRO_P_SENS" value="4.359"/>
+    <define name="IMU_GYRO_Q_SENS" value="4.359"/>
+    <define name="IMU_GYRO_R_SENS" value="4.359"/>
+    <define name="IMU_GYRO_P_SENS_NUM" value="4359"/>
+    <define name="IMU_GYRO_Q_SENS_NUM" value="4359"/>
+    <define name="IMU_GYRO_R_SENS_NUM" value="4359"/>
+    <define name="IMU_GYRO_P_SENS_DEN" value="1000"/>
+    <define name="IMU_GYRO_Q_SENS_DEN" value="1000"/>
+    <define name="IMU_GYRO_R_SENS_DEN" value="1000"/>
+  </section>
+
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
diff --git a/conf/flight_plans/tudelft/fan_demo.xml b/conf/flight_plans/tudelft/fan_demo.xml
index 3de9de16f3..7b7484fd1d 100644
--- a/conf/flight_plans/tudelft/fan_demo.xml
+++ b/conf/flight_plans/tudelft/fan_demo.xml
@@ -10,8 +10,8 @@
     <waypoint name="GOAL" x="2.0" y="2.0"/>
     <waypoint name="STDBY" x="-0.7" y="-0.8"/>
     <waypoint name="TD" x="-0.9" y="0.0"/>
-    <waypoint lat="51.990620" lon="4.376805" name="p1"/>
-    <waypoint lat="51.990611" lon="4.376783" name="p2"/>
+    <waypoint lat="51.9906079" lon="4.3767862" name="p1"/>
+    <waypoint lat="51.9906019" lon="4.3767733" name="p2"/>
     <waypoint lat="51.9906213" lon="4.3768628" name="FA1"/>
     <waypoint lat="51.9905874" lon="4.3767766" name="FA2"/>
     <waypoint lat="51.9906409" lon="4.3767226" name="FA3"/>
@@ -39,7 +39,7 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="Standby"/>
+      <exception cond="stateGetPositionEnu_f()->z > 0.3" deroute="stay_p1"/>
       <call_once fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay wp="CLIMB"/>
     </block>