diff --git a/conf/airframes/slayer2.xml b/conf/airframes/slayer2.xml
index 60e66fd524..74627dbc9e 100644
--- a/conf/airframes/slayer2.xml
+++ b/conf/airframes/slayer2.xml
@@ -110,6 +110,8 @@
     <define name="GLIDE_AIRSPEED" value="12.5"/>
     <define name="GLIDE_VSPEED" value="2."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+    <define name="TELEMETRY_MODE_AP" value="1"/>
   </section>
 
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
diff --git a/conf/airframes/solarstorm.xml b/conf/airframes/solarstorm.xml
index 6ed5b4209d..7ea20d480e 100644
--- a/conf/airframes/solarstorm.xml
+++ b/conf/airframes/solarstorm.xml
@@ -17,9 +17,8 @@
 <!-- commands section -->
   <servos>
     <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
-    <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1370" max="1000"/>
-    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1515" max="1870"/>
-    <servo name="HATCH" no="6" min="1350" neutral="1900" max="1900"/>
+    <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
   </servos>
 
   <commands>
@@ -33,7 +32,6 @@
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL" value="@ROLL"/>
     <set command="PITCH" value="@PITCH"/>
-    <set command="HATCH" value="@GAIN1"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -46,7 +44,6 @@
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
     <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="HATCH" value="@HATCH"/>
     <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
   </command_laws>
@@ -82,7 +79,7 @@
     <define name="TOP_SIGN" value="-1"/>
 
     <define name="ROLL_NEUTRAL_DEFAULT" value="3.49504256248" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.114591561258" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="8.42247962952" unit="deg"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
@@ -91,14 +88,12 @@
   </section>
 
  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="492"/>
-    <define name="ADC_TEMP_NEUTRAL" value="512"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_ROLL_NEUTRAL" value="512"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/> 
   </section>
 
   <section name="BAT">
@@ -129,7 +124,7 @@
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.356000006199"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -150,9 +145,9 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.23500001431"/>
+    <define name="COURSE_PGAIN" value="-0.885999977589"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
@@ -232,9 +227,9 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
 #ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
-#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/flight_plans/EMAV2009_data.xml b/conf/flight_plans/EMAV2009_data.xml
new file mode 100644
index 0000000000..3ddf2323e9
--- /dev/null
+++ b/conf/flight_plans/EMAV2009_data.xml
@@ -0,0 +1,46 @@
+<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
+
+<procedure>
+  <waypoints>
+    <waypoint lat="52.38252048723831" lon="5.897420494955952" name="_CENTER" alt="100"/>
+    <waypoint lat="52.39223341391188" lon="5.891920215186895" name="_G1"/>
+    <waypoint lat="52.38457192890880" lon="5.905759083500732" name="_G2"/>
+    <waypoint lat="52.37522867761314" lon="5.891055906501672" name="_G3"/>
+    <waypoint lat="52.38389131932532" lon="5.876775757075523" name="_G4"/>
+    <waypoint lat="52.39502349675812" lon="5.890603491493776" name="_R1"/>
+    <waypoint lat="52.38568420330603" lon="5.907529980510587" name="_R2"/>
+    <waypoint lat="52.37341656154337" lon="5.888204759419744" name="_R3"/>
+    <waypoint lat="52.38371772691826" lon="5.870010280721401" name="_R4"/>
+    <waypoint lat="52.38833565818008" lon="5.888958356099608" name="_S1"/>
+    <waypoint lat="52.38741511939426" lon="5.896820110526804" name="_S2"/>
+    <waypoint lat="52.38344448233852" lon="5.895558989657886" name="_S3"/>
+    <waypoint lat="52.38442017389706" lon="5.887661800773984" name="_S4"/>
+    <waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
+    <waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
+    <waypoint name="BALLOON" x="27.1" y="41.9"/>
+    <waypoint name="ARCH" x="6.5" y="33.2"/>
+    <waypoint name="DROP_RED" x="-14.5" y="28.3"/>
+    <waypoint name="DROP_BLUE" x="-23.5" y="-0.6"/>
+  </waypoints>
+
+  <sectors>
+    <sector name="Red" color="red">
+      <corner name="_R1"/>
+      <corner name="_R2"/>
+      <corner name="_R3"/>
+      <corner name="_R4"/>
+    </sector>
+    <sector name="Green" color="green">
+      <corner name="_G1"/>
+      <corner name="_G2"/>
+      <corner name="_G3"/>
+      <corner name="_G4"/>
+    </sector>
+    <sector name="Search">
+      <corner name="_S1"/>
+      <corner name="_S2"/>
+      <corner name="_S3"/>
+      <corner name="_S4"/>
+    </sector>
+  </sectors>
+</procedure>
diff --git a/conf/flight_plans/EMAV2009_safety.xml b/conf/flight_plans/EMAV2009_safety.xml
index d90d1f9c05..ff79bc3e69 100644
--- a/conf/flight_plans/EMAV2009_safety.xml
+++ b/conf/flight_plans/EMAV2009_safety.xml
@@ -1,45 +1,6 @@
 <!DOCTYPE procedure SYSTEM "flight_plan.dtd">
 
 <procedure>
-  <waypoints>
-    <waypoint lat="52.38252048723831" lon="5.897420494955952" name="_CENTER" alt="100"/>
-    <waypoint lat="52.39223341391188" lon="5.891920215186895" name="_G1"/>
-    <waypoint lat="52.38457192890880" lon="5.905759083500732" name="_G2"/>
-    <waypoint lat="52.37522867761314" lon="5.891055906501672" name="_G3"/>
-    <waypoint lat="52.38389131932532" lon="5.876775757075523" name="_G4"/>
-    <waypoint lat="52.39502349675812" lon="5.890603491493776" name="_R1"/>
-    <waypoint lat="52.38568420330603" lon="5.907529980510587" name="_R2"/>
-    <waypoint lat="52.37341656154337" lon="5.888204759419744" name="_R3"/>
-    <waypoint lat="52.38371772691826" lon="5.870010280721401" name="_R4"/>
-    <waypoint lat="52.38833565818008" lon="5.888958356099608" name="_S1"/>
-    <waypoint lat="52.38741511939426" lon="5.896820110526804" name="_S2"/>
-    <waypoint lat="52.38344448233852" lon="5.895558989657886" name="_S3"/>
-    <waypoint lat="52.38442017389706" lon="5.887661800773984" name="_S4"/>
-    <waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
-    <waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
-  </waypoints>
-
-  <sectors>
-    <sector name="Red" color="red">
-      <corner name="_R1"/>
-      <corner name="_R2"/>
-      <corner name="_R3"/>
-      <corner name="_R4"/>
-    </sector>
-    <sector name="Green" color="green">
-      <corner name="_G1"/>
-      <corner name="_G2"/>
-      <corner name="_G3"/>
-      <corner name="_G4"/>
-    </sector>
-    <sector name="Search">
-      <corner name="_S1"/>
-      <corner name="_S2"/>
-      <corner name="_S3"/>
-      <corner name="_S4"/>
-    </sector>
-  </sectors>
-
   <exceptions>
     <exception cond="Or(! InsideGreen(estimator_x, estimator_y), estimator_z > ground_alt + 150)" deroute="Center"/>
   </exceptions>
diff --git a/conf/flight_plans/poles.xml b/conf/flight_plans/poles.xml
index 2789c36e4e..fad085ec5e 100644
--- a/conf/flight_plans/poles.xml
+++ b/conf/flight_plans/poles.xml
@@ -44,13 +44,21 @@
       <call fun="nav_poles_init(WP_1, WP_2, WP_C1, WP_C2, nav_radius)"/>
       <oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
     </block>
-    <block name="Drop">
+    <block name="Goto Target">
       <go wp="TARGET" approaching_time="0"/>
-      <set value="MAX_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
     </block>
-    <block name="Poles 2" pre_call="nav_ground_speed_loop()">
+    <block name="Drop">
+      <set value="MIN_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
+    </block>
+    <block name="Poles 2">
       <oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
+   </block>
+
+    <block name="Auto pitch (circle wp 1)">
+      <circle pitch="auto" radius="nav_radius" throttle="0.45" wp="1"/>
     </block>
+
+
     <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
       <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
       <deroute block="land"/>
diff --git a/conf/modules/MPPT.xml b/conf/modules/MPPT.xml
index 484b2543c1..d949284a11 100644
--- a/conf/modules/MPPT.xml
+++ b/conf/modules/MPPT.xml
@@ -5,7 +5,7 @@
     <file name="MPPT.h"/>
   </header>
   <init fun="MPPT_init()"/>
-  <periodic fun="MPPT_periodic()" freq="4." delay="4" autorun="TRUE"/>
+  <periodic fun="MPPT_periodic()" freq="8." delay="4" autorun="TRUE"/>
   <makefile target="ap">
     <file name="MPPT.c"/>
   </makefile>
diff --git a/conf/telemetry/fw_h_ctl_a.xml b/conf/telemetry/fw_h_ctl_a.xml
index c0c56f9cb2..f8b3dc8d19 100644
--- a/conf/telemetry/fw_h_ctl_a.xml
+++ b/conf/telemetry/fw_h_ctl_a.xml
@@ -18,7 +18,7 @@
       <message name="DOWNLINK"       period="5.1"/>
       <message name="DL_VALUE"       period="1.5"/>
       <message name="IR_SENSORS"     period="1.2"/>
-      <message name="GYRO_RATES"     period="0.05"/>
+      <message name="GYRO_RATES"     period="0.2"/>
       <message name="SURVEY"         period="2.1"/>
       <message name="GPS_SOL"        period="2.0"/>
     </mode>