diff --git a/sw/airborne/bomb.c b/sw/airborne/bomb.c
index 36c1d83787..d067880fb9 100644
--- a/sw/airborne/bomb.c
+++ b/sw/airborne/bomb.c
@@ -22,7 +22,7 @@ float bomb_trigger_delay = TRIGGER_DELAY;
 float airspeed = 14.;
 float bomb_start_qdr;
 
-#define CLIMB_TIME 5  /* s */
+#define CLIMB_TIME 3  /* s */
 #define SAFE_CLIMB 20 /* m */
 
 static float bomb_x, bomb_y, bomb_z;
@@ -85,7 +85,7 @@ unit_t bomb_update_release( uint8_t wp_target ) {
 
 /** Compute a first approximation for the RELEASE waypoint from wind and
     expected airspeed and altitude */
-unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start ) {
+unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start, float bomb_radius ) {
   waypoints[WP_RELEASE].a = waypoints[wp_start].a;
   bomb_z = waypoints[WP_RELEASE].a - waypoints[wp_target].a;
   bomb_x = 0.;
@@ -101,10 +101,12 @@ unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start ) {
   float x1 = x_0 / d;
   float y_1 = y_0 / d;
 
-  waypoints[WP_BASELEG].x = waypoints[wp_start].x + y_1 * BOMB_RADIUS;
-  waypoints[WP_BASELEG].y = waypoints[wp_start].y - x1 * BOMB_RADIUS;
+  waypoints[WP_BASELEG].x = waypoints[wp_start].x + y_1 * bomb_radius;
+  waypoints[WP_BASELEG].y = waypoints[wp_start].y - x1 * bomb_radius;
   waypoints[WP_BASELEG].a = waypoints[wp_start].a;
   bomb_start_qdr = M_PI - atan2(-y_1, -x1);
+  if (bomb_radius < 0) 
+    bomb_start_qdr += M_PI;
 
   bomb_vx = x1 * airspeed + wind_east;
   bomb_vy = y_1 * airspeed + wind_north;
@@ -115,8 +117,8 @@ unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start ) {
 
   integrate(wp_target);
 
-  waypoints[WP_CLIMB].x = waypoints[WP_RELEASE].x + CLIMB_TIME * vx0;
-  waypoints[WP_CLIMB].y = waypoints[WP_RELEASE].y + CLIMB_TIME * vy0;
+  waypoints[WP_CLIMB].x = waypoints[WP_RELEASE].x + (CLIMB_TIME + CARROT) * vx0;
+  waypoints[WP_CLIMB].y = waypoints[WP_RELEASE].y + (CLIMB_TIME + CARROT) * vy0;
   waypoints[WP_CLIMB].a = waypoints[WP_RELEASE].a + SAFE_CLIMB;
 
   return 0;
@@ -129,4 +131,22 @@ unit_t bomb_shoot( void ) {
   return 0;
 }
 
+/* Compute start and end waypoints to be aligned on w1-w2 */
+bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t wp_before, uint8_t wp_after, float d_before, float d_after) {
+  float x_0 = waypoints[w2].x - waypoints[w1].x;
+  float y_0 = waypoints[w2].y - waypoints[w1].y;
+
+  /* Unit vector from W1 to W2 */
+  float d = sqrt(x_0*x_0+y_0*y_0);
+  x_0 /= d;
+  y_0 /= d;
+
+  waypoints[wp_before].x = waypoints[w1].x - d_before * x_0;
+  waypoints[wp_before].y = waypoints[w1].y - d_before * y_0;
+  waypoints[wp_after].x = waypoints[w2].x + d_after * x_0;
+  waypoints[wp_after].y = waypoints[w2].y + d_after * y_0;
+
+  return FALSE;
+}
+
 #endif /* WP_RELEASE */
diff --git a/sw/airborne/bomb.h b/sw/airborne/bomb.h
index 131a830ec4..a7c23435ed 100644
--- a/sw/airborne/bomb.h
+++ b/sw/airborne/bomb.h
@@ -1,15 +1,16 @@
 #ifndef BOMB_H
 #define BOMB_H
 
-#define BOMB_RADIUS 100
+#define MY_BOMB_RADIUS DEFAULT_CIRCLE_RADIUS
 
-extern unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start );
+extern unit_t bomb_compute_approach( uint8_t wp_target, uint8_t wp_start, float radius );
 extern unit_t bomb_update_release( uint8_t wp_target );
 extern unit_t bomb_shoot( void );
 extern float bomb_trigger_delay, bomb_start_qdr;
+extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after);
 
 
-#define BombComputeApproach(_target, _start) bomb_compute_approach(_target, _start)
+#define BombComputeApproach(_target, _start, _radius) bomb_compute_approach(_target, _start, _radius)
 #define BombUpdateRelease(_wp) bomb_update_release(_wp)
 #define BombReadyToShoot() bomb_ready_to_shoot()
 #define BombShoot() bomb_shoot()