diff --git a/conf/airframes/tudelft/rot_wing_v3d.xml b/conf/airframes/tudelft/rot_wing_v3d.xml
index 888a077243..be70849349 100644
--- a/conf/airframes/tudelft/rot_wing_v3d.xml
+++ b/conf/airframes/tudelft/rot_wing_v3d.xml
@@ -202,7 +202,7 @@
      <!-- CAN BUS 1 command outputs-->
     <servos driver="Uavcan1Cmd">
         <servo no="6"  name="SERVO_ELEVATOR"  min="8191"  neutral="8191" max="-3250"/>
-        <servo no="7"  name="SERVO_RUDDER"    min="-3250" neutral="0"    max="3250"/>
+        <servo no="7"  name="SERVO_RUDDER"    min="-6000" neutral="0"    max="3250"/>
     </servos>
 
     <!-- Can bus 2 actuators -->
@@ -319,7 +319,7 @@
         <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
 
         <!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
-        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
+        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.30, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
 
         <!-- Others -->
         <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3f.xml b/conf/airframes/tudelft/rot_wing_v3f.xml
index 0c49a0899c..eff0b161aa 100644
--- a/conf/airframes/tudelft/rot_wing_v3f.xml
+++ b/conf/airframes/tudelft/rot_wing_v3f.xml
@@ -319,7 +319,7 @@
         <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
 
         <!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
-        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
+        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.35, .high_feedback=-0.1, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.20, .high_feedback=0.20, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2000, .timeout=3}}"/>
 
         <!-- Others -->
         <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3h.xml b/conf/airframes/tudelft/rot_wing_v3h.xml
index 8f8648b082..ce5a30ab98 100644
--- a/conf/airframes/tudelft/rot_wing_v3h.xml
+++ b/conf/airframes/tudelft/rot_wing_v3h.xml
@@ -324,7 +324,7 @@
         <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
 
         <!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
-        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
+        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.15, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.20, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2000, .timeout=3}}"/>
 
         <!-- Others -->
         <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>