diff --git a/conf/airframes/TUDelft/airframes/bebop2_indi.xml b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
index b7f8bfd641..f268b15f75 100644
--- a/conf/airframes/TUDelft/airframes/bebop2_indi.xml
+++ b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
@@ -23,6 +23,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </subsystem>
     <subsystem name="ins" type="extended"/>
+    <subsystem name="guidance" type="indi"/>
   </firmware>
 
   <modules main_freq="512">
@@ -71,7 +72,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
+  <include href="conf/airframes/TUDelft/calibrations/bebop2_$AC_ID.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/calibrations/bebop2_22.xml b/conf/airframes/TUDelft/calibrations/bebop2_22.xml
new file mode 100644
index 0000000000..06bf8b490f
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/bebop2_22.xml
@@ -0,0 +1,20 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+<define name="MAG_X_NEUTRAL" value="-21"/>
+<define name="MAG_Y_NEUTRAL" value="60"/>
+<define name="MAG_Z_NEUTRAL" value="209"/>
+<define name="MAG_X_SENS" value="9.31429497222" integer="16"/>
+<define name="MAG_Y_SENS" value="8.63466075593" integer="16"/>
+<define name="MAG_Z_SENS" value="9.57742148079" integer="16"/>
+
+
+
+    <!-- Magneto current calibration -->
+<define name= "MAG_X_CURRENT_COEF" value="-0.00129333644507"/>
+<define name= "MAG_Y_CURRENT_COEF" value="-0.00180224741034"/>
+<define name= "MAG_Z_CURRENT_COEF" value="0.00514030157101"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/TUDelft/calibrations/bebop2_23.xml b/conf/airframes/TUDelft/calibrations/bebop2_23.xml
new file mode 100644
index 0000000000..a7d5189885
--- /dev/null
+++ b/conf/airframes/TUDelft/calibrations/bebop2_23.xml
@@ -0,0 +1,20 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+<define name="MAG_X_NEUTRAL" value="84"/>
+<define name="MAG_Y_NEUTRAL" value="162"/>
+<define name="MAG_Z_NEUTRAL" value="288"/>
+<define name="MAG_X_SENS" value="10.1024207193" integer="16"/>
+<define name="MAG_Y_SENS" value="10.173893411" integer="16"/>
+<define name="MAG_Z_SENS" value="10.4050606351" integer="16"/>
+
+
+
+    <!-- Magneto current calibration -->
+<define name= "MAG_X_CURRENT_COEF" value="-0.00114859141193"/>
+<define name= "MAG_Y_CURRENT_COEF" value="-0.00265185035686"/>
+<define name= "MAG_Z_CURRENT_COEF" value="0.00405825081846"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/TUDelft/conf.xml b/conf/airframes/TUDelft/conf.xml
index 8e76349dc7..c10055ef18 100644
--- a/conf/airframes/TUDelft/conf.xml
+++ b/conf/airframes/TUDelft/conf.xml
@@ -154,7 +154,7 @@
    gui_color="blue"
   />
   <aircraft
-   name="bebop2"
+   name="bebop2_22"
    ac_id="22"
    airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
    radio="radios/dummy.xml"
@@ -164,6 +164,17 @@
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffff0689b7a1"
   />
+  <aircraft
+   name="bebop2_23"
+   ac_id="23"
+   airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_att_indi.xml [settings/control/stabilization_att_int_quat.xml]"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   gui_color="#ffff0689b7a1"
+  />
   <aircraft
    name="bebop_flip"
    ac_id="3"