diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index 128de52644..1cd09a6341 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -213,8 +213,8 @@
    ac_id="6"
    airframe="airframes/TUDELFT/tudelft_outback.xml"
    radio="radios/dummy.xml"
-   telemetry="telemetry/rotorcraft_with_logger.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
+   telemetry="telemetry/TUDELFT/tudelft_outback.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_outback.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml"
    settings_modules="modules/opa_controller.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffdffac31f"
diff --git a/conf/airframes/TUDELFT/tudelft_outback.xml b/conf/airframes/TUDELFT/tudelft_outback.xml
index f06e3cbe35..c59bb8eef6 100644
--- a/conf/airframes/TUDELFT/tudelft_outback.xml
+++ b/conf/airframes/TUDELFT/tudelft_outback.xml
@@ -23,7 +23,7 @@
       <module name="imu"           type="mpu6000"/>
       <module name="gps"           type="ublox"/>
       <module name="stabilization" type="int_quat"/>
-       <module name="stabilization" type="rate"/>
+      <module name="stabilization" type="rate"/>
       <module name="ahrs"          type="int_cmpl_quat"/>
       <module name="ins"           type="hff"/>
       <module name="guidance"      type="indi"/>
diff --git a/conf/flight_plans/TUDELFT/tudelft_delft_basic.xml b/conf/flight_plans/TUDELFT/tudelft_delft_basic.xml
index 0629bc9c9f..023fe9fd36 100644
--- a/conf/flight_plans/TUDELFT/tudelft_delft_basic.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_delft_basic.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
-<flight_plan alt="5" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="60" name="Delft Basic" security_height="2">
+<flight_plan alt="4" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="60" name="Delft Basic" security_height="2">
   <header>
 #include "autopilot.h"
 </header>
@@ -12,12 +12,9 @@
     <waypoint name="p2" x="-0.6" y="21.6"/>
     <waypoint name="p3" x="22.2" y="-26.5"/>
     <waypoint name="p4" x="4.9" y="-34.4"/>
+    <waypoint name="CAM" x="14.2" y="-29.4"/>
     <waypoint name="TD" x="5.6" y="-10.9"/>
   </waypoints>
-  <modules>
-    <!-- extra navigation routines -->
-    <module name="nav" type="heli_spinup"/>
-  </modules>
   <blocks>
     <block name="Wait GPS">
       <call fun="NavKillThrottle()"/>
@@ -26,30 +23,19 @@
     <block name="Geo init">
       <while cond="LessThan(NavBlockTime(), 10)"/>
       <call fun="NavSetGroundReferenceHere()"/>
-      <call fun="nav_set_heading_current()"/>
     </block>
     <block name="Holding point">
       <call fun="NavKillThrottle()"/>
-      <manual pitch="0" roll="0" yaw="0" throttle="0" until="FALSE" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Start Engine">
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <call fun="nav_heli_spinup_setup(7, 0.15)" loop="false"/>
       <call fun="NavResurrect()"/>
-      <call fun="nav_heli_spinup_run()"/>
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="stage_time>7" vmode="throttle"/>
-      <call fun="nav_throttle_curve_set(2)" loop="false"/>
-      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="stage_time>3" vmode="throttle"/>
-    </block>
-    <block name="Hold Attitude">
-      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="FALSE" vmode="throttle"/>
+      <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 > 2.0" deroute="Standby"/>
-      <call fun="nav_set_heading_current()"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
-      <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
+      <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="Standby" strip_button="Standby" strip_icon="home.png">
       <stay wp="STDBY"/>
@@ -63,7 +49,7 @@
     </block>
     <block name="line_p1_p2">
       <go from="p1" hmode="route" wp="p2"/>
-      <stay wp="p2" until="stage_time>10"/>
+      <stay until="stage_time>10" wp="p2"/>
       <go from="p2" hmode="route" wp="p1"/>
       <deroute block="stay_p1"/>
     </block>
@@ -73,6 +59,16 @@
       <go from="p4" hmode="route" wp="p1"/>
       <deroute block="stay_p1"/>
     </block>
+    <block name="test yaw">
+      <go wp="p1"/>
+      <for from="1" to="16" var="i">
+        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
+      </for>
+      <deroute block="Standby"/>
+    </block>
+    <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
+      <circle radius="nav_radius" wp="CAM"/>
+    </block>
     <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
       <call fun="NavSetWaypointHere(WP_TD)"/>
     </block>
@@ -86,7 +82,7 @@
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
     <block name="landed">
-      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml b/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml
index 8e2138a07d..0629bc9c9f 100644
--- a/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
-<flight_plan alt="4" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="60" name="Delft Basic" security_height="2">
+<flight_plan alt="5" ground_alt="0" lat0="51 59 27.6" lon0="4 22 42.0" max_dist_from_home="60" name="Delft Basic" security_height="2">
   <header>
 #include "autopilot.h"
 </header>
@@ -12,7 +12,6 @@
     <waypoint name="p2" x="-0.6" y="21.6"/>
     <waypoint name="p3" x="22.2" y="-26.5"/>
     <waypoint name="p4" x="4.9" y="-34.4"/>
-    <waypoint name="CAM" x="14.2" y="-29.4"/>
     <waypoint name="TD" x="5.6" y="-10.9"/>
   </waypoints>
   <modules>
@@ -20,13 +19,14 @@
     <module name="nav" type="heli_spinup"/>
   </modules>
   <blocks>
-    <!--block name="Wait GPS">
+    <block name="Wait GPS">
       <call fun="NavKillThrottle()"/>
       <while cond="!GpsFixValid()"/>
-    </block-->
+    </block>
     <block name="Geo init">
       <while cond="LessThan(NavBlockTime(), 10)"/>
       <call fun="NavSetGroundReferenceHere()"/>
+      <call fun="nav_set_heading_current()"/>
     </block>
     <block name="Holding point">
       <call fun="NavKillThrottle()"/>
@@ -34,15 +34,20 @@
     </block>
     <block name="Start Engine">
       <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <call fun="nav_heli_spinup_setup(10, 0.3)" loop="false"/>
+      <call fun="nav_heli_spinup_setup(7, 0.15)" loop="false"/>
       <call fun="NavResurrect()"/>
       <call fun="nav_heli_spinup_run()"/>
+      <call fun="nav_throttle_curve_set(1)" loop="false"/>
+      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="stage_time>7" vmode="throttle"/>
+      <call fun="nav_throttle_curve_set(2)" loop="false"/>
+      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="stage_time>3" vmode="throttle"/>
     </block>
     <block name="Hold Attitude">
-      <manual pitch="0" roll="0" yaw="0" throttle="0.3" until="FALSE" vmode="throttle"/>
+      <manual pitch="0" roll="0" yaw="0" throttle="0.15" until="FALSE" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
       <exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
+      <call fun="nav_set_heading_current()"/>
       <call fun="NavSetWaypointHere(WP_CLIMB)"/>
       <stay vmode="climb" climb="nav_climb_vspeed" wp="CLIMB"/>
     </block>
@@ -53,7 +58,6 @@
       <stay wp="p1"/>
     </block>
     <block name="go_p2">
-      <call fun="nav_set_heading_deg(90)"/>
       <go wp="p2"/>
       <deroute block="stay_p1"/>
     </block>
@@ -69,16 +73,6 @@
       <go from="p4" hmode="route" wp="p1"/>
       <deroute block="stay_p1"/>
     </block>
-    <block name="test yaw">
-      <go wp="p1"/>
-      <for from="1" to="16" var="i">
-        <heading alt="WaypointAlt(WP_p1)" course="90 * $i" until="stage_time > 3"/>
-      </for>
-      <deroute block="Standby"/>
-    </block>
-    <block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
-      <circle radius="nav_radius" wp="CAM"/>
-    </block>
     <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
       <call fun="NavSetWaypointHere(WP_TD)"/>
     </block>
@@ -92,7 +86,7 @@
       <stay climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
     </block>
     <block name="landed">
-      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
     </block>
   </blocks>
 </flight_plan>
diff --git a/conf/telemetry/TUDELFT/tudelft_outback.xml b/conf/telemetry/TUDELFT/tudelft_outback.xml
new file mode 100644
index 0000000000..aff9583c7a
--- /dev/null
+++ b/conf/telemetry/TUDELFT/tudelft_outback.xml
@@ -0,0 +1,162 @@
+<?xml version="1.0"?>
+<!DOCTYPE telemetry SYSTEM "../telemetry.dtd">
+<telemetry>
+
+
+  <process name="Main">
+
+    <mode name="default" key_press="d">
+      <message name="AUTOPILOT_VERSION"      period="11.1"/>
+      <message name="DL_VALUE"               period="1.1"/>
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="ROTORCRAFT_FP"          period="0.25"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="INS_REF"                period="5.1"/>
+      <message name="ROTORCRAFT_NAV_STATUS"  period="1.6"/>
+      <message name="WP_MOVED"               period="1.3"/>
+      <message name="ROTORCRAFT_CAM"         period="1."/>
+      <message name="GPS_INT"                period=".25"/>
+      <message name="INS"                    period=".25"/>
+      <message name="I2C_ERRORS"             period="4.1"/>
+      <message name="UART_ERRORS"            period="3.1"/>
+      <message name="SUPERBITRF"             period="3"/>
+      <message name="ENERGY"                 period="2.5"/>
+      <message name="DATALINK_REPORT"        period="5.1"/>
+      <message name="STATE_FILTER_STATUS"    period="3.2"/>
+      <message name="AIR_DATA"               period="1.3"/>
+      <message name="SURVEY"                 period="2.5"/>
+      <message name="OPTIC_FLOW_EST"         period="0.25"/>
+      <message name="VECTORNAV_INFO"         period="0.5"/>
+      <message name="TEMP_ADC"               period="3.0"/>
+      <message name="FBW_STATUS"             period="2.0"/>
+      <message name="MOTOR"                  period="0.5"/>
+    </mode>
+
+    <mode name="ppm">
+      <message name="DL_VALUE"                 period="0.5"/>
+      <message name="ALIVE"                    period="2.1"/>
+      <message name="ROTORCRAFT_CMD"           period=".05"/>
+      <message name="PPM"                      period="0.5"/>
+      <message name="RC"                       period="0.5"/>
+      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.5"/>
+      <message name="ROTORCRAFT_STATUS"        period="1"/>
+      <message name="BEBOP_ACTUATORS"          period="0.2"/>
+    </mode>
+
+    <mode name="raw_sensors">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="IMU_ACCEL_RAW"     period=".05"/>
+      <message name="IMU_GYRO_RAW"      period=".05"/>
+      <message name="IMU_MAG_RAW"       period=".05"/>
+      <message name="BARO_RAW"          period=".1"/>
+      <message name="ARDRONE_NAVDATA" period=".05"/>
+    </mode>
+
+    <mode name="scaled_sensors">
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="DL_VALUE"               period="0.5"/>
+      <message name="ALIVE"                  period="2.1"/>
+      <message name="IMU_GYRO_SCALED"        period=".075"/>
+      <message name="IMU_ACCEL_SCALED"       period=".075"/>
+      <message name="IMU_MAG_SCALED"         period=".1"/>
+    </mode>
+
+    <mode name="ahrs">
+      <message name="ROTORCRAFT_STATUS"  period="1.2"/>
+      <message name="DL_VALUE"           period="0.5"/>
+      <message name="ALIVE"              period="2.1"/>
+      <message name="FILTER_ALIGNER"     period="2.2"/>
+      <message name="FILTER"             period=".5"/>
+      <message name="GEO_MAG"            period="5."/>
+      <message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
+      <message name="AHRS_QUAT_INT"      period=".25"/>
+      <message name="AHRS_EULER_INT"     period=".1"/>
+<!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
+    </mode>
+
+    <mode name="rate_loop">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="RATE_LOOP"         period=".02"/>
+    </mode>
+
+    <mode name="attitude_setpoint_viz" key_press="v">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
+      <message name="AHRS_REF_QUAT" period="0.05"/>
+    </mode>
+
+    <mode name="attitude_loop" key_press="a">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="STAB_ATTITUDE_INT"     period=".03"/>
+      <message name="STAB_ATTITUDE_REF_INT" period=".03"/>
+      <message name="STAB_ATTITUDE_INDI"     period=".25"/>
+    </mode>
+
+    <mode name="vert_loop" key_press="v">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="VFF"               period=".05"/>
+      <message name="VFF_EXTENDED"      period=".05"/>
+      <message name="VERT_LOOP"         period=".05"/>
+      <message name="INS_Z"             period=".05"/>
+      <message name="INS"               period=".11"/>
+      <message name="INS_REF"           period="5.1"/>
+    </mode>
+
+    <mode name="h_loop" key_press="h">
+      <message name="ALIVE"                 period="0.9"/>
+      <message name="HOVER_LOOP"            period="0.062"/>
+      <message name="GUIDANCE_H_REF_INT"    period="0.062"/>
+      <message name="STAB_ATTITUDE_INT"     period="0.4"/>
+      <!--<message name="STAB_ATTITUDE_REF_INT" period="0.4"/>-->
+      <message name="ROTORCRAFT_FP"         period="0.8"/>
+      <message name="ROTORCRAFT_STATUS"     period="1.2"/>
+      <message name="ROTORCRAFT_NAV_STATUS" period="1.6"/>
+      <message name="INS_REF"               period="5.1"/>
+      <!-- HFF messages are only sent if USE_HFF -->
+      <message name="HFF"                   period=".05"/>
+      <message name="HFF_GPS"               period=".03"/>
+      <message name="HFF_DBG"               period=".2"/>
+    </mode>
+
+    <mode name="aligner">
+      <message name="ALIVE"             period="0.9"/>
+      <message name="FILTER_ALIGNER"    period="0.02"/>
+    </mode>
+
+    <mode name="tune_hover">
+      <message name="DL_VALUE"          period="1.1"/>
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="ALIVE"             period="2.1"/>
+      <message name="GUIDANCE_H_INT"    period="0.05"/>
+      <message name="ROTORCRAFT_TUNE_HOVER"    period=".1"/>
+      <!-- <message name="GPS_INT"               period=".20"/> -->
+      <!--<message name="INS2"              period=".05"/>
+      <message name="INS3"              period=".20"/>-->
+      <message name="INS_REF"           period="5.1"/>
+    </mode>
+
+    <mode name="empty"></mode>
+
+  </process>
+  <process name="Logger">
+    <mode name="default">
+      <message name="ROTORCRAFT_STATUS"      period="1.2"/>
+      <message name="DL_VALUE"               period="0.5"/>
+      <message name="IMU_GYRO_SCALED"        period=".002"/>
+      <message name="IMU_MAG_SCALED"         period=".1"/>
+      <message name="ROTORCRAFT_CMD"         period=".002"/>
+    </mode>
+  </process>
+
+</telemetry>
+
diff --git a/conf/telemetry/rotorcraft_with_logger.xml b/conf/telemetry/rotorcraft_with_logger.xml
index b76465809c..0ea2c53224 100644
--- a/conf/telemetry/rotorcraft_with_logger.xml
+++ b/conf/telemetry/rotorcraft_with_logger.xml
@@ -29,7 +29,6 @@
       <message name="VECTORNAV_INFO"         period="0.5"/>
       <message name="TEMP_ADC"               period="3.0"/>
       <message name="FBW_STATUS"             period="2.0"/>
-      <message name="MOTOR"                  period="0.5"/>
     </mode>
 
     <mode name="ppm">
@@ -152,12 +151,11 @@
     <mode name="default">
       <message name="ROTORCRAFT_STATUS"      period="1.2"/>
       <message name="DL_VALUE"               period="0.5"/>
+      <message name="ALIVE"                  period="2.1"/>
       <message name="IMU_GYRO_SCALED"        period=".002"/>
-      <!--message name="IMU_ACCEL_SCALED"       period=".002"/-->
+      <message name="IMU_ACCEL_SCALED"       period=".002"/>
       <message name="IMU_MAG_SCALED"         period=".1"/>
-      <message name="ROTORCRAFT_CMD"         period=".002"/>
     </mode>
   </process>
 
 </telemetry>
-