diff --git a/conf/airframes/slayer2.xml b/conf/airframes/slayer2.xml
index 736e4aa913..bff07e1683 100644
--- a/conf/airframes/slayer2.xml
+++ b/conf/airframes/slayer2.xml
@@ -6,6 +6,7 @@
     <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
     <servo name="AILEVON_LEFT"  no="0" min="2000" neutral="1500" max="900"/>
     <servo name="THROTTLE"      no="4" min="1250" neutral="1250" max="1850"/>
+    <servo name="HATCH"         no="3" min="2000" neutral="2000" max="1000"/>
   </servos>
 
   <commands>
@@ -32,6 +33,7 @@
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+     <set servo="HATCH"           value="@HATCH"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/slayer_training.xml
index 6e32c66206..ce7d5d7dc5 100644
--- a/conf/flight_plans/slayer_training.xml
+++ b/conf/flight_plans/slayer_training.xml
@@ -43,7 +43,7 @@
     </block>
     <block name="land">
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
-      <circle radius="nav_radius" until="circle_count > 0.5" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
       <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>