diff --git a/conf/airframes/examples/ardrone2_gazebo.xml b/conf/airframes/examples/ardrone2_gazebo.xml
index 2603eaa853..3f17fa6942 100644
--- a/conf/airframes/examples/ardrone2_gazebo.xml
+++ b/conf/airframes/examples/ardrone2_gazebo.xml
@@ -34,7 +34,10 @@
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
       <define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit--> 
-      <define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit--> 
+      <define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_Y" value="0.85"/> <!--Obtained from a linefit-->
+      <!-- ARDrone2 FPS improvements - Remaining in sync with real life-->
+      <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
+      <define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/> 
     </module>
 
     <module name="cv_colorfilter">
diff --git a/conf/airframes/examples/ardrone2_opticflow_hover.xml b/conf/airframes/examples/ardrone2_opticflow_hover.xml
index 5e07eb836d..8bb8e8d30d 100644
--- a/conf/airframes/examples/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/examples/ardrone2_opticflow_hover.xml
@@ -34,6 +34,9 @@
     <module name="pose_history"/>
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
+      <!-- ARDrone2 FPS improvements -->
+      <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
+      <define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
     </module>
 
     <module name="opticflow_hover"/>
diff --git a/conf/airframes/tudelft/ardrone2_opticflow.xml b/conf/airframes/tudelft/ardrone2_opticflow.xml
index c391238284..fcbdc75210 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow.xml
@@ -38,6 +38,9 @@
     <module name="pose_history"/>
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
+      <!-- ARDrone2 FPS improvements -->
+      <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
+      <define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
     </module>
 
     <module name="video_capture">
diff --git a/conf/airframes/tudelft/ardrone2_opticflow_indi.xml b/conf/airframes/tudelft/ardrone2_opticflow_indi.xml
index a351e614d6..798cfe551d 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow_indi.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow_indi.xml
@@ -37,6 +37,9 @@
     <module name="pose_history"/>
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
+      <!-- ARDrone2 FPS improvements -->
+      <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
+      <define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
     </module>
 
     <module name="video_capture">