diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
index fa3618dec7..941e74e777 100644
--- a/conf/airframes/tudelft/nederdrone4.xml
+++ b/conf/airframes/tudelft/nederdrone4.xml
@@ -18,11 +18,6 @@
       <configure name="FLASH_MODE" value="SWD"/>
       <define name="USE_BARO_BOARD" value="1"/>
 
-      <module name="eff_scheduling_nederdrone">
-        <!-- Trims -->
-        <define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
-      </module>
-
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART3"/>
       </module>
@@ -43,8 +38,9 @@
       <module name="logger" type="sd_chibios"/>
       <module name="flight_recorder"/>
 
-      <!-- Chibios monitor -->
+      <!-- Monitoring -->
       <module name="sys_mon"/>
+      <!--module name="status_nederdrone"/-->
 
       <define name="ADC_CURRENT_DISABLE" value="TRUE"/>
 
@@ -67,8 +63,6 @@
     </target>
 
     <target name="nps" board="pc">
-
-      <module name="eff_scheduling_nederdrone"/>
       <module name="radio_control" type="datalink"/>
       <module name="fdm" type="jsbsim"/>
 
@@ -83,6 +77,12 @@
       <define name="RADIO_KILL_SWITCH" value="0"/>
     </target>
 
+    <module name="eff_scheduling_nederdrone">
+      <!-- Trims -->
+      <define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="840"/>
+      <define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
+    </module>
+
     <!--module name="follow_me">
       <define name="FOLLOW_ME_DISTANCE" value="60"/>
       <define name="FOLLOW_ME_HEIGHT" value="40"/>
@@ -94,9 +94,12 @@
 
     <module name="approach_moving_target">
       <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
+      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
     </module>
 
-    <module name="ins"           type="ekf2" />
+    <module name="ins"           type="ekf2">
+      <define name="USE_INS_NAV_INIT" value="FALSE"/>
+    </module>
 
     <module name="actuators"     type="uavcan">
       <configure name="UAVCAN_USE_CAN1" value="TRUE"/>
@@ -114,7 +117,8 @@
     </module>
     <module name="stabilization" type="rate_indi"/>
 
-    <module name="air_data" >
+    <module name="air_data">
+      <define name="AIR_DATA_BARO_DIFF_ID" value="MS45XX_SENDER_ID"/> <!-- UAVCAN_SENDER_ID -->
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE" />
     </module>
 
@@ -383,6 +387,7 @@
     <define name="ACT_DYN" value="{0.0354, 0.0354, 0.0354, 0.0354, 0.05, 0.05, 0.05, 0.05}"/>
     <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
     <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
+    <define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>
@@ -432,4 +437,4 @@
     <define name="BAT_NB_CELLS" value="6"/>
   </section>
 
-</airframe>
\ No newline at end of file
+</airframe>
diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
index 202a948211..d9b8acc886 100644
--- a/conf/airframes/tudelft/nederdrone6.xml
+++ b/conf/airframes/tudelft/nederdrone6.xml
@@ -35,6 +35,7 @@
       <module name="airspeed" type="ms45xx_i2c">
         <define name="USE_I2C4"/>
         <define name="MS45XX_I2C_DEV" value="i2c4"/>
+        <define name="I2C4_CLOCK_SPEED" value="100000"/>
       </module>
       <!--module name="airspeed" type="uavcan"/-->
 
@@ -80,6 +81,7 @@
     <module name="eff_scheduling_nederdrone">
       <!-- Trims -->
       <define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
+      <define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
     </module>
 
     <module name="telemetry"     type="transparent">
@@ -88,9 +90,12 @@
 
     <module name="approach_moving_target">
       <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
+      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
     </module>
 
-    <module name="ins"           type="ekf2" />
+    <module name="ins"           type="ekf2">
+      <define name="USE_INS_NAV_INIT" value="FALSE"/>
+    </module>
 
     <module name="actuators"     type="uavcan">
       <configure name="UAVCAN_USE_CAN1" value="TRUE"/>
@@ -349,6 +354,7 @@
     <define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
     <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
     <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
+    <define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>
diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
index a033babb86..2f75a87006 100644
--- a/conf/airframes/tudelft/nederdrone7.xml
+++ b/conf/airframes/tudelft/nederdrone7.xml
@@ -1,7 +1,7 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- This is a Nedderdrone with Trailing edge motors
-     * Airframe:    TUD00???
+     * Airframe:    TUD00343
      * Autopilot:   Pixhawk 4
      * Actuators:   12x T-Motor ESC + Motors and 8x Servos (all CAN)
      * Datalink:    Herelink
@@ -81,6 +81,7 @@
     <module name="eff_scheduling_nederdrone">
       <!-- Trims -->
       <define name="INDI_SCHEDULING_TRIM_ELEVATOR" value="0"/>
+      <define name="INDI_SCHEDULING_PREF_FLAPS_FACTOR" value="1.0"/>
     </module>
 
     <module name="telemetry"     type="transparent">
@@ -89,9 +90,12 @@
 
     <module name="approach_moving_target">
       <define name="AMT_ERR_SLOWDOWN_GAIN" value="0.25"/>
+      <define name="CUTOFF_FREQ_FILTERS_HZ" value="0.25"/>
     </module>
 
-    <module name="ins"           type="ekf2" />
+    <module name="ins"           type="ekf2">
+      <define name="USE_INS_NAV_INIT" value="FALSE"/>
+    </module>
 
     <module name="actuators"     type="uavcan">
       <configure name="UAVCAN_USE_CAN1" value="TRUE"/>
@@ -350,6 +354,7 @@
     <define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
     <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
     <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
+    <define name="WLS_WU" value="{1.,1.,1.,1.,1.,1.,1.,1.}"/>
 
     <!-- Adaptive Learning Rate -->
     <define name="USE_ADAPTIVE" value="FALSE"/>
diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
index 9b5f74ef15..6a1c66143e 100644
--- a/conf/airframes/tudelft/nederdrone8.xml
+++ b/conf/airframes/tudelft/nederdrone8.xml
@@ -1,7 +1,7 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- This is a Nedderdrone with Trailing edge motors
-     * Airframe:    TUD00???
+     * Airframe:    TUD00344
      * Autopilot:   Pixhawk 4
      * Actuators:   12x T-Motor ESC + Motors and 8x Servos (all CAN)
      * Datalink:    Herelink
@@ -282,7 +282,7 @@
     <define name="MPU_Y_SIGN" value="1"/>
     <define name="MPU_Z_SIGN" value="1"/>
 
-    <!-- Calibated 2022-08-30 (Next to cyberzoo body only) -->
+    <!-- Calibrated 2022-08-30 (Next to cyberzoo body only) -->
     <define name="ACCEL_X_NEUTRAL" value="-40"/>
     <define name="ACCEL_Y_NEUTRAL" value="45"/>
     <define name="ACCEL_Z_NEUTRAL" value="-34"/>
@@ -348,9 +348,9 @@
     <define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
     <define name="FILT_CUTOFF_P" value="20."/>
     <define name="FILT_CUTOFF_Q" value="20."/>
-    <define name="FILT_CUTOFF_R" value="4."/>
+    <define name="FILT_CUTOFF_R" value="4.0"/>
+
     <!-- first order actuator dynamics -->
-    <!--define name="ACT_DYN" value="{0.009, 0.009, 0.009, 0.009, 0.05, 0.05, 0.05, 0.05}"/-->
     <define name="ACT_DYN" value="{0.028, 0.028, 0.028, 0.028, 0.05, 0.05, 0.05, 0.05}"/>
     <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170, 170, 170}"/>
     <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1, 1, 1}"/>
diff --git a/conf/flight_plans/tudelft/nederdrone_terschelling.xml b/conf/flight_plans/tudelft/nederdrone_terschelling.xml
index 43ff695a66..f6ecb1a3ae 100644
--- a/conf/flight_plans/tudelft/nederdrone_terschelling.xml
+++ b/conf/flight_plans/tudelft/nederdrone_terschelling.xml
@@ -62,16 +62,16 @@
       <call_once fun="NavKillThrottle()"/>
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
-    <block name="Start Engine">
+    <block name="Start Engine" strip_button="Takeoff" strip_icon="takeoff.png">
       <set value="FALSE" var="force_forward"/>
       <call_once fun="NavResurrect()"/>
       <call_once fun="nav_set_heading_current()"/>
       <attitude pitch="-45" roll="0" throttle="0" until="stage_time>1" vmode="throttle"/>
     </block>
-    <block name="TakeoffLow" strip_button="Takeoff" strip_icon="takeoff.png">
+    <block name="TakeoffLow">
       <exception cond="GetPosHeight() @GT 18.0" deroute="Takeoff"/>
-      <call_once fun="nav_set_heading_current()"/>
       <call_once fun="autopilot_set_in_flight(true)"/>
+      <call_once fun="nav_set_heading_current()"/>
       <attitude pitch="-45." roll="0" throttle="0.8" vmode="throttle"/>
     </block>
     <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
diff --git a/conf/flight_plans/tudelft/nederdrone_valkenburg.xml b/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
index 68b58691f8..fdd200dac2 100644
--- a/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
+++ b/conf/flight_plans/tudelft/nederdrone_valkenburg.xml
@@ -125,7 +125,6 @@
       <go from="p4" hmode="route" wp="p1"/>
       <deroute block="route"/>
     </block>
-
     <block group="extra_pattern" name="Survey S1-S2 25m NS" strip_button="Svy25-NS-PRIMITIVE">
       <set value="FALSE" var="force_forward"/>
       <survey_rectangle grid="30" orientation="NS" wp1="S1" wp2="S2"/>
@@ -145,7 +144,6 @@
       <exception cond="rectangle_survey_sweep_num @GT 1" deroute="Standby"/>
       <call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
     </block>
-
     <block name="Oval">
       <set value="TRUE" var="force_forward"/>
       <oval p1="p1" p2="p2" radius="nav.radius"/>
@@ -171,4 +169,4 @@
       <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
     </block>
   </blocks>
-</flight_plan>
\ No newline at end of file
+</flight_plan>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index e6b26a2794..993c616082 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -280,9 +280,9 @@
    airframe="airframes/tudelft/nederdrone4.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
+   settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
   />
   <aircraft
@@ -291,9 +291,9 @@
    airframe="airframes/tudelft/nederdrone6.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_harde.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_terschelling.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
   />
   <aircraft
@@ -304,7 +304,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
   />
   <aircraft
@@ -313,7 +313,7 @@
    airframe="airframes/tudelft/nederdrone8.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_troia.xml"
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="#ffff00000000"