diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/slayer_training.xml
index 6bee19c97d..4f21098ea0 100644
--- a/conf/flight_plans/slayer_training.xml
+++ b/conf/flight_plans/slayer_training.xml
@@ -22,8 +22,8 @@
     <waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
     <waypoint name="A1" x="58.8" y="23.3"/>
     <waypoint name="A2" x="-30.7" y="66.8"/>
-    <waypoint alt="10.0" name="A1__" x="150.9" y="16.5"/>
-    <waypoint alt="10.0" name="A2__" x="-96.5" y="126.9"/>
+    <waypoint alt="9.0" name="A1__" x="150.9" y="16.5"/>
+    <waypoint alt="9.0" name="A2__" x="-96.5" y="126.9"/>
     <waypoint alt="15.0" name="A0" x="214.6" y="103.7"/>
   </waypoints>
   <blocks>
@@ -68,12 +68,8 @@
       <set value="BombCloseHatch()" var="unit"/>
       <deroute block="standby"/>
     </block>
-    <block name="arch0">
-      <circle radius="nav_radius" wp="A0"/>
-    </block>
     <block name="arch">
-      <go from="A1__" hmode="route" wp="A2__"/>
-      <deroute block="standby"/>
+      <oval p1="A1__" p2="A2__" radius="nav_radius"/>
     </block>
     <block name="land">
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
diff --git a/conf/flight_plans/slayer_training_muret.xml b/conf/flight_plans/slayer_training_muret.xml
new file mode 100644
index 0000000000..d2b29d2cce
--- /dev/null
+++ b/conf/flight_plans/slayer_training_muret.xml
@@ -0,0 +1,86 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="235" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="800" name="Versatile" qfu="270" security_height="25">
+  <header>
+#include "bomb.h"
+</header>
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="T1" x="-172.3" y="223.2"/>
+    <waypoint name="T2" x="126.7" y="314.0"/>
+    <waypoint name="T1__" x="-275.8" y="234.9"/>
+    <waypoint name="T2__" x="213.1" y="307.2"/>
+    <waypoint name="T3_SW" x="266.7" y="80.3"/>
+    <waypoint name="T3_NE" x="439.1" y="240.0"/>
+    <waypoint alt="30" name="AF" x="200" y="-10"/>
+    <waypoint alt="0" name="TD" x="58.3" y="45.2"/>
+    <waypoint name="BASELEG" x="309.9" y="138.1"/>
+    <waypoint name="STDBY" x="-82.4" y="33.8"/>
+    <waypoint name="RELEASE" x="126.9" y="181.6"/>
+    <waypoint alt="30" name="START" x="168.8" y="-2.6"/>
+    <waypoint name="CLIMB" x="19.2" y="212.5"/>
+    <waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
+    <waypoint name="A1" x="58.8" y="23.3"/>
+    <waypoint name="A2" x="-30.7" y="66.8"/>
+    <waypoint alt="9.0" name="A1__" x="150.9" y="16.5"/>
+    <waypoint alt="9.0" name="A2__" x="-96.5" y="126.9"/>
+    <waypoint alt="15.0" name="A0" x="214.6" y="103.7"/>
+  </waypoints>
+  <blocks>
+    <block name="init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <set value="baro_MS5534A_pressure" var="baro_MS5534A_ground_pressure"/>
+      <deroute block="climb"/>
+    </block>
+    <block name="climb">
+      <attitude pitch="10" roll="0" throttle="0.9" until="estimator_z > ground_alt+30" vmode="throttle"/>
+    </block>
+    <block name="standby" strip_button="STDBY">
+      <circle radius="nav_radius" wp="STDBY"/>
+    </block>
+    <block name="identify T1">
+      <eight center="T1" radius="nav_radius" turn_around="T1__"/>
+    </block>
+    <block name="identify T2">
+      <eight center="T2" radius="nav_radius" turn_around="T2__"/>
+    </block>
+    <block name="locate T3">
+      <survey_rectangle grid="150" wp1="T3_SW" wp2="T3_NE"/>
+    </block>
+    <block name="bomb" strip_button="Bomb">
+      <set value="BombComputeApproach(WP_TARGET, WP_START)" var="unit"/>
+      <circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
+    </block>
+    <block name="align">
+      <exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
+      <go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
+    </block>
+    <block name="shoot">
+      <set value="BombShoot()" var="unit"/>
+      <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
+      <set value="BombCloseHatch()" var="unit"/>
+      <deroute block="standby"/>
+    </block>
+    <block name="close">
+      <set value="BombCloseHatch()" var="unit"/>
+      <deroute block="standby"/>
+    </block>
+    <block name="arch">
+      <oval p2="A1__" p1="A2__" radius="nav_radius"/>
+    </block>
+    <block name="land">
+      <call fun="nav_compute_baseleg(WP_AF, WP_TD, 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>
+    <block name="final">
+      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
+      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
+    </block>
+    <block name="flare">
+      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
+      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
+    </block>
+  </blocks>
+</flight_plan>