diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index 073782a940..f9ce0f2ceb 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -1,11 +1,14 @@
 <!-- Paparazzi flight plan DTD -->
 
-<!ELEMENT flight_plan (rc_control,waypoints,include*,blocks)>
+<!ELEMENT flight_plan (rc_control,dl_settings?,waypoints,include*,blocks)>
 
 <!ELEMENT rc_control (mode*)>
 <!ELEMENT mode (setting*)>
 <!ELEMENT setting EMPTY>
 
+<!ELEMENT dl_settings (dl_setting*)>
+<!ELEMENT dl_setting EMPTY>
+
 <!ELEMENT waypoints (waypoint+)>
 <!ELEMENT waypoint EMPTY>
 
@@ -26,6 +29,7 @@
 <!ELEMENT circle EMPTY>
 <!ELEMENT deroute EMPTY>
 <!ELEMENT stay EMPTY>
+<!ELEMENT follow EMPTY>
 
 <!ATTLIST flight_plan name CDATA #REQUIRED>
 <!ATTLIST flight_plan lat0 CDATA #REQUIRED>
@@ -47,6 +51,13 @@
 <!ATTLIST setting range CDATA #REQUIRED>
 <!ATTLIST setting rc (gain_1_up|gain_2_up|gain_1_down|gain_2_down) #REQUIRED>
 
+<!ATTLIST dl_setting
+var CDATA #REQUIRED
+min CDATA #REQUIRED
+max CDATA #REQUIRED
+step CDATA #IMPLIED
+>
+
 <!ATTLIST waypoints
 utm_x0 CDATA #IMPLIED
 utm_y0 CDATA #IMPLIED>
@@ -116,8 +127,8 @@ ac_id CDATA #REQUIRED
 distance CDATA #REQUIRED
 height CDATA #REQUIRED
 cam_mode (null|fix|manual|nadir|target|follow) #IMPLIED
-cam_ac_target CDATA #IMPLIED
->
+target CDATA #IMPLIED
+cam_ac_target CDATA #IMPLIED>
 
 <!ATTLIST xyz
 cam_mode (null|fix|manual|nadir|target|follow) #IMPLIED
diff --git a/conf/flight_plans/mav05_ccw.xml b/conf/flight_plans/mav05_ccw.xml
index ea43028db7..4bf15380c8 100644
--- a/conf/flight_plans/mav05_ccw.xml
+++ b/conf/flight_plans/mav05_ccw.xml
@@ -1,3 +1,5 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
 <flight_plan SECURITY_HEIGHT="25" lat0="47.4820" lon0="11.0945" ground_alt="730" qfu="280" alt="780" ir_square_utmx_min="657530.0" ir_square_utmy_max="5261130.0" ir_square_width="180.0" ir_correct_steps="2" max_dist_from_home="300" name="Garmisch">
   <rc_control>
     <mode NAME="AUTO1">
@@ -9,6 +11,12 @@
       <setting VAR="ir_roll_neutral" RANGE="-0.1" RC="gain_1_down" TYPE="float"/>
     </mode>
   </rc_control>
+
+  <dl_settings>
+      <dl_setting var="ir_roll_neutral" min="-0.2" max="0.2" step="0.01"/>
+      <dl_setting var="nav_block" min="0" max="1" step="1"/>
+  </dl_settings>
+
   <waypoints>
     <waypoint NAME="HOME" X="-30" Y="30"/>
   </waypoints>
diff --git a/conf/flight_plans/mav05_cw.xml b/conf/flight_plans/mav05_cw.xml
index a5f8e46238..ccd9885de7 100644
--- a/conf/flight_plans/mav05_cw.xml
+++ b/conf/flight_plans/mav05_cw.xml
@@ -1,3 +1,5 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
 <flight_plan SECURITY_HEIGHT="25" lat0="47.4820" lon0="11.0945" ground_alt="730" qfu="280" alt="780" ir_square_utmx_min="657530.0" ir_square_utmy_max="5261130.0" ir_square_width="180.0" ir_correct_steps="2" max_dist_from_home="300" name="Garmisch">
   <rc_control>
     <mode NAME="AUTO1">