diff --git a/conf/airframes/examples/bixler_lisa_m_2.xml b/conf/airframes/examples/bixler_lisa_m_2.xml
index 95850baafd..a8933a642e 100644
--- a/conf/airframes/examples/bixler_lisa_m_2.xml
+++ b/conf/airframes/examples/bixler_lisa_m_2.xml
@@ -35,7 +35,6 @@
     <module name="gps" type="ublox"/>
     <module name="navigation"/>
     <module name="ins" type="alt_float"/>
-    <module name="nav" type="line"/>
   </firmware>
 
   <!-- commands section -->
diff --git a/conf/flight_plans/rotorcraft_basic.xml b/conf/flight_plans/rotorcraft_basic.xml
index b5316f987b..8155416550 100644
--- a/conf/flight_plans/rotorcraft_basic.xml
+++ b/conf/flight_plans/rotorcraft_basic.xml
@@ -51,7 +51,7 @@
     </block>
     <block name="line_p1_p2">
       <go from="p1" hmode="route" wp="p2"/>
-      <stay wp="p2" until="stage_time>10"/>
+      <stay wp="p2" until="stage_time @GT 10"/>
       <go from="p2" hmode="route" wp="p1"/>
       <deroute block="stay_p1"/>
     </block>
diff --git a/conf/flight_plans/rotorcraft_survey.xml b/conf/flight_plans/rotorcraft_survey.xml
index e658631928..04946c2f79 100644
--- a/conf/flight_plans/rotorcraft_survey.xml
+++ b/conf/flight_plans/rotorcraft_survey.xml
@@ -21,6 +21,9 @@
     <waypoint name="S1" x="32.6" y="-35.2" height="25"/>
     <waypoint name="S2" x="-88.6" y="48.9"/>
   </waypoints>
+  <modules>
+  	<module name="nav_survey" type="rectangle_rotorcraft"/>
+  </modules>
   <blocks>
     <block name="Wait GPS">
       <call_once fun="NavKillThrottle()"/>
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index b616ede72a..7e79c4907b 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -32,6 +32,9 @@
   <variables>
     <variable var="roll_step" init="15." min="0." max="50." step="1.0"/>
   </variables>
+  <modules>
+  	<module name="nav_line"/>
+  </modules>
   <exceptions/>
   <blocks>
     <block name="Wait GPS">