diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index da3855af3f..2352dc0795 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -258,7 +258,7 @@
airframe="airframes/TUDELFT/tudelft_outback.xml"
radio="radios/dummy.xml"
telemetry="telemetry/TUDELFT/tudelft_outback.xml"
- flight_plan="flight_plans/TUDELFT/tudelft_delft_outback.xml"
+ flight_plan="flight_plans/TUDELFT/obc2016/obc2016.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/opa_controller.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml"
gui_color="#ffffdffac31f"
diff --git a/conf/flight_plans/TUDELFT/obc2016/include_obc2016_mission.xml b/conf/flight_plans/TUDELFT/obc2016/include_obc2016_mission.xml
new file mode 100644
index 0000000000..f724f9afed
--- /dev/null
+++ b/conf/flight_plans/TUDELFT/obc2016/include_obc2016_mission.xml
@@ -0,0 +1,408 @@
+
+
+
+
+
+
+#include "autopilot.h"
+#include "guidance/guidance_hybrid.h"
+#include "guidance/guidance_v.h"
+#include "guidance/guidance_h.h"
+#include "subsystems/electrical.h"
+#include "guidance/guidance_indi.h"
+#include "subsystems/navigation/waypoints.h"
+#include "subsystems/datalink/datalink.h"
+#include "modules/sensors/temp_adc.h"
+// States
+#define AircraftIsBooting() LessThan(nav_block,4)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/flight_plans/TUDELFT/obc2016/include_obc2016_safety.xml b/conf/flight_plans/TUDELFT/obc2016/include_obc2016_safety.xml
new file mode 100644
index 0000000000..3921162695
--- /dev/null
+++ b/conf/flight_plans/TUDELFT/obc2016/include_obc2016_safety.xml
@@ -0,0 +1,90 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/flight_plans/TUDELFT/obc2016/obc2016.xml b/conf/flight_plans/TUDELFT/obc2016/obc2016.xml
new file mode 100644
index 0000000000..c0c29b648b
--- /dev/null
+++ b/conf/flight_plans/TUDELFT/obc2016/obc2016.xml
@@ -0,0 +1,71 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml b/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml
deleted file mode 100644
index 0629bc9c9f..0000000000
--- a/conf/flight_plans/TUDELFT/tudelft_delft_outback.xml
+++ /dev/null
@@ -1,92 +0,0 @@
-
-
-
-
-#include "autopilot.h"
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-