diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
new file mode 100644
index 0000000000..da7a2dbeb9
--- /dev/null
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -0,0 +1,431 @@
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+ RotatingWing25Kg
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diff --git a/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml
new file mode 100644
index 0000000000..e322aa1234
--- /dev/null
+++ b/conf/flight_plans/tudelft/rotating_wing25kg_EHVB.xml
@@ -0,0 +1,164 @@
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diff --git a/conf/modules/ctrl_eff_sched_rot_wing.xml b/conf/modules/ctrl_eff_sched_rot_wing.xml
index 24e1294953..34de557b09 100644
--- a/conf/modules/ctrl_eff_sched_rot_wing.xml
+++ b/conf/modules/ctrl_eff_sched_rot_wing.xml
@@ -1,7 +1,9 @@
- The control effectiveness scheduler for the rotating wing drone type
+ The control effectiveness scheduler for the rotating wing quadplane drone type
+ - it requires a servo called ROTATION_MECH
+
@@ -30,6 +32,7 @@
+
diff --git a/conf/simulator/jsbsim/aircraft/rotwing25.xml b/conf/simulator/jsbsim/aircraft/rotwing25.xml
index b5a411e7c1..ce50a2345c 100644
--- a/conf/simulator/jsbsim/aircraft/rotwing25.xml
+++ b/conf/simulator/jsbsim/aircraft/rotwing25.xml
@@ -41,7 +41,7 @@
0.
0.
0.
- 28.67
+ 56
0
0
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index f093188afd..5eb5ed24ed 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -571,4 +571,15 @@
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
+
diff --git a/sw/airborne/filters/notch_filter_float.h b/sw/airborne/filters/notch_filter_float.h
index 557f529718..a24575baf3 100644
--- a/sw/airborne/filters/notch_filter_float.h
+++ b/sw/airborne/filters/notch_filter_float.h
@@ -101,7 +101,7 @@ static inline void notch_filter_update(struct SecondOrderNotchFilter *filter, fl
*/
-static inline float notch_filter_get_output(struct notch_filter_float *filter)
+static inline float notch_filter_get_output(struct SecondOrderNotchFilter *filter)
{
return filter->yn1;
}
diff --git a/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing.c b/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing.c
index 013e1d5a60..9c9c4ff687 100644
--- a/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing.c
+++ b/sw/airborne/modules/ctrl/ctrl_eff_sched_rot_wing.c
@@ -28,6 +28,10 @@
#include "firmwares/rotorcraft/stabilization/stabilization_indi.h"
#include "modules/core/abi.h"
+#ifndef SERVO_ROTATION_MECH
+#error ctrl_eff_sched_rot_wing requires a servo named ROTATION_MECH
+#endif
+
#ifndef ROT_WING_EFF_SCHED_IXX_BODY
#error "NO ROT_WING_EFF_SCHED_IXX_BODY defined"
@@ -117,7 +121,7 @@ static abi_event wing_position_ev;
static void wing_position_cb(uint8_t sender_id UNUSED, struct act_feedback_t *pos_msg, uint8_t num_act)
{
for (int i=0; i