diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/slayer_training.xml
index f9ea84591b..6bee19c97d 100644
--- a/conf/flight_plans/slayer_training.xml
+++ b/conf/flight_plans/slayer_training.xml
@@ -17,13 +17,14 @@
     <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 name="START" x="168.8" y="-2.6" alt="30"/>
+    <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 name="A1__" x="139.1" y="-5.0"/>
-    <waypoint name="A2__" x="-119.6" y="111.7"/>
+    <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="15.0" name="A0" x="214.6" y="103.7"/>
   </waypoints>
   <blocks>
     <block name="wait GPS">
@@ -67,6 +68,9 @@
       <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"/>
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 38328de551..10b9cf95de 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -67,7 +67,10 @@
       <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
     </block>
     <block name="climb 75">
-      <circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) && (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
+      <circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
+    </block>
+    <block name="climb var">
+      <circle radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1" climb="nav_climb"/>
     </block>
     <block name="climb 1">
       <circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
diff --git a/conf/settings/baro.xml b/conf/settings/baro.xml
new file mode 100644
index 0000000000..af8526d76e
--- /dev/null
+++ b/conf/settings/baro.xml
@@ -0,0 +1,12 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+    <dl_settings NAME="control">
+          <dl_settings name="baro">
+	      <dl_setting MAX="1" MIN="0" STEP="1" module="baro_MS5534A" VAR="alt_baro_enabled"/>
+	      <dl_setting MAX="103000" MIN="90000" STEP="10" module="baro_MS5534A" VAR="baro_MS5534A_ground_pressure"/>
+	      <dl_setting MAX="20" MIN="0.5" STEP="0.1" module="baro_MS5534A" VAR="baro_MS5534A_r"/>
+	      <dl_setting MAX="1" MIN="0.1" STEP="0.1" module="baro_MS5534A" VAR="baro_MS5534A_sigma2"/>
+      </dl_settings>
+  </dl_settings>
+</settings>