diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index d40f3e6641..437f486a92 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -9,6 +9,7 @@
       <!-- AUX1 -->
       <define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO7"/>
     </load>
+    <load name="nav_survey_rectangle_rotorcraft.xml"/>
   </modules>
 
   <firmware name="rotorcraft">
@@ -215,7 +216,7 @@
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
     <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="80"/>
+    <define name="DGAIN" value="140"/>
     <define name="IGAIN" value="20"/>
     <define name="NGAIN" value="0"/>
     <!-- feedforward -->
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 076977a82a..41aceff722 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -24,6 +24,7 @@
       <message name="DATALINK_REPORT"        period="5.1"/>
       <message name="STATE_FILTER_STATUS"    period="3.2"/>
       <message name="AIR_DATA"               period="1.3"/>
+      <message name="SURVEY"                 period="2.5"/>
     </mode>
 
     <mode name="ppm">
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index b4520fd23b..a022261ec3 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -76,6 +76,8 @@ int32_t nav_circle_radius, nav_circle_qdr, nav_circle_radians;
 int32_t nav_leg_progress;
 uint32_t nav_leg_length;
 
+bool_t nav_survey_active;
+
 int32_t nav_roll, nav_pitch;
 int32_t nav_heading;
 float nav_radius;
@@ -398,6 +400,8 @@ void nav_periodic_task(void)
 {
   RunOnceEvery(NAV_FREQ, { stage_time++;  block_time++; });
 
+  nav_survey_active = FALSE;
+
   dist2_to_wp = 0;
 
   /* from flight_plan.h */
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.h b/sw/airborne/firmwares/rotorcraft/navigation.h
index d0a809a769..95773a3913 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.h
+++ b/sw/airborne/firmwares/rotorcraft/navigation.h
@@ -1,4 +1,4 @@
-/*
+ /*
  * Copyright (C) 2008-2011  The Paparazzi Team
  *
  * This file is part of paparazzi.
@@ -59,6 +59,8 @@ extern float nav_radius;
 extern int32_t nav_leg_progress;
 extern uint32_t nav_leg_length;
 
+extern bool_t nav_survey_active;
+
 extern uint8_t vertical_mode;
 extern uint32_t nav_throttle;  ///< direct throttle from 0:MAX_PPRZ, used in VERTICAL_MODE_MANUAL
 extern int32_t nav_climb, nav_altitude, nav_flight_altitude;