diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 77b6fddac1..34d651058f 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -4,21 +4,21 @@
 
 <!-- commands section -->
   <servos>
-    <servo name="THROTTLE"      no="0" min="1050" neutral="1050" max="1900"/>
+    <servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
     <servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 --> 
-    <servo name="AILEVON_LEFT"  no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
+    <servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -27,17 +27,17 @@
   </section>
 
   <command_laws>
-    <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
 
-    <set servo="THROTTLE"      value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="THROTTLE" value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.6"/>
+    <define name="MAX_ROLL" value="0.8"/>
+    <define name="MAX_PITCH" value="0.7"/>
   </section>
 
 
@@ -61,12 +61,12 @@
     <define name="GYRO_Q_SENS" value="2.234" integer="16"/>
     <define name="GYRO_R_SENS" value="2.234" integer="16"/>
 
-    <define name="GYRO_P_Q" value="0." />
-    <define name="GYRO_P_R" value="(1.0f/75.0f)" />
-    <define name="GYRO_Q_P" value="0." />
-    <define name="GYRO_Q_R" value="0." />
-    <define name="GYRO_R_P" value="0." />
-    <define name="GYRO_R_Q" value="0." />
+    <define name="GYRO_P_Q" value="0."/>
+    <define name="GYRO_P_R" value="(1.0f/75.0f)"/>
+    <define name="GYRO_Q_P" value="0."/>
+    <define name="GYRO_Q_R" value="0."/>
+    <define name="GYRO_R_P" value="0."/>
+    <define name="GYRO_R_Q" value="0."/>
 
     <define name="GYRO_P_SIGN" value="1"/>
     <define name="GYRO_Q_SIGN" value="-1"/>
@@ -100,19 +100,18 @@
     <define name="BODY_TO_IMU_PSI" value="0"/>
   </section>
 
-  <section name="INS" prefix="INS_" >
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0."/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0570000000298"/>
   </section>
 
-
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
 
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="14.5" unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -120,59 +119,58 @@
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
 
     <define name="GLIDE_AIRSPEED" value="10"/>
     <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+    <define name="GLIDE_PITCH" value="0." unit="deg"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.03"/>
+    <define name="ALTITUDE_PGAIN" value="-0.01"/>
     <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.33"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.4"/>
+    <define name="COURSE_PGAIN" value="-1.39999997616"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
-    <define name="PITCH_DGAIN" value="5."/>
+    <define name="PITCH_DGAIN" value="0."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1200."/>
 
-    <define name="ROLL_SLEW" value="0."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
+    <define name="ROLL_RATE_GAIN" value="-600."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
+    <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec --> 
   </section>
 
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
     <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_PITCH" value="0.6"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
     <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
     <define name="DESCENT_NAV_RATIO" value="1.0"/>
     </section>
@@ -190,39 +188,39 @@
   </section>
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="tiny_1.1">
-      <configure name="PERIODIC_FREQUENCY" value="960" /> <!-- IMU FREQ -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="240" />
-      <configure name="AHRS_CORRECT_FREQUENCY" value="60" />
-      <configure name="AHRS_ALIGNER_LED" value="1" />
-      <configure name="CPU_LED" value="2" />
+    <target name="ap" board="tiny_1.1">
+      <configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="240"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
+      <configure name="AHRS_ALIGNER_LED" value="1"/>
+      <configure name="CPU_LED" value="2"/>
     </target>
-    <target name="sim" 			board="pc" />
+    <target name="sim" board="pc"/>
 
-    <define name="AGR_CLIMB" />
-    <define name="LOITER_TRIM" />
-    <define name="ALT_KALMAN" />
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
 
     <subsystem name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" 	type="xbee_api">
-      <configure name="MODEM_BAUD" 		value="B57600"/>
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B57600"/>
     </subsystem>
 
     <subsystem name="control"/>
 
     <!-- Sensors -->
-    <subsystem name="imu" 		  type="booz"/>
-    <subsystem name="attitude"  type="dcm"/>
-    <subsystem name="gps" 	  	type="ublox_lea4p"/>
+    <subsystem name="imu" type="booz"/>
+    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="gps" type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 
   </firmware>
 
 
   <firmware name="setup">
-    <target name="tunnel"           board="tiny_1.1" />
+    <target name="tunnel" board="tiny_1.1"/>
   </firmware>
 
   <modules>