diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
index 0b9cce7ee2..808b556134 100644
--- a/conf/modules/cv_opticflow.xml
+++ b/conf/modules/cv_opticflow.xml
@@ -12,14 +12,17 @@
         - Controller can hold position
     </description>
 
+    <section name="VISION" prefix="VISION_">
+      <define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/>
+      <define name="PHI_PGAIN" value="500" description="optic flow pgain"/>
+      <define name="PHI_IGAIN" value="10" description="optic flow igain"/>
+      <define name="THETA_PGAIN" value="500" description="optic flow pgain"/>
+      <define name="THETA_IGAIN" value="10" description="optic flow igain"/>
+      <define name="DESIRED_VX" value="0" description="feedforward optic flow vx"/>
+      <define name="DESIRED_VY" value="0" description="feedforward optic flow vy"/>
+    </section>
     <define name="DOWNLINK_VIDEO" value="FALSE" description="Also stream video: warning: this makes the optic flow slow: DEBUGGING only" />
-    <define name="HOVER" value="FALSE" description="TRUE/FALSE active or not"/>
-    <define name="PHI_PGAIN" value="500" description="optic flow pgain"/>
-    <define name="PHI_IGAIN" value="10" description="optic flow igain"/>
-    <define name="THETA_PGAIN" value="500" description="optic flow pgain"/>
-    <define name="THETA_IGAIN" value="10" description="optic flow igain"/>
-    <define name="DESIRED_VX" value="0" description="feedforward optic flow vx"/>
-    <define name="DESIRED_VY" value="0" description="feedforward optic flow vy"/>
+    <define name="OPTICFLOW_AGL_ID" value="ABI_SENDER_ID" description="ABI sender id for AGL message (sonar measurement) (default: ABI_BROADCAST)"/>
   </doc>
   <settings>
     <dl_settings>
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
index 59bc249f16..f4e32384f5 100644
--- a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
+++ b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.c
@@ -22,7 +22,8 @@
  * @file modules/computer_vision/opticflow/hover_stabilization.c
  * @brief optical-flow based hovering for Parrot AR.Drone 2.0
  *
- * Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
+ * Control loops for optic flow based hovering.
+ * Computes setpoint for the lower level attitude stabilization to control horizontal velocity.
  */
 
 // Own Header
@@ -195,6 +196,6 @@ void run_opticflow_hover(void)
   else if (cmd_euler.theta > CMD_OF_SAT) {cmd_euler.theta = CMD_OF_SAT; saturateY = 1;}
 
   stabilization_attitude_set_rpy_setpoint_i(&cmd_euler);
-  DOWNLINK_SEND_VISION_STABILIZATION(DefaultChannel, DefaultDevice, &Velx, &Vely, &Velx_Int, &Vely_Int, &cmd_euler.phi,
-                                     &cmd_euler.theta);
+  DOWNLINK_SEND_VISION_STABILIZATION(DefaultChannel, DefaultDevice, &Velx, &Vely, &Velx_Int,
+                                     &Vely_Int, &cmd_euler.phi, &cmd_euler.theta);
 }
diff --git a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
index 92a6baeb4d..3f14b09f15 100644
--- a/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
+++ b/sw/airborne/modules/computer_vision/opticflow/hover_stabilization.h
@@ -22,7 +22,8 @@
  * @file modules/computer_vision/opticflow/hover_stabilization.h
  * @brief optical-flow based hovering for Parrot AR.Drone 2.0
  *
- * Sensors from vertical camera and IMU of Parrot AR.Drone 2.0
+ * Control loops for optic flow based hovering.
+ * Computes setpoint for the lower level attitude stabilization to control horizontal velocity.
  */
 
 #ifndef HOVER_STABILIZATION_H_
diff --git a/sw/airborne/modules/computer_vision/opticflow_module.c b/sw/airborne/modules/computer_vision/opticflow_module.c
index 7186c006c5..99e84f6950 100644
--- a/sw/airborne/modules/computer_vision/opticflow_module.c
+++ b/sw/airborne/modules/computer_vision/opticflow_module.c
@@ -31,9 +31,6 @@
 // Navigate Based On Vision, needed to call init/run_hover_stabilization_onvision
 #include "opticflow/hover_stabilization.h"
 
-// Paparazzi
-#include "state.h" // for attitude
-
 // Threaded computer vision
 #include <pthread.h>