diff --git a/conf/airframes/TUDelft/airframes/logo600.xml b/conf/airframes/TUDelft/airframes/logo600.xml
index 3378edcd3d..75e44d796f 100644
--- a/conf/airframes/TUDelft/airframes/logo600.xml
+++ b/conf/airframes/TUDelft/airframes/logo600.xml
@@ -101,6 +101,7 @@
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+    <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
     <!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/-->
     <define name="VoltageOfAdc(adc)" value="(0.014355*adc)"/>
     <define name="MilliAmpereOfAdc(adc)" value="(((float)adc)-1990.0f)*40.29f*2.0f"/>  <!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
@@ -180,13 +181,13 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN" value="100"/>
-    <define name="PHI_DGAIN" value="0"/>
+    <define name="PHI_PGAIN" value="500"/>
+    <define name="PHI_DGAIN" value="100"/>
     <define name="PHI_IGAIN" value="0"/>
-    <define name="THETA_PGAIN" value="100"/>
-    <define name="THETA_DGAIN" value="0"/>
+    <define name="THETA_PGAIN" value="500"/>
+    <define name="THETA_DGAIN" value="100"/>
     <define name="THETA_IGAIN" value="0"/>
-    <define name="PSI_PGAIN" value="100"/>
+    <define name="PSI_PGAIN" value="200"/>
     <define name="PSI_DGAIN" value="0"/>
     <define name="PSI_IGAIN" value="0"/>
 
@@ -224,7 +225,7 @@
   <section name="AUTOPILOT">
     <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
     <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_DIRECT"/>
   </section>
 
   <section name="BAT">
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
index 43482ccb1a..854e510b74 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_rc_helpers.h
@@ -58,6 +58,7 @@ static inline bool_t rc_attitude_sticks_centered(void)
 }
 
 #ifdef RADIO_KILL_SWITCH
+#warning RADIO_KILL_DEFINED
 static inline bool_t kill_switch_is_on(void)
 {
   if (radio_control.values[RADIO_KILL_SWITCH] < 0) {
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 02c7a9b1d4..6db255d588 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -280,6 +280,8 @@ STATIC_INLINE void main_periodic(void)
 #ifndef INTER_MCU_AP
   SetActuatorsFromCommands(commands, autopilot_mode);
 #else
+#warning ALL IS GOOD
+  commands[COMMAND_THRUST] = radio_control.values[RADIO_THROTTLE];\
   intermcu_set_actuators(commands, autopilot_mode);
 #endif
 
diff --git a/sw/airborne/subsystems/intermcu/intermcu_ap.h b/sw/airborne/subsystems/intermcu/intermcu_ap.h
index f10837560c..058a71a938 100644
--- a/sw/airborne/subsystems/intermcu/intermcu_ap.h
+++ b/sw/airborne/subsystems/intermcu/intermcu_ap.h
@@ -44,8 +44,8 @@ void RadioControlEvent(void (*frame_handler)(void));
 #ifndef RADIO_MODE
 #define RADIO_MODE       RADIO_GEAR
 #endif
-#ifndef RADIO_KILL_SWITCH
-#define RADIO_KILL_SWITCH       RADIO_FLAP
-#endif
+//#ifndef RADIO_KILL_SWITCH
+//#define RADIO_KILL_SWITCH       RADIO_FLAP
+//#endif
 
 #endif /* INTERMCU_AP_ROTORCRAFT_H */