diff --git a/conf/airframes/tudelft/bebop2_indi.xml b/conf/airframes/tudelft/bebop2_indi.xml
index 08de9b0740..14422ae893 100644
--- a/conf/airframes/tudelft/bebop2_indi.xml
+++ b/conf/airframes/tudelft/bebop2_indi.xml
@@ -5,12 +5,22 @@
   </description>
 
   <firmware name="rotorcraft">
-    <target name="ap" board="bebop2"/>
+    <target name="ap" board="bebop2">
 
-    <!--target name="nps" board="pc">
+      <!-- If flying with optitrack, uncomment the following: -->
+      <!-- <section name="OPTITRACK">
+        <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
+        <define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
+        <define name="INS_USE_GPS_ALT" value="1"/>
+        <define name="INS_USE_GPS_ALT_SPEED" value="1"/>
+        <define name="INS_VFF_R_GPS" value="0.01"/>
+      </section> -->
+    </target>
+
+    <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="udp"/>
-    </target-->
+    </target>
 
 	  <!-- Subsystem section -->
     <module name="telemetry" type="transparent_udp"/>
@@ -21,6 +31,13 @@
     <module name="stabilization" type="indi">
       <define name="STABILIZATION_INDI_RPM_FEEDBACK" value="TRUE"/>
     </module>
+    <module name="guidance" type="indi">
+      <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
+      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="53.9"/>
+      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+      <define name="WLS_N_U_MAX" value="4"/>
+      <define name="WLS_N_V_MAX" value="4"/>
+    </module>
     <module name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="TRUE"/>
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
@@ -82,7 +99,6 @@
     <define name="SONAR_MAX_RANGE" value="2.2"/>
   </section>
 
-
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoint limits for attitude stabilization rc flight -->
     <define name="SP_MAX_PHI" value="45" unit="deg"/>
@@ -151,7 +167,8 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 3ecd201763..e092f53df5 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -429,14 +429,14 @@
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
-   name="bebop2_22"
+   name="bebop2"
    ac_id="22"
-   airframe="airframes/examples/bebop2_indi.xml"
+   airframe="airframes/tudelft/bebop2_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_bebop.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#baa3d698b729"
   />
   <aircraft
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
index cbf7b80387..7bc68ea027 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.h
@@ -59,7 +59,4 @@ extern float guidance_indi_pos_gain;
 extern float guidance_indi_speed_gain;
 extern float guidance_indi_max_bank;
 
-
-extern struct FloatVect3 sp_accel;
-
 #endif /* GUIDANCE_INDI_H */
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
index f21a263b5c..149b967b42 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.h
@@ -93,7 +93,6 @@ struct guidance_indi_hybrid_params {
   float descend_vspeed_quad;
 };
 
-extern struct FloatVect3 sp_accel;
 extern struct FloatVect3 gi_speed_sp;
 extern struct guidance_indi_hybrid_params gih_params;