diff --git a/conf/airframes/funjet1.xml b/conf/airframes/funjet1.xml
index 14fee29da7..e9f4339205 100644
--- a/conf/airframes/funjet1.xml
+++ b/conf/airframes/funjet1.xml
@@ -13,6 +13,7 @@
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
+    <axis name="HATCH"    failsafe_value="0"/>
   </commands>
 
   <rc_commands>
@@ -144,15 +145,15 @@
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
 
-    <define name="ROLL_PGAIN" value="5000."/>
+    <define name="ROLL_PGAIN" value="13000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_PGAIN" value="-14000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
     
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
-    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
+    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-14." unit="rad/s/rad"/>
     <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
     <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
     <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
@@ -247,7 +248,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
-ap.srcs += traffic_info.c
+ap.srcs += traffic_info.c bomb.c
 
 
 # Hack to use the same tuning file than slayer1
diff --git a/conf/airframes/microjet6.xml b/conf/airframes/microjet6.xml
index 3e1f0f2371..4fc19cf414 100755
--- a/conf/airframes/microjet6.xml
+++ b/conf/airframes/microjet6.xml
@@ -98,7 +98,7 @@
   </section>
  
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="14." 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"/>
diff --git a/conf/airframes/minimag1.xml b/conf/airframes/minimag1.xml
index 47ea503794..5bea30fd36 100644
--- a/conf/airframes/minimag1.xml
+++ b/conf/airframes/minimag1.xml
@@ -21,6 +21,7 @@
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
     <axis name="YAW"      failsafe_value="0"/>
+    <axis name="HATCH"      failsafe_value="0"/>
   </commands>
 
   <rc_commands>
@@ -121,7 +122,7 @@
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-500"/>
     <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"/>
@@ -244,8 +245,8 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 # ap.CFLAGS += -DGYRO -DADXRS150
 # ap.srcs += gyro.c
 
-# ap.srcs += bomb.c
 ap.srcs += traffic_info.c
+ap.srcs += bomb.c
 
 # Hack to use the same tuning file than slayer1
 ap.CFLAGS += -DUSE_GPIO
@@ -261,7 +262,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += traffic_info.c
-# sim.srcs += bomb.c
+sim.srcs += bomb.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index cd426357a8..10e90e639e 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -157,7 +157,7 @@
     <!-- auto throttle inner loop -->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.60"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".45"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
index cdb54c91b6..052d2eb499 100644
--- a/conf/flight_plans/IS.xml
+++ b/conf/flight_plans/IS.xml
@@ -10,10 +10,10 @@
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="AF" x="-200" y="100" alt="215"/>
+    <waypoint name="AF" x="200" y="-10" alt="215"/>
     <waypoint name="TOD" x="-150" y="0"/>
     <waypoint name="OVERRUN" x="50" y="0"/>
-    <waypoint name="TD" x="100" y="0" alt="185"/>
+    <waypoint name="TD" x="80" y="20" alt="185"/>
     <waypoint name="1" x="-75" y="75"/>
     <waypoint name="2" x="75" y="75"/>
     <waypoint name="MOB" x="200" y="200"/>
@@ -42,27 +42,27 @@
     </block>
 -->
 
-    <block name="wait">
-      <circle radius="75" wp="1"/>
+    <block name="wait" strip_button="0">
+      <circle radius="nav_radius" wp="1"/>
     </block>
 
     <block name="eight 1" strip_button="8">
-      <eight radius="75" center="1" turn_around="2"/>
+      <eight radius="nav_radius" center="1" turn_around="2"/>
     </block>
 
     <block name="Line" strip_button="Line">
          <call fun="nav_line_init()"/>
-         <call fun="nav_line(WP_1, WP_2, 75)"/>
+         <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
     </block>
 
 
     <block name="oval">
-      <oval p1="1" p2="2" radius="80"/>
+      <oval p1="1" p2="2" radius="nav_radius"/>
     </block>
 
     <block name="MOB">
       <call fun="NavSetWaypointHere(WP_MOB)"/>
-      <circle wp="MOB" radius="100"/>
+      <circle wp="MOB" radius="nav_radius"/>
     </block>
 
     <block name="Anemotaxis" strip_button="Anem">
@@ -89,9 +89,11 @@
       <call fun="disc_survey(WP_HOME, 350)"/>
     </block>
 
+<!--
     <block name="circle 1 auto pitch">
       <circle radius="75" wp="1" pitch="auto" throttle="0.7"/>
     </block>
+-->
 
     <block name="circle left 1">
       <circle radius="-75" wp="1"/>
@@ -166,8 +168,12 @@
 
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
+<!--
       <go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
       <go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
+-->
+      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
+
     </block>
 
     <block name="flare">
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index 620006fc4c..14971d549e 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -11,6 +11,15 @@
     <waypoint name="MOB" x="200" y="200"/>
     <waypoint name="S1" x="-200" y="-200"/>
     <waypoint name="S2" x="300" y="400"/>
+    <waypoint name="AF" x="200" y="-10" alt="215"/>
+    <waypoint name="TOD" x="-150" y="0"/>
+    <waypoint name="OVERRUN" x="50" y="0"/>
+    <waypoint name="TD" x="80" y="20" alt="185"/>
+    <waypoint name="BASELEG" x="400" y="300"/>
+    <waypoint name="RELEASE" x="400" y="300"/>
+    <waypoint name="TARGET" x="300" y="300"/>
+    <waypoint name="START" x="300" y="300"/>
+    <waypoint name="CLIMB" x="300" y="300"/>
   </waypoints>
   <blocks>
     <block name="wait GPS">
@@ -85,6 +94,28 @@
       <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
     </block>
 
+   <block name="land">
+      <set value="compute_baseleg()" var="unit"/>
+      <circle radius="BOMB_RADIUS" until="NavCircleCount() > 0.5" wp="BASELEG"/>
+      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
+      <circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10) && baseleg_alt_tolerance > fabs(estimator_z - baseleg_alt)" wp="BASELEG"/>
+    </block>
+
+    <block name="final">
+      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
+<!--
+      <go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
+      <go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
+-->
+      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
+
+    </block>
+
+    <block name="flare">
+      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
+      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
+    </block>
+
 
     <block name="follow">
       <follow ac_id="7" distance="25" height="10"/>
diff --git a/conf/settings/settings.dtd b/conf/settings/settings.dtd
index 0e8c0e0cc0..38b66b7df8 100644
--- a/conf/settings/settings.dtd
+++ b/conf/settings/settings.dtd
@@ -33,6 +33,6 @@ handler CDATA #IMPLIED
 
 <!ATTLIST strip_button
 name CDATA #REQUIRED
-value CDATA #REQUIRED
+value CDATA #IMPLIED
 >
 
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index decedd4b33..c2bbaa5d6b 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -53,10 +53,10 @@
       </dl_settings>
 
       <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle">
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle">
         <strip_button name="Dash" value="1"/>
-        <strip_button name="Loiter" value="0.47"/>
-        <strip_button name="Cruise" value="0.65"/>
+        <strip_button name="Loiter" value="0.1"/>
+        <strip_button name="Cruise" value="0"/>
       </dl_setting>
        
 
diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c
index 32d0f49d31..e003015cb2 100644
--- a/sw/airborne/datalink.c
+++ b/sw/airborne/datalink.c
@@ -110,9 +110,9 @@ void dl_parse_msg(void) {
 #ifdef DlSetting
   else if (msg_id == DL_SETTING) {
     uint8_t i = DL_SETTING_index(dl_buffer);
-    float var = DL_SETTING_value(dl_buffer);
-    DlSetting(i, var);
-    DOWNLINK_SEND_DL_VALUE(&i, &var);
+    float val = DL_SETTING_value(dl_buffer);
+    DlSetting(i, val);
+    DOWNLINK_SEND_DL_VALUE(&i, &val);
   }
 #endif /** Else there is no dl_settings section in the flight plan */
 }
diff --git a/sw/airborne/fw_v_ctl.h b/sw/airborne/fw_v_ctl.h
index d8f3950723..5d3919ba77 100644
--- a/sw/airborne/fw_v_ctl.h
+++ b/sw/airborne/fw_v_ctl.h
@@ -89,4 +89,9 @@ extern void v_ctl_climb_loop ( void );
 /** Computes throttle_slewed from throttle_setpoint */
 extern void v_ctl_throttle_slew( void );
 
+#define fw_v_ctl_SetCruiseThrottle(_v) { \
+  v_ctl_auto_throttle_cruise_throttle = (_v ? _v : v_ctl_auto_throttle_nominal_cruise_throttle); \
+  Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE); \
+}
+
 #endif /* FW_V_CTL_H */
diff --git a/sw/tools/gen_settings.ml b/sw/tools/gen_settings.ml
index bbaa50ddcd..b697c0be33 100644
--- a/sw/tools/gen_settings.ml
+++ b/sw/tools/gen_settings.ml
@@ -81,7 +81,7 @@ let print_dl_settings = fun settings ->
 	try
 	  let h = ExtXml.attrib s "handler" and
 	      m =  ExtXml.attrib s "module" in
-	    lprintf "case %d: %s_%s( _value ); break;\\\n" !idx m h 
+	    lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx m h v
 	with  
 	    ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
 	end;