diff --git a/conf/flight_plans/tudelft/nederdrone_terschelling.xml b/conf/flight_plans/tudelft/nederdrone_terschelling.xml
index 8bd48d194d..54178d8ce4 100644
--- a/conf/flight_plans/tudelft/nederdrone_terschelling.xml
+++ b/conf/flight_plans/tudelft/nederdrone_terschelling.xml
@@ -9,23 +9,23 @@
     <waypoint name="HOME" x="-657.7" y="-25.2"/>
     <waypoint name="CLIMB" x="-476.9" y="77.1"/>
     <waypoint alt="80.0" name="STDBY" x="-688.0" y="13.9"/>
-    <waypoint alt="100.0" name="p1" x="-999.0" y="87.9"/>
-    <waypoint alt="100.0" name="p2" x="-1140.3" y="367.8"/>
-    <waypoint alt="100.0" name="p3" x="-734.2" y="511.2"/>
-    <waypoint alt="100.0" name="p4" x="-616.5" y="237.7"/>
+    <waypoint alt="100.0" name="p1" x="-1047.6" y="27.2"/>
+    <waypoint alt="100.0" name="p2" x="-1091.2" y="272.9"/>
+    <waypoint alt="100.0" name="p3" x="-718.0" y="345.1"/>
+    <waypoint alt="100.0" name="p4" x="-641.6" y="127.3"/>
     <waypoint name="TD" x="-472.8" y="169.5"/>
     <waypoint name="FOLLOW" x="-593.9" y="379.7"/>
     <waypoint lat="53.409169" lon="5.243295" name="S1"/>
     <waypoint lat="53.410073" lon="5.248888" name="S2"/>
-    <waypoint lat="53.403856" lon="5.222350" name="C1"/>
-    <waypoint lat="53.399328" lon="5.226276" name="C2"/>
-    <waypoint lat="53.391885" lon="5.237441" name="C3"/>
+    <waypoint lat="53.403590" lon="5.214102" name="C1"/>
+    <waypoint lat="53.399129" lon="5.219031" name="C2"/>
+    <waypoint lat="53.391752" lon="5.234877" name="C3"/>
     <waypoint lat="53.399786" lon="5.273960" name="C4"/>
-    <waypoint lat="53.413211" lon="5.265218" name="C5"/>
-    <waypoint lat="53.421785" lon="5.253991" name="C6"/>
-    <waypoint lat="53.418792" lon="5.235271" name="C7"/>
-    <waypoint lat="53.415670" lon="5.219705" name="C8"/>
-    <waypoint lat="53.411297" lon="5.216826" name="C9"/>
+    <waypoint lat="53.416200" lon="5.265441" name="C5"/>
+    <waypoint lat="53.424575" lon="5.252654" name="C6"/>
+    <waypoint lat="53.422246" lon="5.233265" name="C7"/>
+    <waypoint lat="53.418859" lon="5.216361" name="C8"/>
+    <waypoint lat="53.411762" lon="5.208801" name="C9"/>
   </waypoints>
   <sectors>
     <sector color="red" name="Flyzone">
diff --git a/conf/flight_plans/tudelft/nederdrone_troia.xml b/conf/flight_plans/tudelft/nederdrone_troia.xml
index ee4a0f7e46..c81b0cc004 100644
--- a/conf/flight_plans/tudelft/nederdrone_troia.xml
+++ b/conf/flight_plans/tudelft/nederdrone_troia.xml
@@ -146,7 +146,7 @@
     <block name="Takeoff">
       <exception cond="GetPosHeight() @GT 70.0" deroute="GO NORTH"/>
       <call_once fun="nav_set_heading_current()"/>
-      <call_once fun="waypoint_set_xy_i(WP_CLIMB,POS_BFP_OF_REAL(GetPosX()+20.0*sinf(stateGetNedToBodyEulers_f()@DEREFpsi)),POS_BFP_OF_REAL(GetPosY()+20.0*cosf(stateGetNedToBodyEulers_f()@DEREFpsi)))"/>
+      <call_once fun="waypoint_set_xy_i(WP_CLIMB,POS_BFP_OF_REAL(GetPosX()+20.0*sinf(stateGetNedToBodyEulers_f()->psi)),POS_BFP_OF_REAL(GetPosY()+20.0*cosf(stateGetNedToBodyEulers_f()->psi)))"/>
       <stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
     </block>
     <block name="GO SOUTH">
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index d10731b388..60c5707b37 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -9,7 +9,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
    gui_color="red"
-   release="ac5eaa8da36b999a135f979e598930a9d40f6401"
   />
   <aircraft
    name="ARDrone2_default"
@@ -19,8 +18,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   gui_color="#ffffd633d633"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
+   gui_color="#ffffd633d633"
   />
   <aircraft
    name="ARDrone2_indi"
@@ -120,7 +119,6 @@
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffbc3bce5b"
-   release="934f0e14c09da0a3bfe199b7685abd2f4b6badbe"
   />
   <aircraft
    name="CX10"
@@ -165,7 +163,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/heli_throttle_curve.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_basic_rotorcraft.xml modules/opa_controller.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml modules/temp_adc.xml"
    gui_color="#ffffdffac31f"
-   release="7c6064c5c3522e3286af8ecbc7498773b421ba7d"
   />
   <aircraft
    name="Disco"
@@ -177,7 +174,6 @@
    settings="settings/fixedwing_basic.xml"
    settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
-   release="dfba3220f5b3500611231d02fca8799f9f045cb8"
   />
   <aircraft
    name="Disco_FlatSpin"
@@ -189,7 +185,6 @@
    settings="settings/fixedwing_basic.xml"
    settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
-   release="57fa5506ad03c85215b0ff7659d9f2a26131db1f"
   />
   <aircraft
    name="Flappy"
@@ -201,7 +196,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="white"
-   release="65aa9a711dc4a66ed2d7cf73c0f5872bbeeb821d"
   />
   <aircraft
    name="Heli450"
@@ -224,7 +218,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffffcccaccca"
-   release="433c2150022275f26fb4619e536903676d7e2c9e"
   />
   <aircraft
    name="LadyLisaBluegiga"
@@ -236,7 +229,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
-   release="4f95168b07005474c8fedf3be5c2f2b4f4c7c393"
   />
   <aircraft
    name="LadybirdMXS"
@@ -259,7 +251,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/heli_throttle_curve.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="#ffffdffac31f"
-   release="0fba1ce80a46d8dce23c570e6547595c89988fad"
   />
   <aircraft
    name="MAVTec1_Kirk"
@@ -271,7 +262,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffff00000000"
-   release="e688107d8a1f9c933cb0931eebb0e7b009ccc445"
   />
   <aircraft
    name="Mentor"
@@ -283,7 +273,6 @@
    settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="white"
-   release="997fa535902c4d8f73bc34c02c862652cd47cae5"
   />
   <aircraft
    name="Nederdrone4"
@@ -295,7 +284,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml modules/approach_moving_target.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml modules/target_pos.xml"
    gui_color="blue"
-   release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
   />
   <aircraft
    name="Nederdrone6"
@@ -303,11 +291,10 @@
    airframe="airframes/tudelft/nederdrone6.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_troia.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
-   release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
   />
   <aircraft
    name="Nederdrone7"
@@ -315,11 +302,10 @@
    airframe="airframes/tudelft/nederdrone7.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_troia.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_terschelling.xml"
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="blue"
-   release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
   />
   <aircraft
    name="Nederdrone8"
@@ -327,11 +313,11 @@
    airframe="airframes/tudelft/nederdrone8.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/nederdrone_troia.xml"
+   flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="#ffff00000000"
    release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi.xml modules/target_pos.xml"
   />
   <aircraft
    name="Nederquad"
@@ -354,7 +340,6 @@
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/range_forcefield.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
-   release="c11f888de1eba08d751f1ff0b03bf4a5bec8e8fa"
   />
   <aircraft
    name="Quadplane"
@@ -366,7 +351,6 @@
    settings="settings/nps.xml settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/sys_id_chirp.xml"
    gui_color="blue"
-   release="f739a81cfa2c633e33f31ab5f095d8f617276974"
   />
   <aircraft
    name="Robird"
@@ -378,7 +362,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffffcccaccca"
-   release="677c4c77398cfbabffae3efdcafdacfd04a0b9ab"
   />
   <aircraft
    name="Splash"
@@ -390,7 +373,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/spektrum_soft_bind.xml modules/stabilization_indi_simple.xml"
    gui_color="#fff0cccaccca"
-   release="234e898f7fd1483806808313d3086f12a1b5730a"
   />
   <aircraft
    name="Splash3"
@@ -402,7 +384,6 @@
    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/lidar_tfmini.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
    gui_color="blue"
-   release="009b121cfd12be8d3e236e0cbd5b564f2639d54f"
   />
   <aircraft
    name="Splash4"
@@ -425,7 +406,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="[modules/air_data.xml] modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/eff_scheduling_nederdrone_dummy.xml modules/follow_me.xml modules/gps.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml [modules/imu_common.xml] modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_basic_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi.xml modules/target_pos.xml"
    gui_color="#ffff00000000"
-   release="c52a0b7e581c74b42ecc9f9d712324e3ab1fcc5e"
   />
   <aircraft
    name="TwoSeasTwenty"
@@ -437,7 +417,6 @@
    settings="settings/fixedwing_basic.xml"
    settings_modules="modules/gps.xml modules/guidance_basic_fw.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
-   release="679fcad03bab95b2982cb6d8e3537486da45d306"
   />
   <aircraft
    name="Walkera_GeniusV1"
@@ -493,7 +472,6 @@
    settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_secondary.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"
    gui_color="#baa3d698b729"
-   release="cde043338785efbaa7aac97e90cb272099a0c7ec"
   />
   <aircraft
    name="bebop2_no_dampers"
@@ -560,7 +538,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_ae_awb.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="blue"
-   release="398071ca8f7c8dc24becbe76bc5628b6ea604248"
   />
   <aircraft
    name="fan_demo"
@@ -572,7 +549,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
-   release="f580c07814aa1068bf3f6960318b2417fc069cbe"
   />
   <aircraft
    name="frog1"
@@ -595,7 +571,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
-   release="93a9608c3bc34eca6a0dcde4123d55dac7d7b448"
   />
   <aircraft
    name="quadshot_pylons"