diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
index 124bd5297e4..fda0fec156f 100644
--- a/conf/airframes/CDW/bebop.xml
+++ b/conf/airframes/CDW/bebop.xml
@@ -53,6 +53,9 @@
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diff --git a/conf/airframes/CDW/conf.xml b/conf/airframes/CDW/conf.xml
index a00c6dddb1b..f79ad316ae4 100644
--- a/conf/airframes/CDW/conf.xml
+++ b/conf/airframes/CDW/conf.xml
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
- settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
+ settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
gui_color="#ffff0689b7a1"
/>
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diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
index b28cb11145e..5fb7e12e548 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+++ b/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
@@ -39,11 +39,19 @@
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