diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
index abd1ff37792be8e129f3dc136e5f81d439abba3e..6b52007c95eefc659c87063e6f921bd2a0013d99 100644
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -753,6 +753,19 @@
       <output name="MAIN7">Pusher motor</output>
       <output name="MAIN8">Pusher reverse channel</output>
     </airframe>
+    <airframe id="13014" maintainer="Silvan Fuhrer &lt;silvan@auterion.com&gt;" name="BabyShark VTOL">
+      <class>VTOL</class>
+      <maintainer>Silvan Fuhrer &lt;silvan@auterion.com&gt;</maintainer>
+      <type>Standard VTOL</type>
+      <output name="MAIN1">Ailerons</output>
+      <output name="MAIN2">A-tail left</output>
+      <output name="MAIN3">Pusher motor</output>
+      <output name="MAIN4">A-tail right</output>
+      <output name="MAIN5">motor 1</output>
+      <output name="MAIN6">motor 2</output>
+      <output name="MAIN7">motor 3</output>
+      <output name="MAIN8">motor 4</output>
+    </airframe>
   </airframe_group>
   <airframe_group image="VTOLDuoRotorTailSitter" name="VTOL Duo Tailsitter">
     <airframe id="13001" maintainer="Roman Bapst &lt;roman@px4.io&gt;" name="Caipiroshka Duo Tailsitter">
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9f69274c737885d66335e41c3a334bca713c5298..7548962400c15ab77d18a3beb208854ef66e9e7d 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -2311,13 +2311,10 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
       <decimal>1</decimal>
       <increment>0.5</increment>
     </parameter>
-    <parameter default="1" name="FW_LND_EARLYCFG" type="INT32">
+    <parameter default="0" name="FW_LND_EARLYCFG" type="INT32">
       <short_desc>Early landing configuration deployment</short_desc>
-      <long_desc>When set to 0/disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When set to 1/enabled, it is already activated when entering the final loiter-down (loiter-to-alt) WP before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.</long_desc>
-      <values>
-        <value code="0">Disable early land configuration deployment</value>
-        <value code="1">Enable early land configuration deployment</value>
-      </values>
+      <long_desc>When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated on the final approach to landing. When enabled, it is already activated when entering the final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large) altitude and airspeed errors caused by the configuration change away from the ground such that these are not so critical. It also gives the controller enough time to adapt to the new configuration such that the landing approach starts with a cleaner initial state.</long_desc>
+      <boolean />
     </parameter>
     <parameter default="3.0" name="FW_LND_FLALT" type="FLOAT">
       <short_desc>Landing flare altitude (relative to landing altitude)</short_desc>
diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc
index 4544f2b7364e88655b174a8ae25b2fed71a99f81..8eae2d8ff6b988b0a9e198c0188f24b99a43049f 100644
--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -293,7 +293,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
 {
     int     seqNum =        _sequenceNumber;
     bool    startFromTop =  _startFromTopFact.rawValue().toBool();
-    double  startAltitude = _scanBottomAltFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0);
+    double  startAltitude = (startFromTop ? _structureHeightFact.rawValue().toDouble() : _scanBottomAltFact.rawValue().toDouble());
 
     MissionItem* item = nullptr;