diff --git a/parameters_charlie.txt b/parameters_charlie.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f54c2712ebb79d2d1c0d923dd6e6cbb5f2c0387
--- /dev/null
+++ b/parameters_charlie.txt
@@ -0,0 +1,151 @@
+# Onboard parameters for system MAV 042
+#
+# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
+42	1	POSFILTER	1
+42	1	PROTOCOLTIMEOUT¿	2e+06
+42	1	SETPOINTDELAY	1e+06
+42	1	YAWTOLERANCE	0.1745
+42	100	SYS_ID	42
+42	120	DOWN_PITCH	0.02
+42	120	DOWN_ROLL	0.18
+42	120	DOWN_X	0
+42	120	DOWN_Y	0
+42	120	DOWN_YAW	3.14159
+42	120	DOWN_Z	0
+42	200	ACC_NAV_OFFS_X	0
+42	200	ACC_NAV_OFFS_Y	0
+42	200	ACC_NAV_OFFS_Z	-1000
+42	200	ATT_KAL_IYAW	1
+42	200	ATT_KAL_KACC	0.0033
+42	200	ATT_OFFSET_X	0
+42	200	ATT_OFFSET_Y	0
+42	200	ATT_OFFSET_Z	-0.08
+42	200	CAL_ACC_X	0
+42	200	CAL_ACC_Y	0
+42	200	CAL_ACC_Z	0
+42	200	CAL_FIT_ACTIVE	1
+42	200	CAL_FIT_GYRO_X	31495
+42	200	CAL_FIT_GYRO_Y	29400
+42	200	CAL_FIT_GYRO_Z	30180
+42	200	CAL_GYRO_X	29809
+42	200	CAL_GYRO_Y	29959
+42	200	CAL_GYRO_Z	29455
+42	200	CAL_TEMP	51.5
+42	200	CAM_EXP	1000
+42	200	CAM_INTERVAL	36000
+42	200	DEBUG_1	0
+42	200	DEBUG_2	1
+42	200	DEBUG_3	0
+42	200	DEBUG_4	0
+42	200	DEBUG_5	1
+42	200	DEBUG_6	0
+42	200	MIX_OFFSET	0
+42	200	MIX_POSITION	0
+42	200	MIX_POS_YAW	0
+42	200	MIX_REMOTE	0
+42	200	MIX_Z_POSITION	0
+42	200	PID_ATT_AWU	0.3
+42	200	PID_ATT_D	15
+42	200	PID_ATT_I	20
+42	200	PID_ATT_LIM	30
+42	200	PID_ATT_P	40
+42	200	PID_POS_AWU	10
+42	200	PID_POS_D	1.8
+42	200	PID_POS_I	0.25
+42	200	PID_POS_LIM	0.15
+42	200	PID_POS_P	1.7
+42	200	PID_POS_Z_AWU	3
+42	200	PID_POS_Z_D	0.15
+42	200	PID_POS_Z_I	0.2
+42	200	PID_POS_Z_LIM	0.2
+42	200	PID_POS_Z_P	0.35
+42	200	PID_YAWPOS_AWU	1
+42	200	PID_YAWPOS_D	1
+42	200	PID_YAWPOS_I	0.1
+42	200	PID_YAWPOS_LIM	2
+42	200	PID_YAWPOS_P	5
+42	200	PID_YAWSPEED_D	0
+42	200	PID_YAWSPEED_I	5
+42	200	PID_YAWSPEED_P	15
+42	200	PID_YAWSPE_AWU	1
+42	200	PID_YAWSPE_LIM	20
+42	200	POS_SP_ACCEPT	1
+42	200	POS_SP_X	1.66
+42	200	POS_SP_Y	0.55
+42	200	POS_SP_YAW	1.5708
+42	200	POS_SP_Z	-0.7
+42	200	POS_TIMEOUT	2e+06
+42	200	RC_NICK_CHAN	1
+42	200	RC_ROLL_CHAN	2
+42	200	RC_SAFETY_CHAN	5
+42	200	RC_THRUST_CHAN	3
+42	200	RC_TRIM_CHAN	0
+42	200	RC_TUNE_CHAN1	7
+42	200	RC_TUNE_CHAN2	5
+42	200	RC_TUNE_CHAN3	6
+42	200	RC_TUNE_CHAN4	8
+42	200	RC_YAW_CHAN	4
+42	200	SEND_DEBUGCHAN	0
+42	200	SLOT_ATTITUDE	1
+42	200	SLOT_CONTROL	0
+42	200	SLOT_RAW_IMU	0
+42	200	SLOT_RC	0
+42	200	SYS_COMP_ID	200
+42	200	SYS_ID	42
+42	200	SYS_IMU_RESET	0
+42	200	SYS_SW_VER	2001
+42	200	SYS_TYPE	2
+42	200	UART_0_BAUD	115200
+42	200	UART_1_BAUD	57600
+42	200	VEL_DAMP	0.95
+42	200	VEL_OFFSET_X	0
+42	200	VEL_OFFSET_Y	0
+42	200	VEL_OFFSET_Z	0
+42	200	VIS_OUTL_TRESH	0.2
+42	200	VIS_YAWCORR	0
+42	200	adaThresBlockS	15
+42	200	adaThresMethod	0
+42	200	adaThresParam1	8
+42	200	artkBorderWidt	0.25
+42	200	artkPatternWid	200
+42	200	artkThreshold	175
+42	200	bDContours	1
+42	200	bDRectangles	1
+42	200	bEqualizeHist	0
+42	200	bRectify	1
+42	200	bRefineCorners	1
+42	200	contApproxMeth	2
+42	200	contDeviThresh	50
+42	200	contImageSize	32
+42	200	contImageType	2
+42	200	contOrFactor	0.8
+42	200	contOrHistBins	64
+42	200	contPerimMulti	0.06
+42	200	contourMinArea	250
+42	200	cropBPBegin	0
+42	200	cropBPEnd	9
+42	200	cropBPStep	3
+42	200	cropBPThres	128
+42	200	cropImageSize	64
+42	200	cropInterpolat	1
+42	200	cropWhiteBalan	1
+42	200	detMatchFactoT	1.5
+42	200	findRectMethod	2
+42	200	fps	0
+42	200	histMinSmoothi	11
+42	200	histMinToleran	0.05
+42	200	kittlerWWeight	1
+42	200	kmeansWWeight	1
+42	200	preprocDivisor	1
+42	200	rSExpectdScore	2
+42	200	rSExpectedDiff	0.5
+42	200	rSLearnFactor	0.5
+42	200	rSMaxNarrowing	0.3
+42	200	rSStandardDevi	30
+42	200	rSUnlearnFacto	0.9
+42	200	rectMaxEdgeRat	1.5
+42	200	rectMinArea	1000
+42	200	refCornRadius	3
+42	200	thresHistBins	64
+42	200	thresMethod	5
+42	200	warpImageSize	128
diff --git a/waypoints_braunschweig2.txt b/waypoints_braunschweig3.txt
similarity index 64%
rename from waypoints_braunschweig2.txt
rename to waypoints_braunschweig3.txt
index c2e5698adde4de88e188d54cc6598d594107e561..6c302154ddc092354efcdea391237c167983b560 100644
--- a/waypoints_braunschweig2.txt
+++ b/waypoints_braunschweig3.txt
@@ -1,11 +1,11 @@
-	0	3.05	1.6	-0.7	1.5708	1	0	0.2	1500
+	0	3.05	1.6	-0.7	1.5708	1	1	0.2	1500
 	1	3	1	-0.7	1.5708	1	0	0.3	0
-	2	2.1	0.3	-0.7	1.5708	1	0	0.5	0
-	3	1	0.23	-0.7	1.5708	1	0	0.3	0
-	4	0.5	1.1	-0.7	1.5708	1	1	0.3	0
-	5	0.5	2.3	-0.7	1.5708	1	0	0.3	0
+	2	2.1	0.5	-0.7	1.5708	1	0	0.5	0
+	3	1	0.73	-0.7	1.5708	1	0	0.3	0
+	4	0.55	1.1	-0.7	1.5708	1	0	0.3	0
+	5	0.55	2.3	-0.7	1.5708	1	0	0.3	0
 	6	1.03	2.98	-0.7	1.58	1	0	0.3	0
-	7	2.15	3.06	-0.7	1.5708	1	0	0.3	0
+	7	2.15	2.86	-0.7	1.5708	1	0	0.3	0
 	8	2.93	2.25	-0.7	1.5708	1	0	0.3	0
 	9	3.68	1.85	-0.7	1.5708	1	0	0.3	0
 	10	4.84	1.78	-0.7	1.58	1	0	0.3	0