diff --git a/conf/airframes/examples/ardrone2_opticflow_hover.xml b/conf/airframes/examples/ardrone2_opticflow_hover.xml
index 8bb8e8d30d..bff848900c 100644
--- a/conf/airframes/examples/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/examples/ardrone2_opticflow_hover.xml
@@ -1,6 +1,8 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_opticflow">
+  <description>ARDrone2, Opticflow hover
+  </description>
 
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2"/>
@@ -11,7 +13,7 @@
 
     <define name="USE_SONAR" value="TRUE"/>
 
-	<!-- Subsystem section -->
+    <!-- Subsystem section -->
     <module name="telemetry" type="transparent_udp"/>
     <module name="radio_control" type="datalink"/>
     <module name="motor_mixing"/>
@@ -21,9 +23,7 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="bat_voltage_ardrone2"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="send_imu_mag_current"/>
@@ -40,7 +40,7 @@
     </module>
 
     <module name="opticflow_hover"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/ardrone2_flip.xml b/conf/airframes/tudelft/ardrone2_flip.xml
index e66c6493b3..530e9ae7fd 100644
--- a/conf/airframes/tudelft/ardrone2_flip.xml
+++ b/conf/airframes/tudelft/ardrone2_flip.xml
@@ -28,14 +28,12 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="bat_voltage_ardrone2"/>
     <module name="send_imu_mag_current"/>
     <module name="air_data"/>
     <module name="logger_file"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/ardrone2_indi.xml b/conf/airframes/tudelft/ardrone2_indi.xml
index 77eeab5a7e..8f8806f052 100644
--- a/conf/airframes/tudelft/ardrone2_indi.xml
+++ b/conf/airframes/tudelft/ardrone2_indi.xml
@@ -28,15 +28,14 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="bat_voltage_ardrone2"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="send_imu_mag_current"/>
     <module name="air_data"/>
     <module name="logger_file"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/ardrone2_oa_clint_roland.xml b/conf/airframes/tudelft/ardrone2_oa_clint_roland.xml
deleted file mode 100644
index e8826ea2c4..0000000000
--- a/conf/airframes/tudelft/ardrone2_oa_clint_roland.xml
+++ /dev/null
@@ -1,224 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_oa_avoid">
-  <description>
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <configure name="USE_BARO_BOARD" value="TRUE"/>
-    </target>
-
-    <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
-    <define name="USE_SONAR" value="TRUE"/>
-    <define name="NO_GPS_NEEDED_FOR_NAV" value="TRUE"/>
-    <configure name="USE_MAGNETOMETER" value="TRUE"/>
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="bat_voltage_ardrone2"/>
-    <module name="stereocam">
-	<configure name="STEREO_UART" value="UART1"/>
-	<configure name="STEREO_BAUD" value="B115200"/>
-    </module>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.028551973"/>
-    <define name="G1_Q" value="0.023775417"/>
-    <define name="G1_R" value="0.00173069"/>
-    <define name="G2_R" value="0.086460732"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="70.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="11.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-
-  <!-- feedback -->
-    <define name="PHI_PGAIN" value="850"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="850"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="100"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="583"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="false"/>
-  </section>
-
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-
-    <define name="PGAIN" value="363"/>
-    <define name="DGAIN" value="237"/>
-    <define name="IGAIN" value="30"/>
-    <define name="VGAIN" value="0"/>
-    <define name="AGAIN" value="0"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-    <define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
-    <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/ardrone2_opticflow.xml b/conf/airframes/tudelft/ardrone2_opticflow.xml
index fcbdc75210..11226a855c 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow.xml
@@ -4,7 +4,6 @@
   <description>ARDrone2, Opticflow hover
   </description>
 
-
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2"/>
 
@@ -14,7 +13,7 @@
 
     <define name="USE_SONAR" value="TRUE"/>
 
-	<!-- Subsystem section -->
+    <!-- Subsystem section -->
     <module name="telemetry" type="transparent_udp"/>
     <module name="radio_control" type="datalink"/>
     <module name="motor_mixing"/>
@@ -117,14 +116,10 @@
   <!-- local magnetic field -->
   <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
   <section name="AHRS" prefix="AHRS_">
-    <!-- Toulouse -->
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
     <!-- Delft -->
-    <!--define name="H_X" value="0.3892503"/>
+    <define name="H_X" value="0.3892503"/>
     <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/ -->
+    <define name="H_Z" value="0.9211303"/>
   </section>
 
   <section name="INS" prefix="INS_">
diff --git a/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml b/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml
index 9ed630d1d6..f535b708db 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml
@@ -21,9 +21,8 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="bat_voltage_ardrone2"/>
     <!--module name="cv_opticflow"/>
     <module name="opticflow_hover"/-->
@@ -31,7 +30,7 @@
 	<configure name="STEREO_UART" value="UART1"/>
 	<configure name="STEREO_BAUD" value="B1000000"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/ardrone2_optitrack.xml b/conf/airframes/tudelft/ardrone2_optitrack.xml
index e56d666d95..4fe769e5b1 100644
--- a/conf/airframes/tudelft/ardrone2_optitrack.xml
+++ b/conf/airframes/tudelft/ardrone2_optitrack.xml
@@ -27,11 +27,10 @@
     <module name="stabilization" type="indi_simple"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="bat_voltage_ardrone2"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/asctec_freek.xml b/conf/airframes/tudelft/asctec_freek.xml
deleted file mode 100644
index 4c93abe7ed..0000000000
--- a/conf/airframes/tudelft/asctec_freek.xml
+++ /dev/null
@@ -1,196 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
-     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
-     * Actuators:   Asctec motor controllers  http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
-     * RC:          one Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="MAVTec5">
-  <description>MavTecFreek
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_mx_2.1"/>
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-    <configure name="USE_MAGNETOMETER" value="0"/>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
-      <define name="RADIO_MODE" value="RADIO_GEAR"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="asctec_v2"/>
-    <module name="actuators"     type="pwm"/>
-    <module name="telemetry"     type="xbee_api"/>
-    <module name="imu"           type="lisa_mx_v2.1"/>
-    <module name="gps"           type="ublox">
-      <define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
-    </module>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins" type="hff"/>
-  </firmware>
-
-  <modules>
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="switch" type="servo"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="logger_spi_link"/>
-  </modules>
-
-  <servos driver="Asctec_v2">
-    <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
-    <servo name="BACK"    no="1" min="0" neutral="3" max="200"/>
-    <servo name="LEFT"    no="2" min="0" neutral="3" max="200"/>
-    <servo name="RIGHT"   no="3" min="0" neutral="3" max="200"/>
-  </servos>
-
-  <servos driver="Pwm">
-     <servo name="DROP" no="4" min="1100" neutral="1500" max="2100"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
-  <section name="SWITCH_SERVO">
-    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
-    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="SwitchServoOn()"/>
-    <define name="DropClose()" value="SwitchServoOff()"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT"   value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="LEFT"    value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="RIGHT"    value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="MISC">
-    <define name="NAV_CLIMB_VSPEED" value="2.5"/>
-    <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="14"/>
-    <define name="MAG_Y_NEUTRAL" value="116"/>
-    <define name="MAG_Z_NEUTRAL" value="119"/>
-    <define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
-    <define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="900"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="900"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="900"/>
-    <define name="PSI_DGAIN" value="200"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE" value="4"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/bebop2_indi.xml b/conf/airframes/tudelft/bebop2_indi.xml
index 729381b3a0..c846fa6730 100644
--- a/conf/airframes/tudelft/bebop2_indi.xml
+++ b/conf/airframes/tudelft/bebop2_indi.xml
@@ -26,9 +26,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -36,7 +34,7 @@
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop2_indi_MAVlink.xml b/conf/airframes/tudelft/bebop2_indi_MAVlink.xml
index c0cf43f10a..a7c100be73 100644
--- a/conf/airframes/tudelft/bebop2_indi_MAVlink.xml
+++ b/conf/airframes/tudelft/bebop2_indi_MAVlink.xml
@@ -26,9 +26,8 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -43,7 +42,7 @@
       <define name="MAVLINK_SYSID" value="1"/>
       <configure name="MAVLINK_PORT" value="UDP1"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop2_no_damping.xml b/conf/airframes/tudelft/bebop2_no_damping.xml
index a0bcb615ea..f29e17b214 100644
--- a/conf/airframes/tudelft/bebop2_no_damping.xml
+++ b/conf/airframes/tudelft/bebop2_no_damping.xml
@@ -24,9 +24,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -34,7 +32,7 @@
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
index f50a8fa130..fae6feed1e 100644
--- a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
+++ b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
@@ -31,9 +31,8 @@
     <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
     <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
     <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -78,7 +77,7 @@
     </module>
 
     <!--<module name="bebop_ae_awb"/>-->
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop2_undistort_front.xml b/conf/airframes/tudelft/bebop2_undistort_front.xml
index 6c824c5b38..3f69a81f0f 100644
--- a/conf/airframes/tudelft/bebop2_undistort_front.xml
+++ b/conf/airframes/tudelft/bebop2_undistort_front.xml
@@ -31,9 +31,8 @@
     <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
     <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
     <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -67,7 +66,7 @@
     </module>
 
     <!--<module name="bebop_ae_awb"/>-->
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop2_vision.xml b/conf/airframes/tudelft/bebop2_vision.xml
index 79591ac604..e03bf07c99 100644
--- a/conf/airframes/tudelft/bebop2_vision.xml
+++ b/conf/airframes/tudelft/bebop2_vision.xml
@@ -20,9 +20,8 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -42,7 +41,7 @@
 
     <!--<module name="bebop_ae_awb"/>-->
 
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_OF_hover.xml b/conf/airframes/tudelft/bebop_OF_hover.xml
index 5e95fd5de1..8accc1dda1 100644
--- a/conf/airframes/tudelft/bebop_OF_hover.xml
+++ b/conf/airframes/tudelft/bebop_OF_hover.xml
@@ -26,8 +26,8 @@
     <!-- <module name="guidance" type="indi"> <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" 
         value="-500.0"/> <define name="GUIDANCE_INDI_THRUST_DYNAMICS" value="0.1"/> 
         <define name="GUIDANCE_INDI_RC_DEBUG" value="TRUE"/> </module> -->
-  </firmware>
-  <modules main_freq="512">
+
+
     <module name="video_thread"/>
     <module name="pose_history"/>
     <module name="cv_opticflow">
@@ -62,7 +62,7 @@
       <define name="OFH_HOR_X_SLOPE_A" value = "0.003" />
       <define name="OFH_HOR_X_SLOPE_B" value = "0.005" />
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_autonomous_race_2017.xml b/conf/airframes/tudelft/bebop_autonomous_race_2017.xml
index 1c8d1bfbaf..9b82bbe3a6 100644
--- a/conf/airframes/tudelft/bebop_autonomous_race_2017.xml
+++ b/conf/airframes/tudelft/bebop_autonomous_race_2017.xml
@@ -24,9 +24,8 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="float_mlkf"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -50,7 +49,7 @@
     <module name="video_rtp_stream">
        <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_flip.xml b/conf/airframes/tudelft/bebop_flip.xml
index fde64970fd..130e909af9 100644
--- a/conf/airframes/tudelft/bebop_flip.xml
+++ b/conf/airframes/tudelft/bebop_flip.xml
@@ -27,16 +27,15 @@
       <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_frontcam.xml b/conf/airframes/tudelft/bebop_frontcam.xml
index 578463c35c..9a06527a11 100644
--- a/conf/airframes/tudelft/bebop_frontcam.xml
+++ b/conf/airframes/tudelft/bebop_frontcam.xml
@@ -24,9 +24,8 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="float_mlkf"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -47,7 +46,7 @@
       <define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
     </module>
 
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_indi.xml b/conf/airframes/tudelft/bebop_indi.xml
index 8776a54ba6..b3efdae50d 100644
--- a/conf/airframes/tudelft/bebop_indi.xml
+++ b/conf/airframes/tudelft/bebop_indi.xml
@@ -31,16 +31,16 @@
     <module name="guidance" type="indi">
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
     </module>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-  </modules>
+  </firmware>
+
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_mavlink.xml b/conf/airframes/tudelft/bebop_mavlink.xml
index e2be795659..9a627922b5 100644
--- a/conf/airframes/tudelft/bebop_mavlink.xml
+++ b/conf/airframes/tudelft/bebop_mavlink.xml
@@ -31,9 +31,8 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -72,7 +71,8 @@
       <configure name="MAVLINK_PORT" value="UDP1"/>
       <define name="MAVLINK_SYSID" value="1"/>
     </module>
-  </modules>
+  </firmware>
+
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bebop_optitrack.xml b/conf/airframes/tudelft/bebop_optitrack.xml
index 1b291487f7..d7d6487de9 100644
--- a/conf/airframes/tudelft/bebop_optitrack.xml
+++ b/conf/airframes/tudelft/bebop_optitrack.xml
@@ -28,16 +28,15 @@
     </module>
     <module name="ins" type="extended"/>
     <module name="guidance" type="indi"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/bs_helidd_indi.xml b/conf/airframes/tudelft/bs_helidd_indi.xml
index b198316246..f9bd509b7f 100644
--- a/conf/airframes/tudelft/bs_helidd_indi.xml
+++ b/conf/airframes/tudelft/bs_helidd_indi.xml
@@ -36,15 +36,14 @@
     <module name="stabilization" type="heli_indi"/>
     <module name="rpm_sensor" type="eagletree"/>
     <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-  </firmware>
 
- <modules main_freq="512">
+
     <!--<load name="geo_mag.xml"/>-->
     <load name="air_data.xml"/>
     <load name="gps_ubx_ucenter.xml"/>
     <load name="heli_swashplate_mixing.xml"/>
     <load name="heli_throttle_curve.xml"/>
-  </modules>
+  </firmware>
 
   <servos driver="Pwm">
     <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
diff --git a/conf/airframes/tudelft/bs_helidd_pid.xml b/conf/airframes/tudelft/bs_helidd_pid.xml
index dd543b33e2..cb497ce8c6 100644
--- a/conf/airframes/tudelft/bs_helidd_pid.xml
+++ b/conf/airframes/tudelft/bs_helidd_pid.xml
@@ -35,15 +35,14 @@
     <module name="stabilization" type="heli_indi"/>
     <module name="rpm_sensor" type="eagletree"/>
     <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-  </firmware>
 
- <modules main_freq="512">
+
     <!--<load name="geo_mag.xml"/>-->
     <load name="air_data.xml"/>
     <load name="gps_ubx_ucenter.xml"/>
     <load name="heli_swashplate_mixing.xml"/>
     <load name="heli_throttle_curve.xml"/>
-  </modules>
+  </firmware>
 
   <servos driver="Pwm">
     <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
diff --git a/conf/airframes/tudelft/cx10.xml b/conf/airframes/tudelft/cx10.xml
index b6e0d87736..019400bbb0 100644
--- a/conf/airframes/tudelft/cx10.xml
+++ b/conf/airframes/tudelft/cx10.xml
@@ -178,11 +178,6 @@
   </section>
 
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_mxs_1.0">
 
@@ -229,5 +224,8 @@
     <module name="air_data">
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </module>
+
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/guido_ardrone2_optitrack.xml b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
index 6b3e1c33ee..4984348c10 100644
--- a/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
+++ b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
@@ -28,9 +28,7 @@ ARDrone2 with optical_flow landing.
     <module name="stabilization" type="indi_simple"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="bat_voltage_ardrone2"/>
     <module name="video_thread"/>
     <module name="pose_history"/>
@@ -38,7 +36,7 @@ ARDrone2 with optical_flow landing.
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
     </module>
     <module name="optical_flow_landing"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/heli450.xml b/conf/airframes/tudelft/heli450.xml
index 79b91852e8..0fbbe8666a 100644
--- a/conf/airframes/tudelft/heli450.xml
+++ b/conf/airframes/tudelft/heli450.xml
@@ -20,15 +20,14 @@
     <module name="stabilization" type="rate"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
-  </firmware>
 
-  <modules>
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="heli_swashplate_mixing"/>
     <module name="heli_throttle_curve"/>
-  </modules>
+  </firmware>
 
   <servos driver="Pwm">
     <servo name="THROTTLE"   no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/tudelft/heliGeniusDD.xml b/conf/airframes/tudelft/heliGeniusDD.xml
index a8aec0231a..459e52488e 100644
--- a/conf/airframes/tudelft/heliGeniusDD.xml
+++ b/conf/airframes/tudelft/heliGeniusDD.xml
@@ -35,15 +35,14 @@
     <module name="stabilization" type="heli_indi"/>
     <module name="rpm_sensor" type="eagletree"/>
     <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-  </firmware>
 
- <modules main_freq="512">
+
     <!--<load name="geo_mag.xml"/>
     <load name="air_data.xml"/>-->
     <load name="gps_ubx_ucenter.xml"/>
     <load name="heli_swashplate_mixing.xml"/>
     <load name="heli_throttle_curve.xml"/>
-  </modules>
+  </firmware>
 
   <servos driver="Pwm">
     <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
diff --git a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
index 06b1b19411..0c9db5d9bf 100644
--- a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
+++ b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
@@ -197,15 +197,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="send_imu_mag_current"/>
-   <module name="stereocam">
-     <configure name="STEREO_UART" value="UART1"/>
-     <configure name="STEREO_BAUD" value="B115200"/>
-     <define name="FORWARD_IMAGE_DATA" value="TRUE"/>
-   </module>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="datalink">
@@ -242,5 +233,12 @@
     <module name="ins">
        <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
     </module>
+
+    <module name="send_imu_mag_current"/>
+    <module name="stereocam">
+      <configure name="STEREO_UART" value="UART1"/>
+      <configure name="STEREO_BAUD" value="B115200"/>
+      <define name="FORWARD_IMAGE_DATA" value="TRUE"/>
+    </module>
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/logo600.xml b/conf/airframes/tudelft/logo600.xml
index e0c107d8a8..e44ab09980 100644
--- a/conf/airframes/tudelft/logo600.xml
+++ b/conf/airframes/tudelft/logo600.xml
@@ -42,6 +42,10 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
       <define name="REMAP_UART3" value="TRUE"/>
     </module>
     <module name="heli" type="throttle_curve"/>
+
+    <module name="geo_mag"/>
+    <module name="air_data"/>
+    <module name="logger_spi_link"/>
   </firmware>
 
   <firmware name="rotorcraft">
@@ -65,12 +69,6 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
     </module>
   </firmware>
 
-  <modules>
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="logger_spi_link"/>
-  </modules>
-
   <servos driver="Spektrum">
      <servo name="THROTTLE"     no="0" min="340" neutral="340"  max="1708"/>
      <servo name="ROLL"         no="1" min="340" neutral="1024" max="1708"/>
diff --git a/conf/airframes/tudelft/mavtec1.xml b/conf/airframes/tudelft/mavtec1.xml
index 3a58edc2bc..f4c2630431 100644
--- a/conf/airframes/tudelft/mavtec1.xml
+++ b/conf/airframes/tudelft/mavtec1.xml
@@ -35,12 +35,11 @@
     </module>
     <module name="ins"           type="hff"/>
     <module name="guidance"      type="indi"/>
-  </firmware>
 
-  <modules>
+
     <module name="geo_mag"/>
     <module name="air_data"/>
-  </modules>
+  </firmware>
 
   <servos driver="Pwm">
     <servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
diff --git a/conf/airframes/tudelft/mavtec4.xml b/conf/airframes/tudelft/mavtec4.xml
index 259333bf0c..7aca435572 100644
--- a/conf/airframes/tudelft/mavtec4.xml
+++ b/conf/airframes/tudelft/mavtec4.xml
@@ -35,14 +35,13 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
     <module name="guidance"      type="indi"/>
-  </firmware>
 
-  <modules>
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="switch" type="servo"/>
     <!--module name="gps" type="ubx_ucenter"/-->
-  </modules>
+  </firmware>
 
   <servos driver="Asctec_v2">
     <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
diff --git a/conf/airframes/tudelft/mavtec5.xml b/conf/airframes/tudelft/mavtec5.xml
index 554eff4f20..87f2a6821b 100644
--- a/conf/airframes/tudelft/mavtec5.xml
+++ b/conf/airframes/tudelft/mavtec5.xml
@@ -34,9 +34,8 @@
     <module name="stabilization" type="indi_simple"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins" type="hff"/>
-  </firmware>
 
-  <modules>
+
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="switch" type="servo"/>
@@ -45,7 +44,7 @@
       <configure name="HS_LOG_SPI_DEV" value="SPI1"/>
       <configure name="HS_LOG_SPI_SLAVE_IDX" value="SPI_SLAVE1"/>
     </module>
-  </modules>
+  </firmware>
 
   <servos driver="Asctec_v2">
     <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
diff --git a/conf/airframes/tudelft/quadshot_pylons.xml b/conf/airframes/tudelft/quadshot_pylons.xml
index 16771b7b9c..86d3b9045b 100644
--- a/conf/airframes/tudelft/quadshot_pylons.xml
+++ b/conf/airframes/tudelft/quadshot_pylons.xml
@@ -90,7 +90,7 @@
     <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
   </section>
 
-  <section name="AUTOPILOT">
+  <section name="AUTOPI  </modules>LOT">
     <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
     <define name="MODE_AUTO2"  value="AP_MODE_RATE_DIRECT"/>
diff --git a/conf/airframes/tudelft/selfie.xml b/conf/airframes/tudelft/selfie.xml
index 9d317f0de1..1dff3f90eb 100644
--- a/conf/airframes/tudelft/selfie.xml
+++ b/conf/airframes/tudelft/selfie.xml
@@ -25,16 +25,15 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="bat_voltage_ardrone2"/>
     <module name="stereocam">
       <configure name="STEREO_UART" value="UART1"/>
       <configure name="STEREO_BAUD" value="B115200"/>
     </module>
     <module name="stereocam_follow_me"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/tudelft/silverlit_lisas.xml b/conf/airframes/tudelft/silverlit_lisas.xml
index 0f2669f328..8066c81a5c 100644
--- a/conf/airframes/tudelft/silverlit_lisas.xml
+++ b/conf/airframes/tudelft/silverlit_lisas.xml
@@ -77,16 +77,15 @@ Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
     <module name="navigation"/>
 
     <module name="ins" type="alt_float"/>
-  </firmware>
 
-  <modules main_freq="512"> <!-- NEW (512hz) -->
+
     <module name="baro_sim"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="nav" type="line"/>
     <!--<module name="nav" type="catapult"/>-->
     <!--<module name="send_imu_mag_current"/>-->
     <!--<load name="geo_init"/>-->
-  </modules>
+  </firmware>
 
 
   <!--<section name="CATAPULT" prefix="NAV_CATAPULT_" >
diff --git a/conf/airframes/tudelft/splash.xml b/conf/airframes/tudelft/splash.xml
index 39cfb02bc5..81bc177a23 100644
--- a/conf/airframes/tudelft/splash.xml
+++ b/conf/airframes/tudelft/splash.xml
@@ -54,15 +54,14 @@
       <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="0" />
       <define name="RADIO_KILL_SWITCH" value="5" />
     </module>
-  </firmware>
 
-  <modules main_freq="512">
+
     <module name="px4_flash"/>
     <module name="geo_mag" />
     <module name="air_data" />
     <module name="send_imu_mag_current" />
     <module name="spektrum_soft_bind"/>
-  </modules>
+  </firmware>
 
   <section name="MISC">
     <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
diff --git a/conf/airframes/tudelft/twoseastwenty.xml b/conf/airframes/tudelft/twoseastwenty.xml
index 99a09d3b94..b606b883cc 100644
--- a/conf/airframes/tudelft/twoseastwenty.xml
+++ b/conf/airframes/tudelft/twoseastwenty.xml
@@ -36,6 +36,14 @@
         <configure name="XSENS_PORT" value="uart1"/>
         <configure name="XSENS_BAUD" value="B230400"/>
       </module>
+      <module name="light">
+        <define name="LIGHT_LED_STROBE" value="6"/>
+        <!--      <define name="LIGHT_LED_NAV" value="2"/> -->
+        <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+        <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+      </module>
+      <module name="nav" type="line"/>
+      <!--module name="gas_engine_idle"/-->
     </target>
     <target name="fbw" board="lisa_m_2.0">
       <configure name="SEPARATE_FBW" value="1"/>
@@ -70,6 +78,7 @@
         <configure name="XSENS_PORT" value="uart1"/>
         <configure name="XSENS_BAUD" value="B230400"/>
       </module>
+      <module name="nav" type="line"/>
     </target>
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
@@ -80,19 +89,6 @@
     <define name="RADIO_CONTROL_AUTO1"/>
   </firmware>
 
-  <!-- ************************* MODULES ************************* -->
-
-  <modules>
-    <module name="light">
-      <define name="LIGHT_LED_STROBE" value="6"/>
-      <!--      <define name="LIGHT_LED_NAV" value="2"/> -->
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </module>
-    <module name="nav" type="line"/>
-    <!--module name="gas_engine_idle"/-->
-  </modules>
-
   <!-- ************************* ACTUATORS ************************* -->
 
   <servos>
diff --git a/conf/airframes/tudelft/yapa_xsens.xml b/conf/airframes/tudelft/yapa_xsens.xml
index 47f76cef74..f830595548 100644
--- a/conf/airframes/tudelft/yapa_xsens.xml
+++ b/conf/airframes/tudelft/yapa_xsens.xml
@@ -29,11 +29,8 @@ YAPA + XSens + XBee
       <configure name="XSENS_PORT" value="uart0"/>
       <configure name="XSENS_BAUD" value="B230400"/>
     </module>
-  </firmware>
 
-  <!-- ************************* MODULES ************************* -->
 
-  <modules>
     <module name="light">
       <define name="LIGHT_LED_STROBE" value="2"/>
       <!--      <define name="LIGHT_LED_NAV" value="2"/> -->
@@ -46,7 +43,7 @@ YAPA + XSens + XBee
       <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO23"/>
     </module>
     <module name="nav" type="line"/>
-  </modules>
+  </firmware>
 
   <!-- ************************* ACTUATORS ************************* -->
 
diff --git a/conf/airframes/untested/ardrone2_indi.xml b/conf/airframes/untested/ardrone2_indi.xml
deleted file mode 100644
index 4ed1728f70..0000000000
--- a/conf/airframes/untested/ardrone2_indi.xml
+++ /dev/null
@@ -1,207 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_indi">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <define name="USE_SONAR" value="FALSE"/>
-
-    <!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="bat_voltage_ardrone2"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
-    <module name="air_data"/>
-    <module name="logger_file"/>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.032"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0032"/>
-    <define name="G2_R" value="0.16"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="250.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="21.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="TRUE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/untested/ardrone2_optitrack.xml b/conf/airframes/untested/ardrone2_optitrack.xml
deleted file mode 100644
index 7363c8d0e6..0000000000
--- a/conf/airframes/untested/ardrone2_optitrack.xml
+++ /dev/null
@@ -1,207 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_optitrack">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
-      <define name="USE_SONAR" value="0"/>
-      <configure name="USE_BARO_BOARD" value="FALSE"/>
-      <configure name="USE_MAGNETOMETER" value="0"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="bat_voltage_ardrone2"/>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-
-    <!-- Use GPS heading instead of magneto -->
-    <define name="USE_GPS_HEADING" value="1"/>
-    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <!-- Use GPS altitude measurments and set the R gain -->
-    <define name="USE_GPS_ALT" value="1"/>
-    <define name="VFF_R_GPS" value="0.01"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.028551973"/>
-    <define name="G1_Q" value="0.023775417"/>
-    <define name="G1_R" value="0.00173069"/>
-    <define name="G2_R" value="0.086460732"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="70.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="11.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="583"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="false"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-
-    <define name="PGAIN" value="363"/>
-    <define name="DGAIN" value="237"/>
-    <define name="IGAIN" value="30"/>
-    <define name="VGAIN" value="0"/>
-    <define name="AGAIN" value="0"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-    <define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
-    <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
-    <!--   <define name="NO_RC_THRUST_LIMIT" value="TRUE"/> -->
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/untested/bebop_indi.xml b/conf/airframes/untested/bebop_indi.xml
deleted file mode 100644
index dd9c75f1ad..0000000000
--- a/conf/airframes/untested/bebop_indi.xml
+++ /dev/null
@@ -1,209 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <!--define name="USE_SONAR" value="TRUE"/-->
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="bebop"/>
-    <module name="imu" type="bebop"/>
-    <module name="gps" type="furuno"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs"          type="float_mlkf"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="FALSE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-      <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
-    </module>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
-    <module name="logger_file">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </module>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="AIR_DATA" prefix="AIR_DATA_">
-    <define name="CALC_AIRSPEED" value="FALSE"/>
-    <define name="CALC_TAS_FACTOR" value="FALSE"/>
-    <define name="CALC_AMSL_BARO" value="TRUE"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="18"/>
-    <define name="MAG_Y_NEUTRAL" value="157"/>
-    <define name="MAG_Z_NEUTRAL" value="49"/>
-    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
-    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
-    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.0639"/>
-    <define name="G1_Q" value="0.0361"/>
-    <define name="G1_R" value="0.0022"/>
-    <define name="G2_R" value="0.1450"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="600.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="28.0"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="8.0"/>
-    <define name="FILT_CUTOFF_R" value="8.0"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index c1fd0b8925..4dbf5304ba 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -107,7 +107,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -151,7 +151,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -162,7 +162,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -244,7 +244,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff00000000"
    release="e688107d8a1f9c933cb0931eebb0e7b009ccc445"
   />
@@ -268,7 +268,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#e66affffaa08"
   />
   <aircraft
@@ -404,7 +404,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml [modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml [modules/ins_extended.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml [modules/geo_mag.xml] modules/air_data.xml [modules/ins_extended.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft