diff --git a/conf/airframes/ardrone2.xml b/conf/airframes/examples/ardrone2.xml
similarity index 99%
rename from conf/airframes/ardrone2.xml
rename to conf/airframes/examples/ardrone2.xml
index cbf24a7b3b..ea7d7fbb29 100644
--- a/conf/airframes/ardrone2.xml
+++ b/conf/airframes/examples/ardrone2.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2">
 
diff --git a/conf/airframes/ardrone2_opticflow_hover.xml b/conf/airframes/examples/ardrone2_opticflow_hover.xml
similarity index 99%
rename from conf/airframes/ardrone2_opticflow_hover.xml
rename to conf/airframes/examples/ardrone2_opticflow_hover.xml
index b6fe40b96f..b146478e25 100644
--- a/conf/airframes/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/examples/ardrone2_opticflow_hover.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_opticflow">
 
diff --git a/conf/airframes/bebop.xml b/conf/airframes/examples/bebop.xml
similarity index 99%
rename from conf/airframes/bebop.xml
rename to conf/airframes/examples/bebop.xml
index fb8f5fa181..81d37ac469 100644
--- a/conf/airframes/bebop.xml
+++ b/conf/airframes/examples/bebop.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop">
 
diff --git a/conf/airframes/ardrone2_indi.xml b/conf/airframes/untested/ardrone2_indi.xml
similarity index 99%
rename from conf/airframes/ardrone2_indi.xml
rename to conf/airframes/untested/ardrone2_indi.xml
index be5a7ed243..01b8a45906 100644
--- a/conf/airframes/ardrone2_indi.xml
+++ b/conf/airframes/untested/ardrone2_indi.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_indi">
 
diff --git a/conf/airframes/ardrone2_optitrack.xml b/conf/airframes/untested/ardrone2_optitrack.xml
similarity index 99%
rename from conf/airframes/ardrone2_optitrack.xml
rename to conf/airframes/untested/ardrone2_optitrack.xml
index f077a3bdaf..31fca5d287 100644
--- a/conf/airframes/ardrone2_optitrack.xml
+++ b/conf/airframes/untested/ardrone2_optitrack.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_optitrack">
 
diff --git a/conf/airframes/bebop_indi.xml b/conf/airframes/untested/bebop_indi.xml
similarity index 99%
rename from conf/airframes/bebop_indi.xml
rename to conf/airframes/untested/bebop_indi.xml
index 77f1a898f9..94e4883589 100644
--- a/conf/airframes/bebop_indi.xml
+++ b/conf/airframes/untested/bebop_indi.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop">
 
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index c4e84da5af..7990cfe047 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -200,7 +200,7 @@
   <aircraft
    name="ardrone2"
    ac_id="201"
-   airframe="airframes/ardrone2.xml"
+   airframe="airframes/examples/ardrone2.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -211,7 +211,7 @@
   <aircraft
    name="bebop"
    ac_id="202"
-   airframe="airframes/bebop.xml"
+   airframe="airframes/examples/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 74ef142a09..59ffd664e1 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -321,7 +321,7 @@
   <aircraft
    name="ardrone2"
    ac_id="201"
-   airframe="airframes/ardrone2.xml"
+   airframe="airframes/examples/ardrone2.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -332,7 +332,7 @@
   <aircraft
    name="ardrone2_opticflow"
    ac_id="2"
-   airframe="airframes/ardrone2_opticflow_hover.xml"
+   airframe="airframes/examples/ardrone2_opticflow_hover.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -343,7 +343,7 @@
   <aircraft
    name="bebop"
    ac_id="202"
-   airframe="airframes/bebop.xml"
+   airframe="airframes/examples/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"