diff --git a/conf/airframes/CDW/yapa_xsens.xml b/conf/airframes/CDW/yapa_xsens.xml
new file mode 100644
index 0000000000..45e715c90d
--- /dev/null
+++ b/conf/airframes/CDW/yapa_xsens.xml
@@ -0,0 +1,244 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+	YAPA + XSens + XBee
+-->
+
+<airframe name="Yapa v1">
+
+  <servos>
+    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
+    <servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
+    <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
+    <servo name="RUDDER" no="3" min="980" neutral="1380" max="1780"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="YAW" value="@YAW"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="BRAKE" value="@FLAPS"/>
+  </rc_commands>
+
+  <section name="SERVO_MIXER_GAINS">
+    <define name="AILERON_NEUTRAL" value="0.3f"/>
+
+    <define name="AILERON_RATE_UP" value="1.0f"/>
+    <define name="AILERON_RATE_DOWN" value="0.5f"/>
+
+    <define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
+    <define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
+
+    <define name="PITCH_GAIN" value="0.9f"/>
+
+    <define name="BRAKE_AILEVON" value="-0.7f"/>
+    <define name="BRAKE_PITCH" value="0.1f"/>
+    <define name="MAX_BRAKE_RATE" value="130"/>
+
+    <define name="RUDDER_OF_AILERON" value="0.3"/>
+
+    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
+
+</section>
+
+  <command_laws>
+    <!-- Brake Rate Limiter -->
+    <let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
+    <let var="test; \
+  	      static int16_t _var_brake_value = 0; \
+              _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
+              int verwaarloos_deze_warning_CDW" value="0"/>
+
+    <!-- Differential Aileron Depending on Brake Value -->
+    <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
+    <let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
+    <let var="aileron_up" value="((-@ROLL)  *  (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
+    <let var="aileron_down" value="((-@ROLL)  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
+    <let var="leftturn" value="(@ROLL >= 0? 0 : 1)"/>
+    <let var="rightturn" value="(1 - $leftturn)"/>
+    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
+    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
+
+    <set servo="RUDDER" value="-(@YAW + @ROLL * RUDDER_OF_AILERON)"/>
+    <set servo="THROTTLE" value="@THROTTLE"/>
+
+    <!-- Pitch with Brake-Trim Function -->
+    <set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
+  </command_laws>
+
+  <!-- Local magnetic field -->
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value="0.85490967783446"/>
+  </section>
+
+  <section name="XSENS">
+    <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
+    <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
+    <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(75)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(45)"/>
+  </section>
+
+  <section name="BAT">
+<!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
+
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+<!--    <define name="ALT_KALMAN_ENABLED" value="TRUE"/> -->
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+    <define name="COMMAND_ROLL_TRIM" value="180"/>
+    <define name="COMMAND_PITCH_TRIM" value="-194."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.108000002801"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.43599998951"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.549000024796"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.158000007272" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.361000001431"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.972000002861"/>
+    <define name="COURSE_DGAIN" value="0.280999988317"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="PITCH_PGAIN" value="16917.2929688"/>
+    <define name="PITCH_DGAIN" value="7.73400020599"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
+
+    <define name="ROLL_SLEW" value="1."/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
+    <define name="ROLL_RATE_GAIN" value="820.312011719"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="30"/>
+    <define name="BLEND_END" value="15"/>
+    <define name="CLIMB_THROTTLE" value="1."/>
+    <define name="CLIMB_PITCH" value="0.40000000596"/>
+    <define name="DESCENT_THROTTLE" value="0."/>
+    <define name="DESCENT_PITCH" value="-0.10000000149"/>
+    <define name="CLIMB_NAV_RATIO" value="0.800000011921"/>
+    <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <section name="DIGITAL_CAMERA" prefix="DC_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
+  </section>
+
+
+  <modules>
+
+    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="1"/>
+<!--      <define name="LIGHT_LED_NAV" value="2"/> -->
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+    </load>
+
+
+<!--    <load name="digital_cam_i2c.xml"/>  -->
+  <!--    <load name="ins_ppzuavimu.xml"/>  -->
+    <load name="digital_cam.xml">
+      <define name="DC_SHUTTER_LED" value="2"/>
+    </load>
+
+  </modules>
+
+  <firmware name="fixedwing">
+
+    <target name="ap" board="tiny_2.11"/>
+    <target name="sim" board="pc"/>
+
+      <define name="STRONG_WIND"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+      <define name="LOITER_TRIM"/>
+      <define name="TUNE_AGRESSIVE_CLIMB"/>
+      <define name="AGR_CLIMB"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="navigation"/>
+    <subsystem name="ins" type="xsens">
+      <configure name="XSENS_UART_NR" value="0"/>
+    </subsystem>
+
+
+</firmware>
+
+</airframe>