diff --git a/conf/airframes/ENAC/fixed-wing/eternity1.xml b/conf/airframes/ENAC/fixed-wing/eternity1.xml
new file mode 100644
index 0000000000..30b81a1ed7
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/eternity1.xml
@@ -0,0 +1,195 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 4c8cc21882..584e3fb3a9 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -9,7 +9,6 @@
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@@ -36,7 +35,9 @@
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@@ -125,6 +126,7 @@
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
new file mode 100644
index 0000000000..bd474733af
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -0,0 +1,227 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
new file mode 100644
index 0000000000..11d9c086df
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -0,0 +1,200 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
new file mode 100644
index 0000000000..9424bb2846
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -0,0 +1,265 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
new file mode 100644
index 0000000000..342dc35415
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -0,0 +1,219 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 25c8678dff..8f6946c8f3 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -6,11 +6,10 @@
LEA 5H GPS
-->
-
+
-
-
+
@@ -18,7 +17,9 @@
+
+
@@ -49,7 +50,6 @@
-
@@ -122,6 +122,7 @@
@@ -133,7 +134,6 @@
-
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 90a9907561..d1450b4f65 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -35,6 +35,7 @@
+
@@ -163,8 +164,8 @@
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index f82ebc1143..4e927a31e1 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -32,6 +32,8 @@
#include "subsystems/gps.h"
#include "subsystems/nav.h"
+#include "generated/airframe.h"
+
#ifdef DEBUG_ALT_KALMAN
#include "mcu_periph/uart.h"
#include "ap_downlink.h"