diff --git a/conf/settings/enose.xml b/conf/settings/enose.xml
index bfd6efa548..fa90cd2d4f 100644
--- a/conf/settings/enose.xml
+++ b/conf/settings/enose.xml
@@ -3,9 +3,9 @@
 <settings>
     <dl_settings NAME="control">
        <dl_settings name="enose">
-	      <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[0]" module="enose" shortname="val0" handler="DecreaseVal0"/>
-	      <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[1]" shortname="val1" handler="DecreaseVal1"/>
-	      <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[2]" shortname="val2" handler="DecreaseVal2"/>
+         <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[0]" module="enose/enose" shortname="val0" handler="DecreaseVal0"/>
+         <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[1]" shortname="val1" handler="DecreaseVal1"/>
+         <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[2]" shortname="val2" handler="DecreaseVal2"/>
       </dl_settings>
   </dl_settings>
 </settings>
diff --git a/conf/settings/formation.xml b/conf/settings/formation.xml
index 4056c61027..79810c8aa6 100644
--- a/conf/settings/formation.xml
+++ b/conf/settings/formation.xml
@@ -5,12 +5,12 @@
 <settings>
   <dl_settings>
     <dl_settings name="formation">
-      <dl_setting MAX="24" MIN="0" STEP="1" VAR="leader_id" module="formation"/>
-      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_pos" module="formation"/>
-      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_speed" module="formation"/>
-      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_course" module="formation"/>
-      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_alt" module="formation"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="form_mode" module="formation" values="GLOBAL|LOCAL"/>
+      <dl_setting MAX="24" MIN="0" STEP="1" VAR="leader_id" module="multi/formation"/>
+      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_pos" module="multi/formation"/>
+      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_speed" module="multi/formation"/>
+      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_course" module="multi/formation"/>
+      <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="coef_form_alt" module="multi/formation"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="form_mode" module="multi/formation" values="GLOBAL|LOCAL"/>
     </dl_settings>
   </dl_settings>
 </settings>
diff --git a/conf/settings/fw_ctl_n.xml b/conf/settings/fw_ctl_n.xml
index e9fc32fd41..48e71dfd23 100644
--- a/conf/settings/fw_ctl_n.xml
+++ b/conf/settings/fw_ctl_n.xml
@@ -11,7 +11,7 @@
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
         <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
         <dl_setting MAX="0" MIN="-55000" STEP="250" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="fw_h_ctl_a"/>
+        <dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL" module="fw_h_ctl_a"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
         <dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg" alt_unit_coef="0.0174533"/>
@@ -24,13 +24,13 @@
       <dl_settings name="climb">
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="fw_v_ctl" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
 
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="fw_v_ctl_n"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="fw_v_ctl_n"/>
 
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
         
         <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
         <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/fw_h_ctl_a_settings.xml
index 1058bb50ca..4e3d9d8e2a 100644
--- a/conf/settings/fw_h_ctl_a_settings.xml
+++ b/conf/settings/fw_h_ctl_a_settings.xml
@@ -5,7 +5,10 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="fw_h_ctl_a">
-      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kff" module="fw_h_ctl_a"/>
+      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffa" module="fw_h_ctl_a" shortname="roll_Kffa"/>
+      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_Kffd" module="fw_h_ctl_a" shortname="roll_Kffd"/>
+      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" module="fw_h_ctl_a" shortname="pitch_Kffa"/>
+      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" module="fw_h_ctl_a" shortname="pitch_Kffd"/>
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" module="fw_h_ctl_a" handler="SetRollIGain"/>
       <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_igain" module="fw_h_ctl_a" handler="SetPitchIGain"/>
     </dl_settings>
diff --git a/conf/settings/ir_i2c.xml b/conf/settings/ir_i2c.xml
index 74a29a22c1..90f13f16a7 100644
--- a/conf/settings/ir_i2c.xml
+++ b/conf/settings/ir_i2c.xml
@@ -3,7 +3,7 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="IR I2C">
-      <dl_setting MAX="3" MIN="0" STEP="1" VAR="ir_i2c_conf_word" module="infrared_i2c" values="1|2|4|8"/>
+      <dl_setting MAX="3" MIN="0" STEP="1" VAR="ir_i2c_conf_word" module="sensors/infrared_i2c" values="1|2|4|8"/>
     </dl_settings>
   </dl_settings>
 </settings>