diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index 1162e1ad3e..2d6672866b 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/AGGIEAIR/aggieair_FrSky3dr.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_iris.xml"
    flight_plan="flight_plans/AGGIEAIR/rotorcraft_opticlow_test.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml [settings/test_actuators_pwm.xml]"
-   settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml [settings/test_actuators_pwm.xml]"
+   settings_modules="modules/air_data.xml modules/lidar_sf11.xml modules/lidar_lite.xml modules/px4flow_i2c.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml"
    gui_color="#337e387bffff"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
-   settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#00009e93ffff"
   />
 </conf>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index f2b0782430..c5a84c15ad 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.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="white"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/digital_cam_video.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/digital_cam_video.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="green"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.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"
    gui_color="white"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_superbitrf_from_hand.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.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"
    gui_color="white"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.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"
    gui_color="blue"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.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"
    gui_color="blue"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
+   settings_modules="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 modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
    gui_color="blue"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_float_mlkf.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"
   />
 </conf>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index cc734d6a83..49a745e1f0 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml 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"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.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
@@ -39,8 +39,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_quality_assessment.xml modules/configure_actuators_mkk_v2.xml modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/imu_quality_assessment.xml modules/configure_actuators_mkk_v2.xml modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index 0452ac9813..9e50fb65c4 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -6,8 +6,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_safety.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml]"
-   settings_modules="modules/ins_extended.xml modules/ahrs_float_invariant.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ins_extended.xml modules/ahrs_float_invariant.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
@@ -17,8 +17,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_safety.xml"
-   settings="settings/rotorcraft_basic.xml [settings/control/rotorcraft_guidance.xml] [settings/control/stabilization_att_int.xml] settings/estimation/ins_float_invariant.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ins_float_invariant.xml"
+   settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="yellow"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ins_float_invariant.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ins_float_invariant.xml"
+   settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="pink"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]"
-   settings_modules="modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_adaptive.xml"
-   settings_modules="modules/light.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/light.xml modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="white"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#3cf2d51335a7"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/T10CG_SBUS.xml"
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="#0000fffff0ed"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ins_extended.xml modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ins_extended.xml modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/R617FS_5ch_neg.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/estimation/ins_float_invariant.xml settings/control/ctl_new.xml [settings/nps.xml]"
-   settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ins_float_invariant.xml [settings/nps.xml]"
+   settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.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_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff7f7f0000"
   />
   <aircraft
@@ -116,8 +116,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml [modules/infrared_adc.xml]"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/gps.xml [modules/infrared_adc.xml] modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#feed4f854f85"
   />
   <aircraft
@@ -127,8 +127,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#ffffac1f0000"
   />
   <aircraft
@@ -138,8 +138,8 @@
    radio="radios/R617FS_5ch_neg.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="#f08d1ff61ff6"
   />
 </conf>
diff --git a/conf/airframes/ESDEN/esden_conf.xml b/conf/airframes/ESDEN/esden_conf.xml
index 1c2624d82e..e40e122e82 100644
--- a/conf/airframes/ESDEN/esden_conf.xml
+++ b/conf/airframes/ESDEN/esden_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="white"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.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/gps_ubx_ucenter.xml"
    gui_color="#def7def7def7"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/dummy.xml"
    settings=""
-   settings_modules="modules/ahrs_int_cmpl_quat.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/gps_ubx_ucenter.xml"
    gui_color="#c7e3fa4b8806"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#e83db09cffff"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#ce5cfffff686"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#a12addc1ffff"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#ffffb9e04a1b"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#ffffb139b139"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#fffffd519223"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#ffffaf0e575e"
   />
   <aircraft
@@ -116,8 +116,8 @@
    radio="radios/ESDEN/esden_QS1RX6.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#ffffdca7a2aa"
   />
   <aircraft
@@ -127,8 +127,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.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"
    gui_color="white"
   />
   <aircraft
@@ -138,8 +138,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -149,8 +149,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_rate.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
@@ -160,8 +160,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="white"
   />
   <aircraft
@@ -171,8 +171,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.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"
    gui_color="white"
   />
   <aircraft
diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml
index 776145a3f8..844b767348 100644
--- a/conf/airframes/FLIXR/flixr_conf.xml
+++ b/conf/airframes/FLIXR/flixr_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
-   settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/superbitrf.xml"
+   settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.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
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.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
@@ -39,8 +39,8 @@
    radio="radios/mc20.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/switch_servo.xml modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/switch_servo.xml modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.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
@@ -61,8 +61,8 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="blue"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.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
@@ -83,8 +83,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="blue"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="blue"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="blue"
   />
   <aircraft
@@ -127,8 +127,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.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"
   />
 </conf>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_conf.xml b/conf/airframes/HOOPERFLY/hooperfly_conf.xml
index 6358e99f41..57385980b0 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_conf.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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
@@ -17,8 +17,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="purple"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="green"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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
@@ -50,8 +50,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="lime"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="cyan"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="orangered"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="orange"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="yellow"
   />
   <aircraft
diff --git a/conf/airframes/KS/kirk_conf.xml b/conf/airframes/KS/kirk_conf.xml
index 7132a25d8a..cc4419d02a 100644
--- a/conf/airframes/KS/kirk_conf.xml
+++ b/conf/airframes/KS/kirk_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="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"
   />
 </conf>
diff --git a/conf/airframes/OPENUAS/openuas_conf.xml b/conf/airframes/OPENUAS/openuas_conf.xml
index 5e9b8c8ed6..697f3ad9a3 100644
--- a/conf/airframes/OPENUAS/openuas_conf.xml
+++ b/conf/airframes/OPENUAS/openuas_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.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/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
    gui_color="#fffffe72b9fd"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml 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"
    gui_color="#ffffe8b36503"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml"
    gui_color="#ffffeb519c78"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.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="#fffffe72b9fd"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/OPENUAS/openuas_mx22.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/infrared_adc.xml modules/gps_ubx_ucenter.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/infrared_adc.xml modules/gps_ubx_ucenter.xml modules/nav_basic_fw.xml modules/gps.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#ffffeb519c78"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
-   settings="settings/control/ctl_energy.xml settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/nav_basic_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#fffffac7c07a"
   />
 </conf>
diff --git a/conf/airframes/OPENUAS/openuas_obc2014_conf.xml b/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
index 67516c6b8f..90d25eadde 100644
--- a/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
+++ b/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
-   settings="settings/control/ctl_energy.xml settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/nav_basic_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#fffffac7c07a"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_KM_conf.xml b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
index d7dac7897f..bff533702b 100644
--- a/conf/airframes/TUDELFT/tudelft_KM_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.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"
    gui_color="red"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml 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"
    gui_color="blue"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.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"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index b6eea892f1..5c06621746 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/video_rtp_stream.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/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/video_rtp_stream.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"
    gui_color="#ffffd633d633"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.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="#ffffcd49cd49"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.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="#ffffc457c457"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.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"
    gui_color="#ffffccc2ccc2"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="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="#fffff996b847"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/time_countdown.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/time_countdown.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"
    gui_color="red"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/cv_blob_locator.xml 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"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml 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"
    gui_color="#f84eb57ae827"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.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/gps.xml modules/imu_common.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"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.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/gps.xml modules/imu_common.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/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -116,8 +116,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -127,8 +127,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="blue"
   />
   <aircraft
@@ -138,8 +138,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/TUDELFT/tudelft_outback.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/logger_sd_spi_direct.xml modules/temp_adc.xml modules/air_data.xml modules/geo_mag.xml modules/opa_controller.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/logger_sd_spi_direct.xml modules/temp_adc.xml modules/air_data.xml modules/geo_mag.xml modules/opa_controller.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffdffac31f"
   />
   <aircraft
@@ -149,8 +149,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.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="#c99fb4caebdd"
   />
   <aircraft
@@ -160,8 +160,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml [settings/control/stabilization_att_int.xml] settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#c99fb4caebdd"
   />
   <aircraft
@@ -171,8 +171,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#c99fb4caebdd"
   />
   <aircraft
@@ -182,8 +182,8 @@
    radio="radios/FlyElectricRx31_DX6.xml"
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/superbitrf.xml]"
-   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml [settings/superbitrf.xml]"
+   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#9b69e5ce9e7a"
   />
   <aircraft
@@ -193,8 +193,8 @@
    radio="radios/FrSky3dr.xml"
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml"
-   settings_modules="[modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.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_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -204,8 +204,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="blue"
   />
   <aircraft
@@ -215,8 +215,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="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_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffdffac31f"
   />
   <aircraft
@@ -226,8 +226,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.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"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -237,8 +237,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="[modules/geo_mag.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="[modules/geo_mag.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffd5c5aead"
   />
   <aircraft
@@ -248,8 +248,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.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"
    gui_color="#e66affffaa08"
   />
   <aircraft
@@ -259,8 +259,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml [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"
    gui_color="#8c63ffff8e00"
   />
   <aircraft
@@ -270,8 +270,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -281,8 +281,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -292,8 +292,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/control/stabilization_rate.xml] settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.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="#f1d3c1b7ffff"
   />
   <aircraft
@@ -303,8 +303,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="blue"
   />
   <aircraft
@@ -314,8 +314,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#b748fe64fe64"
   />
   <aircraft
@@ -325,8 +325,8 @@
    radio="radios/CDW/cdw_t8fg_sbus.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
-   settings_modules="modules/light.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml"
+   settings_modules="modules/light.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -336,8 +336,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="orange"
   />
   <aircraft
@@ -347,8 +347,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="green"
   />
   <aircraft
@@ -358,8 +358,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -369,8 +369,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml [settings/control/stabilization_att_int_quat.xml]"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml 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"
    gui_color="#baa3d698b729"
   />
   <aircraft
@@ -380,8 +380,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml [settings/control/stabilization_att_int_quat.xml]"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml 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"
    gui_color="#f6d5baaaffff"
   />
   <aircraft
@@ -391,8 +391,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml 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"
    gui_color="#baa3d698b729"
   />
   <aircraft
@@ -402,8 +402,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#7d7fd7e7ffff"
   />
   <aircraft
@@ -413,8 +413,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#68f5eb116e0c"
   />
   <aircraft
@@ -424,8 +424,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#b777d813cd0b"
   />
   <aircraft
@@ -435,8 +435,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml settings/modules/config_asctec_v2_new.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2_new.xml"
+   settings_modules="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 modules/gps_ubx_ucenter.xml"
    gui_color="#ffff9027e8ad"
   />
   <aircraft
@@ -447,7 +447,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -457,8 +457,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="#b29eb22cffff"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_course2016_conf.xml b/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
index 398eeaa354..adb65f3eb5 100644
--- a/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_course2016_avoid_orange_cyberzoo.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml ../conf/modules/cv_colorfilter.xml"
-   settings_modules="modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml ../conf/modules/cv_colorfilter.xml"
+   settings_modules="modules/cv_colorfilter.xml 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"
    gui_color="#db67fffffaeb"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_indi.xml]"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/cv_colorfilter.xml 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"
    gui_color="#ffffb1c0b1c0"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_guido_conf.xml b/conf/airframes/TUDELFT/tudelft_guido_conf.xml
index c47865b72c..908de186e2 100644
--- a/conf/airframes/TUDELFT/tudelft_guido_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_guido_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/optical_flow_landing.xml modules/cv_opticflow.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="#fffff996b847"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_rm_conf.xml b/conf/airframes/TUDELFT/tudelft_rm_conf.xml
index 6ca4aa13c9..280db7d370 100644
--- a/conf/airframes/TUDELFT/tudelft_rm_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_rm_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml] settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="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
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_oa_avoid.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml] settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="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
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.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"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml
index 16492857ad..79377ac88e 100644
--- a/conf/conf_tests_coverity.xml
+++ b/conf/conf_tests_coverity.xml
@@ -6,8 +6,8 @@
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml"
-   settings_modules="modules/lidar_lite.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
    gui_color="blue"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_fw.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="red"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.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"
    gui_color="white"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.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"
    gui_color="white"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -116,8 +116,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -138,8 +138,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -149,8 +149,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -160,8 +160,8 @@
    radio="radios/cockpitMM.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
@@ -171,8 +171,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/nav_modules.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -182,8 +182,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -193,8 +193,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -204,8 +204,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/ctl_dash_loiter_trim.xml"
-   settings_modules="modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml settings/control/ctl_dash_loiter_trim.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -215,8 +215,8 @@
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
-   settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/lidar_lite.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft
@@ -226,8 +226,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -237,8 +237,8 @@
    radio="radios/dx6iCHNI.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_float_cmpl_rmat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_float_cmpl_rmat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -248,8 +248,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_rate.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
@@ -259,8 +259,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.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="white"
   />
   <aircraft
@@ -270,8 +270,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft
@@ -281,8 +281,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.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="#710080"
   />
   <aircraft
@@ -292,8 +292,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.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
@@ -303,8 +303,8 @@
    radio="radios/cockpitMM.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/infrared_adc.xml modules/nav_basic_fw.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#ba6293"
   />
   <aircraft
@@ -314,8 +314,8 @@
    radio="radios/Corona_24_DIY.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
-   settings_modules="modules/digital_cam.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/digital_cam.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_adaptive_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -325,8 +325,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -336,8 +336,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -347,8 +347,8 @@
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml"
+   settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
@@ -359,7 +359,7 @@
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -369,8 +369,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.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/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/video_rtp_stream.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"
    gui_color="red"
   />
   <aircraft
@@ -380,8 +380,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/opticflow_hover.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/opticflow_hover.xml modules/cv_opticflow.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"
    gui_color="blue"
   />
   <aircraft
@@ -391,8 +391,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.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"
   />
 </conf>