diff --git a/conf/airframes/BR/3DplaneLisaS.xml b/conf/airframes/BR/3DplaneLisaS.xml
index 2204562205..fcc0de3d0e 100644
--- a/conf/airframes/BR/3DplaneLisaS.xml
+++ b/conf/airframes/BR/3DplaneLisaS.xml
@@ -197,6 +197,5 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
     </module>
     <module name="ins"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/DelFlyDualPWMservo.xml b/conf/airframes/BR/DelFlyDualPWMservo.xml
index 29de2203e2..f46406e60c 100644
--- a/conf/airframes/BR/DelFlyDualPWMservo.xml
+++ b/conf/airframes/BR/DelFlyDualPWMservo.xml
@@ -226,6 +226,5 @@
     </module>
     <module name="ins"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/DreamCacher_bart.xml b/conf/airframes/BR/DreamCacher_bart.xml
index d0d3e353cd..f887307451 100644
--- a/conf/airframes/BR/DreamCacher_bart.xml
+++ b/conf/airframes/BR/DreamCacher_bart.xml
@@ -218,6 +218,5 @@
     </module>
     <module name="ins"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
index 87ca28fc21..50a36ef8e7 100644
--- a/conf/airframes/BR/bebop_default.xml
+++ b/conf/airframes/BR/bebop_default.xml
@@ -25,7 +25,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index 58922bb6c0..2ba6495bbe 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -31,7 +31,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index 3a6a9d0764..98bb149ded 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -33,7 +33,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/BR/ladybird_kit_bart.xml b/conf/airframes/BR/ladybird_kit_bart.xml
index 0db524c82d..75bd1a01e3 100644
--- a/conf/airframes/BR/ladybird_kit_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_bart.xml
@@ -223,6 +223,5 @@
     </module>
     <module name="ins"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
index 302eca9d10..07aa9e8288 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
@@ -221,7 +221,6 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
-    <module name="send_imu_mag_current"/>
     <module name="stereocam">
       <configure name="STEREO_UART" value="UART1"/>
       <configure name="STEREO_BAUD" value="B115200"/>
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index 3cf9aca4ca..4058841b17 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -229,6 +229,5 @@
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/CDW/cdw_mavtec.xml b/conf/airframes/CDW/cdw_mavtec.xml
index 2c9f302820..4b230504e6 100644
--- a/conf/airframes/CDW/cdw_mavtec.xml
+++ b/conf/airframes/CDW/cdw_mavtec.xml
@@ -34,7 +34,6 @@
     <!--   <module name="logger_spi_link"/>
     <module name="imu_quality_assessment"/> -->
     <module name="switch" type="servo"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter" />
     <module name="nav" type="survey_rectangle_rotorcraft"/>
     <module name="nav" type="survey_poly_rotorcraft"/>
diff --git a/conf/airframes/ENAC/cyfoam.xml b/conf/airframes/ENAC/cyfoam.xml
index 41e8cb2bf5..df4265b80b 100644
--- a/conf/airframes/ENAC/cyfoam.xml
+++ b/conf/airframes/ENAC/cyfoam.xml
@@ -62,9 +62,8 @@
 
       <!--run the chimera mag once every 64 seconds to avoid message spam-->
       <define name="MPU9250_MAG_PRESCALER" value="32768"/>
-    </module>
 
-    <module name="send_imu_mag_current">
+      <!-- Current calibration -->
       <define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000"/>
       <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
       <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.5"/>
diff --git a/conf/airframes/ENAC/hoops_gen_ap.xml b/conf/airframes/ENAC/hoops_gen_ap.xml
index 8561a83ec6..479c89a77b 100644
--- a/conf/airframes/ENAC/hoops_gen_ap.xml
+++ b/conf/airframes/ENAC/hoops_gen_ap.xml
@@ -50,7 +50,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           />
 
-    <module name="send_imu_mag_current"/>
     <!--module name="geo_mag"/-->
     <module name="air_data"/>
     <module name="stabilization" type="rate"/>
diff --git a/conf/airframes/ENAC/quadrotor/drop1.xml b/conf/airframes/ENAC/quadrotor/drop1.xml
index bc414ec5b0..6c7b07ad64 100644
--- a/conf/airframes/ENAC/quadrotor/drop1.xml
+++ b/conf/airframes/ENAC/quadrotor/drop1.xml
@@ -70,7 +70,6 @@
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="send_imu_mag_current"/>
   </firmware>
 
   <servos driver="DShot">
diff --git a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
index c740e61087..68e3762a03 100644
--- a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+++ b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
@@ -81,7 +81,6 @@
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
     <module name="geo_mag"/>
   </firmware>
 
diff --git a/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml b/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml
index e1f8dd098a..99fb555104 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml
@@ -42,7 +42,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
index f83c1495eb..e0d4cdc165 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
@@ -38,7 +38,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
index fe428fb5a8..4ad36d42f1 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
@@ -37,7 +37,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_elle0_v1_2.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_elle0_v1_2.xml
index 5b7214764e..ae95377d0a 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_elle0_v1_2.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_elle0_v1_2.xml
@@ -42,7 +42,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
index 2ce694da99..dad11794b6 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
@@ -38,7 +38,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
index 6c987ff838..ac1cf2a72d 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
@@ -38,7 +38,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
index bcc10e90a9..74ba5efdbc 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
@@ -36,7 +36,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
index d6a170339f..a710daa937 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
@@ -42,7 +42,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
index 73edc0b170..d34248f55a 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
@@ -38,7 +38,6 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="send_imu_mag_current"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
diff --git a/conf/airframes/MM/bebop.xml b/conf/airframes/MM/bebop.xml
index b9446c9814..e996b501e3 100644
--- a/conf/airframes/MM/bebop.xml
+++ b/conf/airframes/MM/bebop.xml
@@ -32,7 +32,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/MM/bebop2_lum1_xbee.xml b/conf/airframes/MM/bebop2_lum1_xbee.xml
index 6c1b86e0fd..06ea618493 100644
--- a/conf/airframes/MM/bebop2_lum1_xbee.xml
+++ b/conf/airframes/MM/bebop2_lum1_xbee.xml
@@ -39,7 +39,6 @@
     <!--module name="wind_estimator"/-->
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
index d372f9894c..22329a5e0d 100644
--- a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
+++ b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml
@@ -254,7 +254,6 @@
 
     <module name="geo_mag"/>
 
-    <module name="send_imu_mag_current"/> <!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->
 
     <module name="nav" type="survey_rectangle_rotorcraft">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
diff --git a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
index 6468397254..b6d4a06c6b 100644
--- a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
+++ b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
@@ -251,7 +251,6 @@
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi" >
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_durafly_g2.xml b/conf/airframes/OPENUAS/openuas_durafly_g2.xml
index d6bfcbf886..032a7d9564 100644
--- a/conf/airframes/OPENUAS/openuas_durafly_g2.xml
+++ b/conf/airframes/OPENUAS/openuas_durafly_g2.xml
@@ -189,7 +189,6 @@
       <define name="SENSOR_SYNC_SEND"/>
     </module>
 
-    <module name="send_imu_mag_current"/> <!-- disable after one time callibration -->
     <!-- QNH -->
     <module name="air_data">
       <define name="CALC_AIRSPEED" value="TRUE" />
diff --git a/conf/airframes/OPENUAS/openuas_durafly_goblin.xml b/conf/airframes/OPENUAS/openuas_durafly_goblin.xml
index 9351a07307..87425e06d7 100644
--- a/conf/airframes/OPENUAS/openuas_durafly_goblin.xml
+++ b/conf/airframes/OPENUAS/openuas_durafly_goblin.xml
@@ -135,7 +135,6 @@ NOTES:
 
     <module name="control" type="new"/>
     <module name="navigation"/>
-    <module name="send_imu_mag_current"/>
 
     <module name="baro_ms5611_spi">
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
index 4cc07586a4..69bce2d3ba 100644
--- a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
+++ b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml
@@ -156,7 +156,6 @@
         <<module name="air_data"/>-->
 
         <!-- below temporary until measuerd and values set then disable it -->
-        <!-- <module name="send_imu_mag_current"/> -->
 
 <!--
         <target name="nps" board="pc">
diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
index a5dab406a7..27bebec35c 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
@@ -319,7 +319,6 @@ NOTES:
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial filter tuning-->
 
     <module name="auto1_commands"/><!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi">
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
index 621585a731..30249ea96d 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
@@ -168,7 +168,6 @@
     </module>
     -->
 
-    <module name="send_imu_mag_current"/> <!-- disable after one time calibration when all components are at final spot in airframe -->
     <module name="air_data">
       <define name="CALC_AIRSPEED" value="TRUE" />
       <define name="CALC_TAS_FACTOR" value="FALSE" />
diff --git a/conf/airframes/OPENUAS/openuas_itsybitsy.xml b/conf/airframes/OPENUAS/openuas_itsybitsy.xml
index be501e4084..65e596bc0a 100644
--- a/conf/airframes/OPENUAS/openuas_itsybitsy.xml
+++ b/conf/airframes/OPENUAS/openuas_itsybitsy.xml
@@ -241,6 +241,5 @@
       <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>-->
     <module name="ins"/>
     <!-- below temporary until tsted then remove it-->
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
index 048404ba78..b455ee7514 100644
--- a/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+++ b/conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
@@ -328,7 +328,6 @@ NOTES:
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial filter tuning-->
 
     <module name="auto1_commands"/><!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi">
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
index e3a3b83ba1..cf7cfabd7f 100644
--- a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
+++ b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
@@ -255,7 +255,6 @@ NOTES:
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <module name="send_imu_mag_current"/> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi" >
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_own_flexo.xml b/conf/airframes/OPENUAS/openuas_own_flexo.xml
index 10e44d18cc..1e0df0372a 100644
--- a/conf/airframes/OPENUAS/openuas_own_flexo.xml
+++ b/conf/airframes/OPENUAS/openuas_own_flexo.xml
@@ -290,7 +290,6 @@ NOTES:
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi" >
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml b/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
index ddd088cc0e..ac303d80e0 100644
--- a/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
+++ b/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml
@@ -79,7 +79,6 @@
     <module name="geo_mag"/>
     <module name="air_data"/>
     <!-- below temporary until tsted then remove it-->
-    <module name="send_imu_mag_current"/>
 
   </firmware>
 
diff --git a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
index 70a078e6e4..5dd89be9b5 100644
--- a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
+++ b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml
@@ -150,7 +150,6 @@
         <<module name="air_data"/>-->
 
         <!-- below temporary until tested then disable it -->
-        <!-- <module name="send_imu_mag_current"/> -->
 
 <!--
         <target name="nps" board="pc">
diff --git a/conf/airframes/OPENUAS/openuas_own_mavtec.xml b/conf/airframes/OPENUAS/openuas_own_mavtec.xml
index 9f9702de73..8a15fbe23f 100644
--- a/conf/airframes/OPENUAS/openuas_own_mavtec.xml
+++ b/conf/airframes/OPENUAS/openuas_own_mavtec.xml
@@ -32,7 +32,6 @@
     <!--   <module name="logger_spi_link"/>
     <module name="imu_quality_assessment"/> -->
     <module name="switch" type="servo"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter" />
     <module name="nav" type="survey_rectangle_rotorcraft"/>
     <module name="nav" type="survey_poly_rotorcraft"/>
diff --git a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
index e2fae9a3cd..ddd050e605 100644
--- a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
+++ b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
@@ -292,7 +292,6 @@ NOTES:
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi" >
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml b/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
index cba8e9a79c..55087f1c4b 100644
--- a/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
+++ b/conf/airframes/OPENUAS/openuas_parrot_ardrone_2.xml
@@ -158,7 +158,6 @@
 
     <module name="geo_mag"/>
 
-    <module name="send_imu_mag_current"/> <!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->
 
     <module name="nav" type="survey_rectangle_rotorcraft">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
index 1b6bacbb95..a513b6a9e1 100644
--- a/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
+++ b/conf/airframes/OPENUAS/openuas_parrot_bebop.xml
@@ -160,7 +160,6 @@
 
     <module name="geo_mag"/>
 
-    <module name="send_imu_mag_current"/> <!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->
 
     <module name="nav" type="survey_rectangle_rotorcraft">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/><!-- in deg -->
diff --git a/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml b/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
index aa4b21cefc..38880bf59d 100644
--- a/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
+++ b/conf/airframes/OPENUAS/openuas_parrot_bebop_2.xml
@@ -172,7 +172,6 @@
 
     <module name="geo_mag"/>
 
-    <module name="send_imu_mag_current"/> <!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->
 
     <module name="nav" type="survey_rectangle_rotorcraft">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
diff --git a/conf/airframes/OPENUAS/openuas_parrot_disco.xml b/conf/airframes/OPENUAS/openuas_parrot_disco.xml
index e1a5739097..f23c4392e3 100644
--- a/conf/airframes/OPENUAS/openuas_parrot_disco.xml
+++ b/conf/airframes/OPENUAS/openuas_parrot_disco.xml
@@ -319,7 +319,6 @@
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator-->
-    <!-- <module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration, quite the same for all Discos -->
 
     <!-- Also used if QNH needed -->
     <module name="air_data">
diff --git a/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml b/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
index bf1fb27184..767b540474 100644
--- a/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
+++ b/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml
@@ -209,7 +209,6 @@
 
     <module name="geo_mag"/>
 
-    <module name="send_imu_mag_current"/><!-- enable if airframe has added electronic or other devices, recalibrate and stuffcalibration in this airframefile-->
 
     <module name="nav" type="survey_rectangle_rotorcraft">
       <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
diff --git a/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml b/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
index c28345786f..68e3ee78e8 100644
--- a/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
+++ b/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
@@ -234,7 +234,6 @@ NOTES:
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!-- disable after initial tuning-->
     <module name="auto1_commands"/> <!-- FIXME not working in JSBSim target with RC controller steering in Simulator--><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
-    <!--<module name="send_imu_mag_current"/>--> <!-- Can be Disabled after one time callibration -->
 
     <module name="baro_ms5611_spi">
       <configure name="MS5611_SPI_DEV" value="spi1"/>
diff --git a/conf/airframes/examples/ardrone2.xml b/conf/airframes/examples/ardrone2.xml
index 37d1cc35cf..45641595c4 100644
--- a/conf/airframes/examples/ardrone2.xml
+++ b/conf/airframes/examples/ardrone2.xml
@@ -26,7 +26,6 @@
     <module name="bat_voltage_ardrone2"/>
     <!-- remove the gps_ubx_ucenter module if you use the sirf gps (flight recorder) -->
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
     <module name="air_data"/>
     <module name="geo_mag"/>
     <!--module name="logger_file"/-->
diff --git a/conf/airframes/examples/ardrone2_gazebo.xml b/conf/airframes/examples/ardrone2_gazebo.xml
index 3124edf5b1..efaf7fcf08 100644
--- a/conf/airframes/examples/ardrone2_gazebo.xml
+++ b/conf/airframes/examples/ardrone2_gazebo.xml
@@ -25,7 +25,6 @@
     
     <module name="bat_voltage_ardrone2"/>
     
-    <module name="send_imu_mag_current"/>
     <module name="air_data"/>
     <module name="geo_mag"/>
     
diff --git a/conf/airframes/examples/ardrone2_opticflow_hover.xml b/conf/airframes/examples/ardrone2_opticflow_hover.xml
index 5bb143a961..ea3a2dbe5a 100644
--- a/conf/airframes/examples/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/examples/ardrone2_opticflow_hover.xml
@@ -26,7 +26,6 @@
 
     <module name="bat_voltage_ardrone2"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file"/>
 
     <module name="video_thread"/>
diff --git a/conf/airframes/examples/bebop.xml b/conf/airframes/examples/bebop.xml
index 98b399403d..0380348057 100644
--- a/conf/airframes/examples/bebop.xml
+++ b/conf/airframes/examples/bebop.xml
@@ -25,7 +25,6 @@
     
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/examples/bebop2_indi.xml b/conf/airframes/examples/bebop2_indi.xml
index 2e136b0762..21ba1ed02e 100644
--- a/conf/airframes/examples/bebop2_indi.xml
+++ b/conf/airframes/examples/bebop2_indi.xml
@@ -27,7 +27,6 @@
     </module>
     
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml b/conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml
index 89d436999f..1071f703e6 100644
--- a/conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml
+++ b/conf/airframes/examples/bebop2_ukf_magnetometer_calibration.xml
@@ -33,7 +33,6 @@
     <module name="geo_mag"/>
     <module name="mag_calib_ukf"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/examples/bumblebee_quad.xml b/conf/airframes/examples/bumblebee_quad.xml
index e5ad690435..45bf616e80 100644
--- a/conf/airframes/examples/bumblebee_quad.xml
+++ b/conf/airframes/examples/bumblebee_quad.xml
@@ -62,7 +62,6 @@
 	 current to magnetic field distortion curve.
 	 http://wiki.paparazziuav.org/wiki/ImuCalibration#Calibrating_for_Current
       -->
-    <!--module name="send_imu_mag_current"/-->
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
diff --git a/conf/airframes/examples/cube_orange.xml b/conf/airframes/examples/cube_orange.xml
index 0dfef3fc7f..ee0a3fe8d0 100644
--- a/conf/airframes/examples/cube_orange.xml
+++ b/conf/airframes/examples/cube_orange.xml
@@ -87,7 +87,6 @@
     <module name="ins"           type="ekf2" />
     
     <module name="air_data"/>
-    <!--module name="send_imu_mag_current"/-->
 
     <!-- Internal MAG -->
     <!--module name="mag_ist8310">
diff --git a/conf/airframes/examples/ladybird_lisa_s.xml b/conf/airframes/examples/ladybird_lisa_s.xml
index 80e243cfbb..87a1f101cb 100644
--- a/conf/airframes/examples/ladybird_lisa_s.xml
+++ b/conf/airframes/examples/ladybird_lisa_s.xml
@@ -232,6 +232,5 @@
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
    <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/examples/ladybird_lisa_s_bluegiga.xml b/conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
index ec47cbdf64..9580dacc2b 100644
--- a/conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
+++ b/conf/airframes/examples/ladybird_lisa_s_bluegiga.xml
@@ -231,6 +231,5 @@
     <module name="ins"/>
     
    <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index d078bdfa1f..44ae5898af 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -216,6 +216,5 @@
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
    <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/examples/trashcan.xml b/conf/airframes/examples/trashcan.xml
index 70a078e6e4..5dd89be9b5 100644
--- a/conf/airframes/examples/trashcan.xml
+++ b/conf/airframes/examples/trashcan.xml
@@ -150,7 +150,6 @@
         <<module name="air_data"/>-->
 
         <!-- below temporary until tested then disable it -->
-        <!-- <module name="send_imu_mag_current"/> -->
 
 <!--
         <target name="nps" board="pc">
diff --git a/conf/airframes/tudelft/ardrone2_indi.xml b/conf/airframes/tudelft/ardrone2_indi.xml
index 627b9879c6..2812967cf0 100644
--- a/conf/airframes/tudelft/ardrone2_indi.xml
+++ b/conf/airframes/tudelft/ardrone2_indi.xml
@@ -32,7 +32,6 @@
 
     <module name="bat_voltage_ardrone2"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
     <module name="air_data"/>
     <module name="logger_file"/>
   </firmware>
diff --git a/conf/airframes/tudelft/ardrone2_opticflow.xml b/conf/airframes/tudelft/ardrone2_opticflow.xml
index da6700a4f4..4e91482c0b 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow.xml
@@ -29,7 +29,6 @@
     
     <module name="bat_voltage_ardrone2"/>
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file"/>
 
     <module name="video_thread"/>
diff --git a/conf/airframes/tudelft/bebop2_indi.xml b/conf/airframes/tudelft/bebop2_indi.xml
index 9df614cd27..677053048e 100644
--- a/conf/airframes/tudelft/bebop2_indi.xml
+++ b/conf/airframes/tudelft/bebop2_indi.xml
@@ -29,7 +29,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/tudelft/bebop2_no_damping.xml b/conf/airframes/tudelft/bebop2_no_damping.xml
index b155397acb..15f8987f21 100644
--- a/conf/airframes/tudelft/bebop2_no_damping.xml
+++ b/conf/airframes/tudelft/bebop2_no_damping.xml
@@ -27,7 +27,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/tudelft/bebop2_opticflow.xml b/conf/airframes/tudelft/bebop2_opticflow.xml
index 6977594c5d..b246d45a59 100644
--- a/conf/airframes/tudelft/bebop2_opticflow.xml
+++ b/conf/airframes/tudelft/bebop2_opticflow.xml
@@ -26,7 +26,6 @@
     </module> -->
     
     <!-- <module name="geo_mag"/>
-    <module name="send_imu_mag_current"/> -->
     <module name="air_data"/>
     <!-- <module name="gps" type="ubx_ucenter"/> -->
     <module name="logger_file">
diff --git a/conf/airframes/tudelft/bebop2_optitrack.xml b/conf/airframes/tudelft/bebop2_optitrack.xml
index 180bcfce17..14fcad66d5 100644
--- a/conf/airframes/tudelft/bebop2_optitrack.xml
+++ b/conf/airframes/tudelft/bebop2_optitrack.xml
@@ -30,7 +30,6 @@
     <module name="ins" type="extended"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
   
   <commands>
diff --git a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
index d59359f66a..71745cf6d1 100644
--- a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
+++ b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
@@ -21,7 +21,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
diff --git a/conf/airframes/tudelft/bebop2_undistort_front.xml b/conf/airframes/tudelft/bebop2_undistort_front.xml
index 4c7985faa8..a19ec430a1 100644
--- a/conf/airframes/tudelft/bebop2_undistort_front.xml
+++ b/conf/airframes/tudelft/bebop2_undistort_front.xml
@@ -21,7 +21,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
diff --git a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
index eb1f5fd9c9..f02a1a8fe2 100644
--- a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+++ b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
@@ -48,7 +48,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="guidance_loop_velocity_autonomous_race"/-->
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
diff --git a/conf/airframes/tudelft/bebop_flip.xml b/conf/airframes/tudelft/bebop_flip.xml
index 05914c8038..946a13aaf3 100644
--- a/conf/airframes/tudelft/bebop_flip.xml
+++ b/conf/airframes/tudelft/bebop_flip.xml
@@ -31,7 +31,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
diff --git a/conf/airframes/tudelft/bebop_indi.xml b/conf/airframes/tudelft/bebop_indi.xml
index e33525f41f..07e16d968e 100644
--- a/conf/airframes/tudelft/bebop_indi.xml
+++ b/conf/airframes/tudelft/bebop_indi.xml
@@ -38,7 +38,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
diff --git a/conf/airframes/tudelft/bebop_indi_actuators.xml b/conf/airframes/tudelft/bebop_indi_actuators.xml
index 7dbce7b3e6..a9d244444e 100644
--- a/conf/airframes/tudelft/bebop_indi_actuators.xml
+++ b/conf/airframes/tudelft/bebop_indi_actuators.xml
@@ -38,7 +38,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/tudelft/bebop_mavlink.xml b/conf/airframes/tudelft/bebop_mavlink.xml
index e19998f940..a423872157 100644
--- a/conf/airframes/tudelft/bebop_mavlink.xml
+++ b/conf/airframes/tudelft/bebop_mavlink.xml
@@ -35,7 +35,6 @@
 
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/tudelft/bebop_opticflow.xml b/conf/airframes/tudelft/bebop_opticflow.xml
index 1343cdbe90..590862c975 100644
--- a/conf/airframes/tudelft/bebop_opticflow.xml
+++ b/conf/airframes/tudelft/bebop_opticflow.xml
@@ -30,7 +30,6 @@
     
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <module name="pose_history"/>
     <module name="bebop_cam"/>
 
diff --git a/conf/airframes/tudelft/chouchou_lisa_s.xml b/conf/airframes/tudelft/chouchou_lisa_s.xml
index 68f69f7f14..4f44fa8fed 100644
--- a/conf/airframes/tudelft/chouchou_lisa_s.xml
+++ b/conf/airframes/tudelft/chouchou_lisa_s.xml
@@ -189,6 +189,5 @@
     <module name="ins"/>
 
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/cx10.xml b/conf/airframes/tudelft/cx10.xml
index 019400bbb0..7119656fab 100644
--- a/conf/airframes/tudelft/cx10.xml
+++ b/conf/airframes/tudelft/cx10.xml
@@ -226,6 +226,5 @@
     </module>
 
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/cyfoam.xml b/conf/airframes/tudelft/cyfoam.xml
index 9510baec6c..c9c2613231 100644
--- a/conf/airframes/tudelft/cyfoam.xml
+++ b/conf/airframes/tudelft/cyfoam.xml
@@ -265,13 +265,13 @@
       <define name="HMC58XX_MAG_TO_IMU_PHI" value="RadOfDeg\(6.5\)"/>
       <define name="HMC58XX_MAG_TO_IMU_THETA" value="RadOfDeg\(28.5\)"/>
       <define name="HMC58XX_MAG_TO_IMU_PSI" value="RadOfDeg\(181.0\)"/>
-    </module>
 
-    <module name="send_imu_mag_current">
+      <!-- Current calibration -->
       <define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000"/>
       <define name="MILLIAMP_AT_FULL_THROTTLE" value="30000"/>
       <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.5"/>
     </module>
+
     <module name="sys_mon"/>
 
     <module name="telemetry"     type="xbee_api"/>
diff --git a/conf/airframes/tudelft/delfly_lisas.xml b/conf/airframes/tudelft/delfly_lisas.xml
index 972fc85ebc..d4501b3444 100644
--- a/conf/airframes/tudelft/delfly_lisas.xml
+++ b/conf/airframes/tudelft/delfly_lisas.xml
@@ -64,7 +64,6 @@
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
 
-    <module name="send_imu_mag_current"/>
 
     <!-- When sd logger is used, then radio should be DelTang (PPM) and telemetry should
       be transparent (cable/WiFi) -->
diff --git a/conf/airframes/tudelft/disco_modified.xml b/conf/airframes/tudelft/disco_modified.xml
index 4047a8f05a..1a9c10403f 100644
--- a/conf/airframes/tudelft/disco_modified.xml
+++ b/conf/airframes/tudelft/disco_modified.xml
@@ -189,7 +189,6 @@
     <module name="control" type="new"/>
     <module name="navigation"/>
     <!--<module name="imu_quality_assessment"/>--><!--needs fixing for FW fix test then disable after initial tuning-->
-    <module name="send_imu_mag_current"/> <!-- Can be Disabled after one time calibration, quite the same for all Discos -->
 
     <!-- Also used if QNH needed -->
     <module name="air_data">
diff --git a/conf/airframes/tudelft/fan_demo.xml b/conf/airframes/tudelft/fan_demo.xml
index 56dde27a4d..d9812b45c7 100644
--- a/conf/airframes/tudelft/fan_demo.xml
+++ b/conf/airframes/tudelft/fan_demo.xml
@@ -30,7 +30,6 @@
     <module name="guidance" type="indi"/>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
diff --git a/conf/airframes/tudelft/iris_indi.xml b/conf/airframes/tudelft/iris_indi.xml
index ddfb43a529..33a06375f7 100644
--- a/conf/airframes/tudelft/iris_indi.xml
+++ b/conf/airframes/tudelft/iris_indi.xml
@@ -51,7 +51,6 @@
     <module name="px4_gimbal" />
     <module name="geo_mag" />
     <module name="air_data" />
-    <module name="send_imu_mag_current" />
     <module name="mag" type="hmc58xx">
       <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
       <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
diff --git a/conf/airframes/tudelft/ladybird_lisa_mxs.xml b/conf/airframes/tudelft/ladybird_lisa_mxs.xml
index c66f518f3e..da0458cb85 100644
--- a/conf/airframes/tudelft/ladybird_lisa_mxs.xml
+++ b/conf/airframes/tudelft/ladybird_lisa_mxs.xml
@@ -62,7 +62,6 @@
     <module name="air_data">
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </module>
-    <module name="send_imu_mag_current"/>
   </firmware>
   
   <servos driver="Pwm">
diff --git a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
index 0c9db5d9bf..9dec402687 100644
--- a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
+++ b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
@@ -234,7 +234,6 @@
        <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
     </module>
 
-    <module name="send_imu_mag_current"/>
     <module name="stereocam">
       <configure name="STEREO_UART" value="UART1"/>
       <configure name="STEREO_BAUD" value="B115200"/>
diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
index 9af11e4934..9b74f37769 100644
--- a/conf/airframes/tudelft/nederdrone4.xml
+++ b/conf/airframes/tudelft/nederdrone4.xml
@@ -85,7 +85,6 @@
     <module name="ins"           type="ekf2" />
     
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
 
     <!-- Internal MAG -->
     <module name="mag_ist8310">
diff --git a/conf/airframes/tudelft/nederdrone4_tem.xml b/conf/airframes/tudelft/nederdrone4_tem.xml
index 6e81afb1fb..6ddad00105 100644
--- a/conf/airframes/tudelft/nederdrone4_tem.xml
+++ b/conf/airframes/tudelft/nederdrone4_tem.xml
@@ -79,7 +79,6 @@
     <module name="ins"           type="ekf2" />
     
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
 
     <!-- Internal MAG -->
     <!--module name="mag_ist8310">
diff --git a/conf/airframes/tudelft/nederdrone5.xml b/conf/airframes/tudelft/nederdrone5.xml
index 07b12780b9..424c69fae3 100644
--- a/conf/airframes/tudelft/nederdrone5.xml
+++ b/conf/airframes/tudelft/nederdrone5.xml
@@ -82,7 +82,6 @@
     <module name="ins"           type="ekf2" />
     
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
 
     <!-- Internal MAG -->
     <!--module name="mag_ist8310">
diff --git a/conf/airframes/tudelft/nederquad.xml b/conf/airframes/tudelft/nederquad.xml
index 461a222c3e..e58703e113 100644
--- a/conf/airframes/tudelft/nederquad.xml
+++ b/conf/airframes/tudelft/nederquad.xml
@@ -81,7 +81,6 @@
 
       <module name="geo_mag" />
       <module name="air_data" />
-      <module name="send_imu_mag_current" />
   
       <module name="mag" type="hmc58xx">
         <define name="HMC58XX_STARTUP_DELAY" value="1.4"/>
diff --git a/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml b/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
index 9b546cdd10..273a73d96d 100644
--- a/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
+++ b/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
@@ -69,7 +69,6 @@
     </module>
 
     <!--Modules -->
-    <module name="send_imu_mag_current"/>
     <module name="air_data">
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </module>
diff --git a/conf/airframes/tudelft/robird.xml b/conf/airframes/tudelft/robird.xml
index 6776f8f793..e4049708dc 100644
--- a/conf/airframes/tudelft/robird.xml
+++ b/conf/airframes/tudelft/robird.xml
@@ -49,7 +49,6 @@ Flapping wing frame equiped with
     <module name="px4_flash"/>
     <module name="geo_mag" />
     <module name="air_data" />
-    <module name="send_imu_mag_current" />
     <module name="mag" type="hmc58xx">
       <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
       <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
diff --git a/conf/airframes/tudelft/splash4.xml b/conf/airframes/tudelft/splash4.xml
index 83622f539f..65f7be9bb2 100644
--- a/conf/airframes/tudelft/splash4.xml
+++ b/conf/airframes/tudelft/splash4.xml
@@ -100,7 +100,6 @@
 
     <module name="air_data"/>
 
-    <module name="send_imu_mag_current"/>
 
     <!-- Internal MAG -->
     <!--module name="mag_ist8310">
diff --git a/conf/airframes/tudelft/splash_pixracer.xml b/conf/airframes/tudelft/splash_pixracer.xml
index c9b09cfb76..aa400bd655 100644
--- a/conf/airframes/tudelft/splash_pixracer.xml
+++ b/conf/airframes/tudelft/splash_pixracer.xml
@@ -54,7 +54,6 @@
 
     <module name="lidar" type="tfmini"/>
     <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 
   <servos driver="Pwm">
diff --git a/conf/airframes/tudelft/splash_px4.xml b/conf/airframes/tudelft/splash_px4.xml
index 7efe962454..0598deff84 100644
--- a/conf/airframes/tudelft/splash_px4.xml
+++ b/conf/airframes/tudelft/splash_px4.xml
@@ -59,7 +59,6 @@
     <module name="px4_flash"/>
     <module name="geo_mag" />
     <module name="air_data" />
-    <module name="send_imu_mag_current" />
     <module name="spektrum_soft_bind"/>
   </firmware>
 
diff --git a/conf/airframes/tudelft/walkera_genius_v1.xml b/conf/airframes/tudelft/walkera_genius_v1.xml
index 5f4748e0e2..89b5b130da 100644
--- a/conf/airframes/tudelft/walkera_genius_v1.xml
+++ b/conf/airframes/tudelft/walkera_genius_v1.xml
@@ -172,6 +172,5 @@
     <module name="ins"/>
 
     <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/modules/send_imu_mag_current.xml b/conf/modules/send_imu_mag_current.xml
deleted file mode 100644
index 98789e4b1b..0000000000
--- a/conf/modules/send_imu_mag_current.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="send_imu_mag_current" dir="calibration">
-  <doc>
-    <description>
-      Enables sending of IMU_MAG_CURRENT_CALIBRATION message.
-      For calibration of changing magnetometer offset due to estimated or measured current.
-    </description>
-  </doc>
-  <header>
-    <file name="send_imu_mag_current.h"/>
-  </header>
-  <periodic fun="send_imu_mag_current()" freq="20" autorun="FALSE"/>
-  <makefile target="ap">
-    <file name="send_imu_mag_current.c"/>
-  </makefile>
-</module>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 1d9fd6e392..f2d3480adf 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -50,14 +50,15 @@
     </mode>
 
     <mode name="raw_sensors">
-      <message name="ROTORCRAFT_STATUS" period="1.2"/>
-      <message name="DL_VALUE"          period="0.5"/>
-      <message name="ALIVE"             period="2.1"/>
-      <message name="IMU_ACCEL_RAW"     period=".05"/>
-      <message name="IMU_GYRO_RAW"      period=".05"/>
-      <message name="IMU_MAG_RAW"       period=".05"/>
-      <message name="BARO_RAW"          period=".1"/>
-      <message name="ARDRONE_NAVDATA" period=".05"/>
+      <message name="ROTORCRAFT_STATUS"           period="1.2"/>
+      <message name="DL_VALUE"                    period="0.5"/>
+      <message name="ALIVE"                       period="2.1"/>
+      <message name="IMU_ACCEL_RAW"               period=".05"/>
+      <message name="IMU_GYRO_RAW"                period=".05"/>
+      <message name="IMU_MAG_RAW"                 period=".05"/>
+      <message name="BARO_RAW"                    period=".1"/>
+      <message name="IMU_MAG_CURRENT_CALIBRATION" period=".05"/>
+      <message name="ARDRONE_NAVDATA"             period=".05"/>
     </mode>
 
     <mode name="scaled_sensors">
diff --git a/conf/telemetry/highspeed_rotorcraft.xml b/conf/telemetry/highspeed_rotorcraft.xml
index fd1e98c6f7..b50c37179e 100644
--- a/conf/telemetry/highspeed_rotorcraft.xml
+++ b/conf/telemetry/highspeed_rotorcraft.xml
@@ -44,11 +44,22 @@
       <message name="GUIDANCE_INDI_HYBRID"     period="0.4"/>
       <message name="HYBRID_GUIDANCE"          period="0.4"/>
       <message name="ESC"                      period="0.5"/>
-      <!--message name="WINDTUNNEL_MEAS"          period="0.1"/-->
       <message name="AHRS_REF_QUAT"            period="0.1"/>
       <message name="GPS_RTK"                  period="0.1"/>
     </mode>
 
+    <mode name="calibration">
+      <message name="ROTORCRAFT_STATUS"           period="1.2"/>
+      <message name="DL_VALUE"                    period="0.5"/>
+      <message name="ALIVE"                       period="2.1"/>
+      <message name="IMU_ACCEL_RAW"               period=".05"/>
+      <message name="IMU_GYRO_RAW"                period=".05"/>
+      <message name="IMU_MAG_RAW"                 period=".05"/>
+      <message name="IMU_MAG_CURRENT_CALIBRATION" period=".05"/>
+      <message name="BARO_RAW"                    period=".1"/>
+      <message name="GPS_INT"                     period=".2"/>
+    </mode>
+
     <mode name="ppm">
       <message name="DL_VALUE"                 period="0.5"/>
       <message name="ALIVE"                    period="2.1"/>
@@ -68,7 +79,7 @@
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
       <message name="BARO_RAW"          period=".1"/>
-      <message name="ARDRONE_NAVDATA" period=".05"/>
+      <message name="ARDRONE_NAVDATA"   period=".05"/>
     </mode>
 
     <mode name="scaled_sensors">
diff --git a/sw/airborne/modules/calibration/send_imu_mag_current.c b/sw/airborne/modules/calibration/send_imu_mag_current.c
deleted file mode 100644
index 880773e03e..0000000000
--- a/sw/airborne/modules/calibration/send_imu_mag_current.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file modules/calibration/send_imu_mag_current.c
- * Enables sending of IMU_MAG_CURRENT_CALIBRATION message.
- */
-
-#include "modules/imu/imu.h"
-#include "modules/core/abi.h"
-#include "modules/energy/electrical.h"
-
-#include "pprzlink/messages.h"
-#include "mcu_periph/uart.h"
-#include "modules/datalink/downlink.h"
-
-void send_imu_mag_current(void)
-{
-  static uint8_t id = 0;
-  DOWNLINK_SEND_IMU_MAG_CURRENT_CALIBRATION(DefaultChannel, DefaultDevice,
-      &imu.mags[id].unscaled.x,
-      &imu.mags[id].unscaled.y,
-      &imu.mags[id].unscaled.z,
-      &electrical.current);
-  id++;
-  if(id >= IMU_MAX_SENSORS || imu.mags[id].abi_id == ABI_DISABLE)
-    id = 0;
-}
-
diff --git a/sw/airborne/modules/calibration/send_imu_mag_current.h b/sw/airborne/modules/calibration/send_imu_mag_current.h
deleted file mode 100644
index 1484340d0c..0000000000
--- a/sw/airborne/modules/calibration/send_imu_mag_current.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file modules/calibration/send_imu_mag_current.h
- * Enables sending of IMU_MAG_CURRENT_CALIBRATION message.
- */
-
-#ifndef SEND_IMU_MAG_CURRENT_H
-#define SEND_IMU_MAG_CURRENT_H
-
-extern void send_imu_mag_current(void);
-
-#endif
diff --git a/sw/airborne/modules/imu/imu.c b/sw/airborne/modules/imu/imu.c
index 8a307cb636..e6733b4072 100644
--- a/sw/airborne/modules/imu/imu.c
+++ b/sw/airborne/modules/imu/imu.c
@@ -148,6 +148,20 @@ static void send_mag(struct transport_tx *trans, struct link_device *dev)
     id = 0;
 }
 
+static void send_mag_current(struct transport_tx *trans, struct link_device *dev)
+{
+  static uint8_t id = 0;
+  pprz_msg_send_IMU_MAG_CURRENT_CALIBRATION(trans, dev, AC_ID,
+      &id,
+      &imu.mags[id].unscaled.x,
+      &imu.mags[id].unscaled.y,
+      &imu.mags[id].unscaled.z,
+      &electrical.current);
+  id++;
+  if(id >= IMU_MAX_SENSORS || imu.mags[id].abi_id == ABI_DISABLE)
+    id = 0;
+}
+
 #endif /* PERIODIC_TELEMETRY */
 
 struct Imu imu = {0};
@@ -238,6 +252,7 @@ void imu_init(void)
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_IMU_MAG_RAW, send_mag_raw);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_IMU_MAG_SCALED, send_mag_scaled);
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_IMU_MAG, send_mag);
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_IMU_MAG_CURRENT_CALIBRATION, send_mag_current);
 #endif // DOWNLINK
 
   imu.initialized = true;