diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 5f4a380da7..3199fdc038 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -21,20 +21,20 @@
     <target name="sim" board="pc"/>
     <target name="ap" board="umarim_1.0">
       <configure name="FLASH_MODE" value="IAP"/>
+      <define name="USE_I2C0"/>
+      <define name="USE_I2C1"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="i2c">
-      <define name="USE_I2C0"/>
-      <define name="USE_I2C1"/>
-    </subsystem>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
+    <subsystem name="telemetry" type="transparent">
+      <configure name="MODEM_BAUD" value="B57600"/>
+    </subsystem>
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="dcm">
+    <subsystem name="ahrs"    type="float_dcm">
       <define name="USE_HIGH_ACCEL_FLAG"/>
     </subsystem>
     <subsystem name="control" type="adaptive"/>
@@ -123,8 +123,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/>
   </section>
 
   <section name="BAT">
@@ -142,6 +142,7 @@
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+    <define name="TELEMETRY_MODE_AP" value="1"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -158,10 +159,10 @@
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.007"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.067"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
@@ -174,7 +175,7 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.23500001431"/>
+    <define name="COURSE_PGAIN" value="-0.9"/>
 
     <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
@@ -185,8 +186,8 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
-    <define name="ROLL_RATE_GAIN" value="-2500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-2600"/>
+    <define name="ROLL_RATE_GAIN" value="-850"/>
 
     <define name="ROLL_KFF" value="-500"/>
     <define name="ROLL_IGAIN" value="-00"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index f0a4cf2491..827a08b350 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -33,7 +33,7 @@
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="float_dcm"/>
+    <subsystem name="ahrs"    type="float_dcm">
       <define name="USE_HIGH_ACCEL_FLAG"/>
     </subsystem>
     <subsystem name="control" type="new"/>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index e333ba1503..4a23ddd7b6 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -28,12 +28,15 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="asctec"/>
+    <!--subsystem name="actuators"     type="mkk"/-->
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler">
+      <define name="USE_NOISE_FILTER"/>
+    </subsystem>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
@@ -50,6 +53,12 @@
     <servo name="YAW"    no="2"    min="0" neutral="0" max="255"/>
     <servo name="THRUST" no="3"    min="0" neutral="0" max="255"/>
   </servos>
+  <!--servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"  no="3" min="0" neutral="0" max="255"/>
+  </servos-->
 
   <commands>
     <axis name="PITCH"  failsafe_value="0"/>
@@ -58,6 +67,31 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
+  <!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/>
+  </section-->
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="TRIM_A"  value="0"/>
+    <define name="TRIM_E"  value="0"/>
+    <define name="TRIM_R"  value="0"/>
+  </section>
+  <!--section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="25"/>
+    <define name="MAX_MOTOR" value="243"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
+    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
+    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+  </section-->
+
+
   <section name="IMU" prefix="IMU_">
 
     <define name="GYRO_P_CHAN" value="1"/>
@@ -96,8 +130,8 @@
     <define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
     <define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(-10.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-10.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
     <!--define name="BODY_TO_IMU_PSI"   value="RadOfDeg(45.)"/-->
     <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
 
@@ -140,31 +174,25 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="-1500"/>
-    <define name="PHI_DGAIN"  value="-350"/>
-    <define name="PHI_IGAIN"  value="-50"/>
+    <define name="PHI_PGAIN"  value="-400"/>
+    <define name="PHI_DGAIN"  value="-160"/>
+    <define name="PHI_IGAIN"  value="-40"/>
 
-    <define name="THETA_PGAIN"  value="-1500"/>
-    <define name="THETA_DGAIN"  value="-350"/>
-    <define name="THETA_IGAIN"  value="-50"/>
+    <define name="THETA_PGAIN"  value="-400"/>
+    <define name="THETA_DGAIN"  value="-160"/>
+    <define name="THETA_IGAIN"  value="-40"/>
 
     <define name="PSI_PGAIN"  value="-1000"/>
     <define name="PSI_DGAIN"  value="-350"/>
     <define name="PSI_IGAIN"  value="-10"/>
 
     <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 350"/>
-    <define name="THETA_DDGAIN" value=" 350"/>
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
     <define name="PSI_DDGAIN"   value=" 300"/>
 
   </section>
 
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="TRIM_A"  value="0"/>
-    <define name="TRIM_E"  value="0"/>
-    <define name="TRIM_R"  value="0"/>
-  </section>
-
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="16.5" integer="16"/>
   </section>
@@ -225,7 +253,7 @@
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
     <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
-    <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
+    <define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
  </section>
 
 
@@ -233,7 +261,7 @@
    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
    <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-   <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
+   <define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
    <define name="IMU_MAG_OFFSET" value="-9."/>
  </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 5c0e701cde..db0e515bc6 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -1,9 +1,11 @@
 <airframe name="BOOZ2_G1">
 
   <modules main_freq="512">
-    <!--load name="booz_pwm.xml"/-->
-    <!--load name="booz_drop.xml"/-->
-    <!--load name="booz_cam.xml"/-->
+    <load name="booz_pwm.xml">
+      <define name="USE_PWM1"/>
+    </load>
+    <load name="booz_drop.xml"/>
+    <load name="booz_cam.xml"/>
     <!--load name="sonar_maxbotix_booz.xml">
       <configure name="ADC_SONAR" value="ADC_0"/>
     </load-->
@@ -161,67 +163,77 @@
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"    value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"   value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"   value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR"  value="2000000"/>
-   <define name="REF_MIN_ZDD"  value="-1.5*9.81"/>
-   <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
-   <define name="REF_MIN_ZD"   value="-1.5"/>
-   <define name="REF_MAX_ZD"   value=" 1.5"/>
-   <define name="HOVER_KP"     value="-150"/>
-   <define name="HOVER_KD"     value="-80"/>
-   <define name="HOVER_KI"     value="0"/>
-   <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <!-- <define name="INV_M" value="0.118"/> -->
+    <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z"    value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD"   value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD"   value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR"  value="2000000"/>
+    <define name="REF_MIN_ZDD"  value="-1.5*9.81"/>
+    <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
+    <define name="REF_MIN_ZD"   value="-1.5"/>
+    <define name="REF_MAX_ZD"   value=" 1.5"/>
+    <define name="HOVER_KP"     value="-150"/>
+    <define name="HOVER_KD"     value="-80"/>
+    <define name="HOVER_KI"     value="0"/>
+    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value ="163"/>
+    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="-50"/>
-   <define name="DGAIN" value="-100"/>
-   <define name="IGAIN" value="-15"/>
-   <define name="NGAIN" value="-0"/>
-   <!-- feedforward -->
-   <define name="AGAIN" value="100"/>
- </section>
+    <define name="PGAIN" value="-50"/>
+    <define name="DGAIN" value="-100"/>
+    <define name="IGAIN" value="-15"/>
+    <define name="NGAIN" value="-0"/>
+    <!-- feedforward -->
+    <define name="AGAIN" value="100"/>
+  </section>
 
- <section name="BAT">
-   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.183" integer="16"/>
- </section>
+  <section name="BAT">
+    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="BATTERY_SENS"   value="0.183" integer="16"/>
+  </section>
 
- <section name="AUTOPILOT">
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
-   <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
- </section>
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
+  </section>
 
- <section name="FMS">
-   <define name="BOOZ_FMS_TIMEOUT" value="0"/>
- </section>
+  <section name="FMS">
+    <define name="BOOZ_FMS_TIMEOUT" value="0"/>
+  </section>
 
- <section name="CAM" prefix="BOOZ_CAM_">
+  <section name="CAM" prefix="BOOZ_CAM_">
+    <define name="ON" value="LED_ON(CAM_SWITCH_LED)"/>
+    <define name="OFF" value="LED_OFF(CAM_SWITCH_LED)"/>
     <define name="TILT_NEUTRAL" value="1500"/>
-    <define name="TILT_MIN" value="1000"/>
-    <define name="TILT_MAX" value="2000"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
+    <define name="TILT_MAX" value="1000"/>
+    <define name="TILT_MIN" value="2300"/>
+    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
+    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 10.)" unit="rad"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
- </section>
+    <define name="SetPwm(_v)" value="BoozSetPwm1Value(_v)"/>
+  </section>
 
- <section name="MISC">
-   <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
-   <define name="FACE_REINJ_1"  value="1024"/>
-   <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
- </section>
+  <section name="DROP">
+    <define name="DROP_SERVO_CLOSED" value="2120"/>
+    <define name="DROP_SERVO_OPEN" value="1060"/>
+    <!--define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/-->
+  </section>
+
+  <section name="MISC">
+    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
+    <define name="FACE_REINJ_1"  value="1024"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+    <!--define name="IMU_MAG_OFFSET" value="-5.8"/-->
+  </section>
 
   <section name="GCS">
     <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
@@ -229,10 +241,10 @@
     <define name="ALT_SHIFT_MINUS" value="-1"/>
   </section>
 
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <!--define name="INITIAL_CONDITITONS" value="&quot;reset_enac&quot;"/-->
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <!--define name="INITIAL_CONDITITONS" value="&quot;reset_enac&quot;"/-->
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+  </section>
 
 </airframe>