diff --git a/conf/modules/ahrs_float_cmpl_quat.xml b/conf/modules/ahrs_float_cmpl_quat.xml
index 108b9ed2ee..f517110903 100644
--- a/conf/modules/ahrs_float_cmpl_quat.xml
+++ b/conf/modules/ahrs_float_cmpl_quat.xml
@@ -10,6 +10,19 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="AHRS">
+        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/modules/ahrs_float_cmpl_rmat.xml b/conf/modules/ahrs_float_cmpl_rmat.xml
index ee0ecccc37..bb41e9a1d0 100644
--- a/conf/modules/ahrs_float_cmpl_rmat.xml
+++ b/conf/modules/ahrs_float_cmpl_rmat.xml
@@ -10,6 +10,19 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="AHRS">
+        <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
+        <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/modules/ahrs_float_dcm.xml b/conf/modules/ahrs_float_dcm.xml
index b3cdda03cd..2a1aebe838 100644
--- a/conf/modules/ahrs_float_dcm.xml
+++ b/conf/modules/ahrs_float_dcm.xml
@@ -9,6 +9,18 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="AHRS">
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
+        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/modules/ahrs_float_invariant.xml b/conf/modules/ahrs_float_invariant.xml
index 6da0854b82..4af4ef63b8 100644
--- a/conf/modules/ahrs_float_invariant.xml
+++ b/conf/modules/ahrs_float_invariant.xml
@@ -9,6 +9,23 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="invariant">
+        <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz"/>
+        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx"/>
+        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my"/>
+        <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n"/>
+        <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <header>
     <file name="ahrs.h" dir="subsystems"/>
   </header>
diff --git a/conf/modules/ahrs_float_mlkf.xml b/conf/modules/ahrs_float_mlkf.xml
index a2f23b8a6c..2663256d5c 100644
--- a/conf/modules/ahrs_float_mlkf.xml
+++ b/conf/modules/ahrs_float_mlkf.xml
@@ -10,6 +10,17 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="AHRS">
+        <dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
+        <dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
+        <dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/modules/ahrs_int_cmpl_euler.xml b/conf/modules/ahrs_int_cmpl_euler.xml
index 58d25ffba3..69f53a380b 100644
--- a/conf/modules/ahrs_int_cmpl_euler.xml
+++ b/conf/modules/ahrs_int_cmpl_euler.xml
@@ -11,6 +11,14 @@
 
   </doc>
 
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="Filter">
+        <dl_setting var="ahrs_ice.reinj_1" min="512" step="512" max="262144" module="subsystems/ahrs/ahrs_int_cmpl_euler" shortname="reinj_1" type="int32" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/modules/ahrs_int_cmpl_quat.xml b/conf/modules/ahrs_int_cmpl_quat.xml
index 52553c609e..cc62ea12c4 100644
--- a/conf/modules/ahrs_int_cmpl_quat.xml
+++ b/conf/modules/ahrs_int_cmpl_quat.xml
@@ -10,6 +10,19 @@
     <configure name="AHRS_ALIGNER_LED" value="1" description="LED number to indicate AHRS alignment, none to disable (default is board dependent)"/>
 
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="AHRS">
+        <dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
+        <dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
+        <dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <autoload name="ahrs_sim"/>
   <header>
     <file name="ahrs.h" dir="subsystems"/>
diff --git a/conf/settings/estimation/ahrs_float_cmpl.xml b/conf/settings/estimation/ahrs_float_cmpl.xml
deleted file mode 100644
index fdc35edd63..0000000000
--- a/conf/settings/estimation/ahrs_float_cmpl.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-
-    <dl_settings NAME="AHRS">
-       <dl_setting var="ahrs_fc.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_float_cmpl" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
-       <dl_setting var="ahrs_fc.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" type="float" persistent="true"/>
-       <dl_setting var="ahrs_fc.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" type="float" persistent="true"/>
-       <dl_setting var="ahrs_fc.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" type="float" persistent="true"/>
-       <dl_setting var="ahrs_fc.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_float_cmpl" shortname="mag_zeta" param="AHRS_MAG_ZETA" type="float" persistent="true"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/estimation/ahrs_float_dcm.xml b/conf/settings/estimation/ahrs_float_dcm.xml
deleted file mode 100644
index e0866debcd..0000000000
--- a/conf/settings/estimation/ahrs_float_dcm.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-
-    <dl_settings NAME="ins">
-      <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
-      <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/estimation/ahrs_float_invariant.xml b/conf/settings/estimation/ahrs_float_invariant.xml
deleted file mode 100644
index b938bf7c6d..0000000000
--- a/conf/settings/estimation/ahrs_float_invariant.xml
+++ /dev/null
@@ -1,17 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-    <dl_settings NAME="invariant">
-      <dl_setting MAX="1" MIN="1" STEP="1" VAR="ahrs_float_inv.reset" shortname="reset"/>
-      <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lx" shortname="lx" module="subsystems/ahrs/ahrs_float_invariant"/>
-      <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.ly" shortname="ly"/>
-      <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.lz" shortname="lz"/>
-      <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mx" shortname="mx"/>
-      <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.my" shortname="my"/>
-      <dl_setting MAX=".1" MIN="0." STEP="0.001" VAR="ahrs_float_inv.gains.mz" shortname="mz"/>
-      <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.n" shortname="n"/>
-      <dl_setting MAX="1." MIN="0." STEP="0.01" VAR="ahrs_float_inv.gains.o" shortname="o"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/estimation/ahrs_float_mlkf.xml b/conf/settings/estimation/ahrs_float_mlkf.xml
deleted file mode 100644
index b90f6a459f..0000000000
--- a/conf/settings/estimation/ahrs_float_mlkf.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-
-    <dl_settings NAME="AHRS">
-       <dl_setting var="ahrs_mlkf.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X" type="float" persistent="true"/>
-       <dl_setting var="ahrs_mlkf.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y" type="float" persistent="true"/>
-       <dl_setting var="ahrs_mlkf.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z" type="float" persistent="true"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/estimation/ahrs_int_cmpl_euler.xml b/conf/settings/estimation/ahrs_int_cmpl_euler.xml
deleted file mode 100644
index ce664913ef..0000000000
--- a/conf/settings/estimation/ahrs_int_cmpl_euler.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings>
-  <dl_settings target="ap|nps|test_ahrs">
-
-    <dl_settings NAME="Filter">
-       <dl_setting var="ahrs_ice.reinj_1" min="512" step="512" max="262144" module="subsystems/ahrs/ahrs_int_cmpl_euler" shortname="reinj_1" type="int32" persistent="true"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/estimation/ahrs_int_cmpl_quat.xml b/conf/settings/estimation/ahrs_int_cmpl_quat.xml
deleted file mode 100644
index 50f8e0066d..0000000000
--- a/conf/settings/estimation/ahrs_int_cmpl_quat.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<!DOCTYPE settings SYSTEM "../settings.dtd">
-
-<settings target="ap|nps|test_ahrs">
-  <dl_settings>
-
-    <dl_settings NAME="AHRS">
-       <dl_setting var="ahrs_icq.gravity_heuristic_factor" min="0" step="1" max="50" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="g_heuristic" param="AHRS_GRAVITY_HEURISTIC_FACTOR" type="uint8" persistent="true"/>
-       <dl_setting var="ahrs_icq.accel_omega" min="0.02" step="0.02" max="0.2" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_omega" param="AHRS_ACCEL_OMEGA" unit="rad/s" handler="SetAccelOmega" type="float" persistent="true"/>
-       <dl_setting var="ahrs_icq.accel_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="acc_zeta" param="AHRS_ACCEL_ZETA" handler="SetAccelZeta" type="float" persistent="true"/>
-       <dl_setting var="ahrs_icq.mag_omega" min="0.02" step="0.01" max="0.1" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_omega" param="AHRS_MAG_OMEGA" unit="rad/s" handler="SetMagOmega" type="float" persistent="true"/>
-       <dl_setting var="ahrs_icq.mag_zeta" min="0.7" step="0.05" max="1.5" module="subsystems/ahrs/ahrs_int_cmpl_quat" shortname="mag_zeta" param="AHRS_MAG_ZETA" handler="SetMagZeta" type="float" persistent="true"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>