From 1ea818de9c2b69324f73ce5a17e7bb1e0f94bc79 Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Tue, 19 Dec 2023 08:54:46 +0100
Subject: [PATCH] [xml] Airframe updates after testflights (#3218)

---
 conf/airframes/tudelft/rot_wing_25kg.xml      |  16 +-
 conf/airframes/tudelft/rot_wing_v3b.xml       |  73 ++-
 conf/airframes/tudelft/rot_wing_v3d.xml       |  26 +-
 conf/airframes/tudelft/rot_wing_v3e.xml       | 532 ++++++++++++++++++
 .../tudelft/rotating_wing_EHVB.xml            |  34 +-
 conf/userconf/tudelft/conf.xml                |  51 +-
 6 files changed, 647 insertions(+), 85 deletions(-)
 create mode 100644 conf/airframes/tudelft/rot_wing_v3e.xml

diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index 11e62e4119..a5dfaf430b 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -35,6 +35,9 @@
             <define name="IMU_GYRO_ABI_SEND_ID"     value= "IMU_CUBE1_ID"/>
             <define name="IMU_ACCEL_ABI_SEND_ID"    value= "IMU_CUBE1_ID"/>
 
+            <!-- Range sensor connected to supercan -->
+            <module name="range_sensor_uavcan"/>
+
             <!-- Disable current sensing using UAVCAN -->
             <define name="UAVCAN_ACTUATORS_USE_CURRENT"     value="FALSE"/>
             <define name="USE_I2C1"/>
@@ -160,7 +163,7 @@
         <servo no="4"  name="BMOTOR_PUSH"     min="-8191" neutral="-8191" max="8191"/>
         <servo no="5"  name="BSERVO_ELEVATOR" min="-8191" neutral="-8191" max="4900"/>
         <servo no="6"  name="BSERVO_RUDDER"   min="-6500" neutral="0"     max="6500"/>
-        <servo no="7"  name="BROTATION_MECH"  min="-8191" neutral="0"     max="8191"/>
+        <servo no="7"  name="BROTATION_MECH"  min="8191"  neutral="0"     max="-8191"/>
         <servo no="8"  name="BAIL_RIGHT"      min="-8000" neutral="-1000"     max="5000"/>
         <servo no="9"  name="BFLAP_RIGHT"     min="-8000" neutral="-1000"     max="5000"/>
         <servo no="10" name="BAIL_LEFT"       min="-5000" neutral="1000"     max="8000"/>
@@ -262,6 +265,7 @@
         <define name="VoltageOfAdc(adc)"                value="((3.3f/65536.0f) * 21.314 * adc)"/> <!-- ADC calibration -->
         <define name="MilliAmpereOfAdc(adc)"            value="((3.3f/65536.0f) * 50000.f * adc)"/> <!-- Has like a -2A offset -->
         <define name="MilliAmpereOfAdc2(adc)"           value="((3.3f/65536.0f) * 50000.f * adc)"/> <!-- Seems te be ok -->
+        <define name="VBoardOfAdc(adc)"                 value="((3.3f/65536.0f) * 1.89036 * adc)"/>
         <define name="ADC_CHANNEL_CURRENT2"             value="ADC_4"/>
 
         <!-- Others -->
@@ -346,12 +350,6 @@
     </section>
 
     <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-        <!-- G1 and G2 20.17 kg-->
-        <!-- <define name="G1_ROLL"      value="{   0.0,    -8.5,     0.0,    8.5,  0.0,  0.0}"/>
-        <define name="G1_PITCH"     value="{  0.75,    0.0,    -0.75,    0.0,  0.0,  0.0}"/>
-        <define name="G1_YAW"       value="{ -0.25,    0.25,   -0.25,   0.25,  0.0,  0.0}"/>
-        <define name="G1_THRUST"    value="{-0.575,  -0.575,  -0.575, -0.575,  0.0,  0.0}"/>
-        <define name="G2"           value="{   0.0,     0.0,     0.0,    0.0,  0.0,  0.0}"/> -->
 
         <!-- G1 and G2 25 kg-->
         <define name="G1_ROLL"      value="{   0.0,    -9.0,    0.0,     9.0,  0.0,  0.0, 0.0, 0.0, 0.0}"/>
@@ -375,10 +373,10 @@
         
         <!-- Reference -->
         <define name="REF_ERR_P"                    value="40.0"/>
-        <define name="REF_ERR_Q"                    value="32.0"/>
+        <define name="REF_ERR_Q"                    value="25.0"/>
         <define name="REF_ERR_R"                    value="23.0"/>
         <define name="REF_RATE_P"                   value="5.5"/>
-        <define name="REF_RATE_Q"                   value="5.5"/>
+        <define name="REF_RATE_Q"                   value="4.5"/>
         <define name="REF_RATE_R"                   value="3.9"/>
 
         <define name="MAX_R"                        value="30.0" unit="deg/s"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3b.xml b/conf/airframes/tudelft/rot_wing_v3b.xml
index 084f3f0d36..30d8f9bf98 100644
--- a/conf/airframes/tudelft/rot_wing_v3b.xml
+++ b/conf/airframes/tudelft/rot_wing_v3b.xml
@@ -31,6 +31,10 @@
             <define name="INS_EKF2_ACCEL_ID"    value="IMU_CUBE1_ID"/>
             <define name="INS_EKF2_MAG_ID"      value="MAG_RM3100_SENDER_ID"/>
 
+            <!--Only send gyro and accel that is being used-->
+            <define name="IMU_GYRO_ABI_SEND_ID"     value= "IMU_CUBE1_ID"/>
+            <define name="IMU_ACCEL_ABI_SEND_ID"    value= "IMU_CUBE1_ID"/>
+
             <module name="lidar_tfmini">
                 <configure name="TFMINI_PORT"     value="UART8"/>
                 <configure name="USE_TFMINI_AGL"  value="TRUE"/>
@@ -45,6 +49,7 @@
             <!-- Log in high speed (Remove for outdoor flights) -->
             <!-- <define name="IMU_LOG_HIGHSPEED"    value="TRUE"/> -->
 
+            <define name="I2C2_CLOCK_SPEED" value="100000"/>
         </target>
 
         <target name="nps" board="pc">
@@ -74,13 +79,13 @@
             <define name="MS45XX_PRESSURE_SCALE"        value="1.9077609"/>
             <define name="USE_AIRSPEED_LOWPASS_FILTER"  value="TRUE"/>
             <define name="MS45XX_LOWPASS_TAU"           value="0.15"/>
-            <define name="AIRSPEED_MS45XX_SEND_ABI"     value="0"/>
+            <define name="AIRSPEED_MS45XX_SEND_ABI"     value="1"/>
         </module>
         <module name="airspeed" type="uavcan">
             <define name="AIRSPEED_UAVCAN_LOWPASS_FILTER"   value="TRUE" />
             <define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD"   value="0.1" />
             <define name="AIRSPEED_UAVCAN_LOWPASS_TAU"      value="0.15" />
-            <define name="AIRSPEED_UAVCAN_SEND_ABI"         value="1" /> <!-- Read Airspeed for logging but do not use it -->
+            <define name="AIRSPEED_UAVCAN_SEND_ABI"         value="0" /> <!-- Read Airspeed for logging but do not use it -->
         </module>
         <module name="air_data"/>
         <module name="gps" type="ublox">
@@ -126,6 +131,7 @@
         <module name="ground_detect_sensor"/>
         <module name="rotwing_state"/>
         <module name="preflight_checks"/>
+        <module name="pfc_actuators"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
 
@@ -222,37 +228,52 @@
     </servos>
 
     <commands>
-        <axis name="ROLL"       failsafe_value="0"/>
-        <axis name="PITCH"      failsafe_value="0"/>
-        <axis name="YAW"        failsafe_value="0"/>
-        <axis name="THRUST"     failsafe_value="0"/>
-        <axis name="THRUST_X"   failsafe_value="0"/>
+        <!-- commands from INDI -->
+        <axis name="FRONT_MOTOR" failsafe_value="0"/>
+        <axis name="RIGHT_MOTOR" failsafe_value="0"/>
+        <axis name="BACK_MOTOR"  failsafe_value="0"/>
+        <axis name="LEFT_MOTOR"  failsafe_value="0"/>
+        <axis name="RUDDER"      failsafe_value="0"/>
+        <axis name="ELEVATOR"    failsafe_value="0"/>
+        <axis name="AILERON"     failsafe_value="0"/>
+        <axis name="FLAP"        failsafe_value="0"/>
+        <axis name="THRUST_X"    failsafe_value="0"/>
+        <!-- commands modules -->
+        <axis name="SKEW"        failsafe_value="0"/>
+        <!-- default commands -->
+        <axis name="THRUST"      failsafe_value="0"/>
+        <axis name="ROLL"        failsafe_value="0"/>
+        <axis name="PITCH"       failsafe_value="0"/>
+        <axis name="YAW"         failsafe_value="0"/>
     </commands>
 
     <command_laws>
         <let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
         <let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
         <let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
+        <let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
+        <let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
 
         <call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
-        <set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : actuators_pprz[4])" SERVO="SERVO_RUDDER"/>
-        <set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? 0 : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
-        <set VALUE="($th_hold? -9600 : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
-        <set VALUE="rotwing_state_skewing.servo_pprz_cmd"  SERVO="ROTATION_MECH"/>
-        <set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
-        <set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
-        <set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
-        <set VALUE="($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
+        <call fun="pfc_actuators_run()"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
+        <set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : pfc_actuators_value(1, actuators_pprz[4]))" SERVO="SERVO_RUDDER"/>
+        <set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? pfc_actuators_value(0, 0) : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
+        <set VALUE="($th_hold? ($servo_hold? -9600 : pfc_actuators_value(11, -9600)) : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
+        <set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)"  SERVO="ROTATION_MECH"/>
+        <set VALUE="$ail_limit_hit? pfc_actuators_value(2, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
+        <set VALUE="$ail_limit_hit? pfc_actuators_value(5, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
+        <set VALUE="$flap_limit_hit? pfc_actuators_value(3, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
+        <set VALUE="$flap_limit_hit? pfc_actuators_value(4, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
 
         <!-- Backup commands -->
-        <set VALUE="($hover_off? -9600 : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
-        <set VALUE="($hover_off? -9600 : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
     </command_laws>
 
     <section PREFIX="SYS_ID_" NAME="SYS_ID">
@@ -290,7 +311,7 @@
         <define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
         <define name="D_RUDDER_D_PPRZ"       value="-0.0018"/>
         <define name="K_RPM_PPRZ_PUSHER"     value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
-        
+
         <define name="K_LIFT_WING"           value="{-0.335811392,-0.615611143}"/>
         <define name="K_LIFT_FUSELAGE"       value="-0.050653927"/>
         <define name="K_LIFT_TAIL"           value="-0.101691751"/>
@@ -299,6 +320,10 @@
     <section name="MISC">
         <!-- Voltage and current measurements -->
         <define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
+        <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
+
+        <!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, FLAP_R, AIL_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
+        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
 
         <!-- Others -->
         <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3d.xml b/conf/airframes/tudelft/rot_wing_v3d.xml
index 10c2756efa..8104e725df 100644
--- a/conf/airframes/tudelft/rot_wing_v3d.xml
+++ b/conf/airframes/tudelft/rot_wing_v3d.xml
@@ -38,13 +38,10 @@
             <!-- Range sensor connected to supercan -->
             <module name="range_sensor_uavcan"/>
 
-            <!-- <module name="mavlink">
-                <configure name="MAVLINK_BAUD" value="B115200"/>
-                <configure name="MAVLINK_PORT" value="UART8"/>
-            </module> -->
-
             <!-- Log in high speed (Remove for outdoor flights) -->
             <!-- <define name="IMU_LOG_HIGHSPEED"    value="TRUE"/> -->
+
+            <define name="I2C2_CLOCK_SPEED" value="100000"/>
         </target>
 
         <target name="nps" board="pc">
@@ -206,11 +203,11 @@
 
     <!-- Can bus 2 actuators -->
     <servos driver="Uavcan2">
-        <servo no="0" name="BMOTOR_FRONT" min="0" neutral="1000" max="8191"/>
-        <servo no="1" name="BMOTOR_RIGHT" min="0" neutral="1000" max="8191"/>
-        <servo no="2" name="BMOTOR_BACK"  min="0" neutral="1000" max="8191"/>
-        <servo no="3" name="BMOTOR_LEFT"  min="0" neutral="1000" max="8191"/>
-        <servo no="5" name="BROTATION_MECH"   min="-2842" neutral="1053" max="4947"/>
+        <servo no="0" name="BMOTOR_FRONT"   min="0" neutral="1000" max="8191"/>
+        <servo no="1" name="BMOTOR_RIGHT"   min="0" neutral="1000" max="8191"/>
+        <servo no="2" name="BMOTOR_BACK"    min="0" neutral="1000" max="8191"/>
+        <servo no="3" name="BMOTOR_LEFT"    min="0" neutral="1000" max="8191"/>
+        <servo no="5" name="BROTATION_MECH" min="-2842" neutral="1053" max="4947"/>
     </servos>
 
     <!-- CAN BUS 2 command outputs-->
@@ -245,7 +242,7 @@
         <let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
         <let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
         <let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
-<let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
+        <let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
         <let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
 
         <call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
@@ -347,7 +344,6 @@
     <section name="IMU" prefix="IMU_">
         <define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-24,-9,18}, .scale={{22586,14285,60640},{2303,1461,6213}}, .filter_sample_freq=1139, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={-4,-4,49}, .scale={{49201,22321,17833},{10030,4553,3632}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-48,-11,2}, .scale={{37211,48711,18769},{7594,9938,3845}}}}"/>
         <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={-1518,-1489,512}, .scale={{1124,9185,21218},{1879,15118,36859}}, .body_to_sensor={{16384,0,0,0,16384,0,0,0,-16384}}}}"/>
-
         <define name="GYRO_CALIB"  value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1139, .filter_freq=30}}"/>
 
         <!-- Define axis in hover frame -->
@@ -408,12 +404,12 @@
         <define name="G2"           value="{   0.0,    0.0,    0.0,    0.0, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
 
         <!-- Actuator dynamics -->
-        <define name="ACT_FREQ"             value="{20.0, 20.0, 20.0, 20.0, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
+        <define name="ACT_FREQ"             value="{10.1, 10.1, 10.1, 10.1, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
         <define name="ACT_IS_SERVO"         value="{   0,    0,    0,    0,    1,    1,    1,    1,    0}"/>
         <define name="ACT_IS_THRUSTER_X"    value="{   0,    0,    0,    0,    0,    0,    0,    0,    1}"/>
 
         <!-- Reference -->
-        <define name="REF_ERR_P"                    value="38.0"/>
+        <define name="REF_ERR_P"                    value="30.0"/>
         <define name="REF_ERR_Q"                    value="32.0"/>
         <define name="REF_ERR_R"                    value="23.0"/>
         <define name="REF_RATE_P"                   value="5.0"/>
@@ -496,7 +492,7 @@
     </section>
 
     <section name="FORWARD">
-    <define name="TURN_AIRSPEED_TH"             value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
+        <define name="TURN_AIRSPEED_TH"             value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
         <define name="TRANSITION_MAX_OFFSET"        value="0.0" unit="deg"/>
         <define name="GUIDANCE_HEADING_IS_FREE"     value="FALSE"/>
     </section>
diff --git a/conf/airframes/tudelft/rot_wing_v3e.xml b/conf/airframes/tudelft/rot_wing_v3e.xml
new file mode 100644
index 0000000000..340e766c1b
--- /dev/null
+++ b/conf/airframes/tudelft/rot_wing_v3e.xml
@@ -0,0 +1,532 @@
+<!-- This is a 7kg rotating wing drone
+     * Airframe:    TUD00359
+     * Autopilot:   Cube orange+
+     * Datalink:    Herelink
+     * GPS:         UBlox F9P
+     * RC:          SBUS Crossfire
+-->
+
+<airframe name="RotatingWingV3E">
+    <description>RotatingWingV3E</description>
+
+    <firmware name="rotorcraft">
+        <target name="ap" board="cube_orangeplus">
+            <configure name="PERIODIC_FREQUENCY" value="500"/> <!-- Configure the main periodic frequency to 500Hz -->
+
+            <module name="radio_control" type="sbus">
+                <configure name="SBUS_PORT" value="UART3"/> <!-- On the TELEM2 port -->
+            </module>
+            <module name="sys_mon"/>
+            <module name="flight_recorder"/>
+
+            <!-- RC switches -->
+            <define name="RADIO_TH_HOLD"            value="RADIO_AUX1"/>
+            <define name="RADIO_KILL_SWITCH"        value="RADIO_AUX1"/>
+            <define name="RADIO_FMODE"              value="RADIO_AUX2"/>
+            <define name="RADIO_FBW_MODE"           value="RADIO_AUX3"/>
+            <define name="RADIO_CONTROL_THRUST_X"   value="RADIO_AUX4"/>
+
+            <!-- EKF2 configure inputs -->
+            <define name="INS_EKF2_GYRO_ID"     value="IMU_CUBE1_ID"/>
+            <define name="INS_EKF2_ACCEL_ID"    value="IMU_CUBE1_ID"/>
+            <define name="INS_EKF2_MAG_ID"      value="MAG_RM3100_SENDER_ID"/>
+
+            <!--Only send gyro and accel that is being used-->
+            <define name="IMU_GYRO_ABI_SEND_ID"     value= "IMU_CUBE1_ID"/>
+            <define name="IMU_ACCEL_ABI_SEND_ID"    value= "IMU_CUBE1_ID"/>
+
+            <!-- Range sensor connected to supercan -->
+            <module name="range_sensor_uavcan"/>
+
+            <!-- Log in high speed (Remove for outdoor flights) -->
+            <!-- <define name="IMU_LOG_HIGHSPEED"    value="TRUE"/> -->
+
+            <define name="I2C2_CLOCK_SPEED" value="100000"/>
+        </target>
+
+        <target name="nps" board="pc">
+            <module name="radio_control" type="datalink"/>
+            <module name="fdm" type="jsbsim"/>
+
+            <!--Not dealing with these in the simulation-->
+            <define name="RADIO_TH_HOLD"          value="0"/> <!-- Throttle hold in command laws -->
+            <define name="RADIO_FMODE"            value="0"/> <!-- Throttle curve select -->
+            <define name="RADIO_FBW_MODE"         value="0"/> <!-- Switch between AP and FBW control -->
+            <define name="RADIO_KILL_SWITCH"      value="0"/>
+            <define name="RADIO_CONTROL_THRUST_X" value="0"/>
+        </target>
+
+        <!-- Herelink datalink -->
+        <module name="telemetry" type="transparent">
+            <configure name="MODEM_BAUD" value="B460800"/>
+        </module>
+
+        <!-- Sensors -->
+        <module name="mag" type="rm3100">
+            <define name="MODULE_RM3100_UPDATE_AHRS"    value="TRUE"/>
+            <configure name="MAG_RM3100_I2C_DEV"        value="I2C2"/>
+        </module>
+        <module name="airspeed" type="ms45xx_i2c">
+            <define name="MS45XX_I2C_DEV"               value="i2c2"/>
+            <define name="MS45XX_PRESSURE_SCALE"        value="1.9077609"/>
+            <define name="USE_AIRSPEED_LOWPASS_FILTER"  value="TRUE"/>
+            <define name="MS45XX_LOWPASS_TAU"           value="0.15"/>
+            <define name="AIRSPEED_MS45XX_SEND_ABI"     value="1"/>
+        </module>
+        <module name="airspeed" type="uavcan">
+            <define name="AIRSPEED_UAVCAN_LOWPASS_FILTER"   value="TRUE" />
+            <define name="AIRSPEED_UAVCAN_LOWPASS_PERIOD"   value="0.1" />
+            <define name="AIRSPEED_UAVCAN_LOWPASS_TAU"      value="0.15" />
+            <define name="AIRSPEED_UAVCAN_SEND_ABI"         value="0" /> <!-- Read Airspeed for logging but do not use it -->
+        </module>
+        <module name="air_data"/>
+        <module name="gps" type="ublox">
+            <configure name="UBX_GPS_BAUD" value="B460800"/>
+            <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
+        </module>
+
+        <!-- IMU / INS -->
+        <module name="imu" type="cube"/>
+        <module name="ins" type="ekf2"/>
+
+        <!-- Actuators on dual CAN bus -->
+        <module name="actuators" type="uavcan">
+            <configure value="TRUE" name="UAVCAN_USE_CAN1"/>
+            <configure value="TRUE" name="UAVCAN_USE_CAN2"/>
+        </module>
+
+        <!-- Actuators on PWM -->
+        <module name="actuators" type="pwm" >
+            <define name="SERVO_HZ" value="400"/>
+        </module>
+
+        <!-- Control -->
+        <module name="stabilization" type="indi">
+            <configure name="INDI_NUM_ACT" value="9"/>
+            <configure name="INDI_OUTPUTS" value="5"/>
+            <define name="WLS_N_U" value="9"/>
+            <define name="WLS_N_V" value="5"/>
+        </module>
+
+        <module name="eff_scheduling_rot_wing"/>
+
+        <module name="guidance" type="indi_hybrid_quadplane"/>
+        <module name="nav" type="hybrid">
+          <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
+        </module>
+
+        <!-- Other -->
+        <module name="sys_id_doublet"/>
+        <module name="sys_id_auto_doublets"/>
+        <module name="rot_wing_automation"/>
+        <module name="ground_detect_sensor"/>
+        <module name="rotwing_state"/>
+        <module name="preflight_checks"/>
+        <module name="pfc_actuators"/>
+        <module name="agl_dist"/>
+        <module name="approach_moving_target"/>
+
+        <!--Airspeed estimation using EKF-->
+        <module name="ekf_aw">
+
+            <define name="EKF_AW_WRAPPER_ROT_WING_TYPE_A"  value="0" description="1 for A, 0 for b"/>
+
+            <define name="EKF_AW_P0_V_BODY"  value="1.E-2f" description="Initial covariance body velocity"/>
+            <define name="EKF_AW_P0_MU"      value="1.E-5f" description="Initial covariance wind"/>
+            <define name="EKF_AW_P0_OFFSET"  value="1.E-10f" description="Initial covariance offset"/>
+
+            <define name="EKF_AW_Q_ACCEL"  value="1.0E-4f" description="Accel process noise"/>
+            <define name="EKF_AW_Q_GYRO"   value="1.0E-9f"  description="Gyro process noise"/>
+            <define name="EKF_AW_Q_MU"     value="1.0E-6f"  description="Wind process noise"/>
+            <define name="EKF_AW_Q_OFFSET" value="1.0E-8f" description="Offset process noise"/>
+
+            <define name="EKF_AW_R_V_GND"        value="1.E-5f" description="GPS Velocity measurement noise"/>
+            <define name="EKF_AW_R_ACCEL_FILT_X" value="1.E-5f" description="Filtered x accel measurement noise"/>
+            <define name="EKF_AW_R_ACCEL_FILT_Y" value="1.E-5f" description="Filtered y accel measurement noise"/>
+            <define name="EKF_AW_R_ACCEL_FILT_Z" value="1.E-5f" description="Filtered z accel measurement noise"/>
+            <define name="EKF_AW_R_V_PITOT"      value="1.E-7f" description="Pitot Tube Velocity measurement noise"/>
+
+            <define name="EKF_AW_AZ_SCHED_GAIN"     value="2" />
+            <define name="EKF_AW_AZ_SCHED_START_DEG"     value="60" />
+            <define name="EKF_AW_AZ_SCHED_END_DEG"     value="70" />
+
+            <define name="EKF_AW_AX_SCHED_GAIN"     value="0" />
+            <define name="EKF_AW_AX_SCHED_START_DEG"     value="45" />
+            <define name="EKF_AW_AX_SCHED_END_DEG"     value="60" />
+
+            <define name="EKF_AW_QUICK_CONVERGENCE"     value="true" />
+            <define name="EKF_AW_QUICK_CONVERGENCE_TIME"     value="15" />
+
+            <define name="EKF_AW_WING_INSTALLED"   value="true" description="Use wing contribution"/>
+            <define name="EKF_AW_USE_MODEL_BASED_X"  value="true" description="Use model based to augment filter"/>
+            <define name="EKF_AW_USE_MODEL_BASED_Y"  value="true" description="Use model based to augment filter"/>
+            <define name="EKF_AW_USE_MODEL_BASED_Z"  value="true" description="Use model based to augment filter"/>
+
+            <define name="EKF_AW_VEHICLE_MASS" value="6.5" description="Mass of the vehicle"/>
+
+            <define name="EKF_AW_K2_FX_FUSELAGE" value="-4E-2f" description="K*u*u"/>
+            <define name="EKF_AW_K3_FX_HOVER" value="-3E-1f" description="K*u"/>
+
+            <define name="EKF_AW_K1_FX_WING" value="-3.21432e-02f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K2_FX_WING" value="1.67195e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K3_FX_WING" value="5.9441e-01f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K4_FX_WING" value="3.9839e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K5_FX_WING" value="3.5321e-03f" description="Fx2 = (k1*(1+k5*skew)+(k2*alpha+k3*alpha^2))*(sin(skew)^2+k4)*V^2"/>
+
+            <define name="EKF_AW_K_FY_V"     value="-3.2E-1f" description="Fy beta coefficient"/>
+            <define name="EKF_AW_K1_FY_WING" value="0.0f" description="Fy = K1*cos(skew)*sin(skew)*u^2"/>
+
+            <define name="EKF_AW_K1_FZ_WING" value="-1.0008e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K2_FZ_WING" value="-8.6965e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K3_FZ_WING" value="1.45783e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
+            <define name="EKF_AW_K4_FZ_WING" value="2.185395e-01f" description="Fz1 = ((k1+k2*alpha+k3*alpha^2)*(sin(skew)^2+k4)*V^2"/>
+
+            <define name="EKF_AW_TELEMETRY_DEBUG"     value="false" description="debug mode to send timing info through telemetry"/>
+        </module>
+    </firmware>
+
+    <!-- Can bus 1 actuators -->
+    <servos driver="Uavcan1">
+        <servo no="0"  name="MOTOR_FRONT"     min="0"     neutral="1000" max="8191"/>
+        <servo no="1"  name="MOTOR_RIGHT"     min="0"     neutral="1000" max="8191"/>
+        <servo no="2"  name="MOTOR_BACK"      min="0"     neutral="1000" max="8191"/>
+        <servo no="3"  name="MOTOR_LEFT"      min="0"     neutral="1000" max="8191"/>
+        <servo no="4"  name="MOTOR_PUSH"      min="0"     neutral="0"    max="8191"/>
+        <servo no="5"  name="ROTATION_MECH"   min="-3629" neutral="66"   max="3760"/>
+    </servos>
+
+     <!-- CAN BUS 1 command outputs-->
+    <servos driver="Uavcan1Cmd">
+        <servo no="6"  name="SERVO_ELEVATOR"  min="8191"  neutral="8191" max="-4349"/>
+        <servo no="7"  name="SERVO_RUDDER"    min="-5225" neutral="0"    max="5225"/>
+    </servos>
+
+    <!-- Can bus 2 actuators -->
+    <servos driver="Uavcan2">
+        <servo no="0" name="BMOTOR_FRONT"   min="0" neutral="1000" max="8191"/>
+        <servo no="1" name="BMOTOR_RIGHT"   min="0" neutral="1000" max="8191"/>
+        <servo no="2" name="BMOTOR_BACK"    min="0" neutral="1000" max="8191"/>
+        <servo no="3" name="BMOTOR_LEFT"    min="0" neutral="1000" max="8191"/>
+        <servo no="5" name="BROTATION_MECH" min="-3629" neutral="66"  max="3760"/>
+    </servos>
+
+    <!-- CAN BUS 2 command outputs-->
+    <servos driver="Uavcan2Cmd">
+        <servo no="8"  name="AIL_LEFT"   min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
+        <servo no="9"  name="FLAP_LEFT"  min="-3250" neutral="0" max="3250"/> <!-- min can go up to -9600-->
+        <servo no="10" name="FLAP_RIGHT" min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
+        <servo no="11" name="AIL_RIGHT"  min="-3250" neutral="0" max="3250"/> <!-- max can go up to -9600-->
+    </servos>
+
+    <commands>
+        <!-- commands from INDI -->
+        <axis name="FRONT_MOTOR" failsafe_value="0"/>
+        <axis name="RIGHT_MOTOR" failsafe_value="0"/>
+        <axis name="BACK_MOTOR"  failsafe_value="0"/>
+        <axis name="LEFT_MOTOR"  failsafe_value="0"/>
+        <axis name="RUDDER"      failsafe_value="0"/>
+        <axis name="ELEVATOR"    failsafe_value="0"/>
+        <axis name="AILERON"     failsafe_value="0"/>
+        <axis name="FLAP"        failsafe_value="0"/>
+        <axis name="THRUST_X"    failsafe_value="0"/>
+        <!-- commands modules -->
+        <axis name="SKEW"        failsafe_value="0"/>
+        <!-- default commands -->
+        <axis name="THRUST"      failsafe_value="0"/>
+        <axis name="ROLL"        failsafe_value="0"/>
+        <axis name="PITCH"       failsafe_value="0"/>
+        <axis name="YAW"         failsafe_value="0"/>
+    </commands>
+
+    <command_laws>
+        <let var="th_hold" value="Or(LessThan(RadioControlValues(RADIO_TH_HOLD), -4800), !autopilot_get_motors_on())"/>
+        <let VAR="servo_hold" VALUE="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
+        <let VAR="hover_off" VALUE="Or($th_hold, bool_disable_hover_motors)"/>
+        <let var="ail_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 20)"/>
+        <let var="flap_limit_hit" value="LessThan(rotwing_state_skewing.wing_angle_deg, 50)"/>
+
+        <call fun="sys_id_doublet_add_values(autopilot_get_motors_on(),FALSE,actuators_pprz)"/>
+        <call fun="pfc_actuators_run()"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="MOTOR_FRONT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="MOTOR_RIGHT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="MOTOR_BACK"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="MOTOR_LEFT"/>
+        <set VALUE="($servo_hold? RadioControlValues(RADIO_YAW) : pfc_actuators_value(1, actuators_pprz[4]))" SERVO="SERVO_RUDDER"/>
+        <set VALUE="($servo_hold? (RadioControlValues(RADIO_PITCH)/4+7200) : (!autopilot_in_flight()? pfc_actuators_value(0, 0) : actuators_pprz[5]))" SERVO="SERVO_ELEVATOR"/>
+        <set VALUE="($th_hold? ($servo_hold? -9600 : pfc_actuators_value(11, -9600)) : actuators_pprz[8])" SERVO="MOTOR_PUSH"/>
+        <set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)"  SERVO="ROTATION_MECH"/>
+        <set VALUE="$ail_limit_hit? pfc_actuators_value(2, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_LEFT"/>
+        <set VALUE="$ail_limit_hit? pfc_actuators_value(5, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[6])" SERVO="AIL_RIGHT"/>
+        <set VALUE="$flap_limit_hit? pfc_actuators_value(3, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_LEFT"/>
+        <set VALUE="$flap_limit_hit? pfc_actuators_value(4, 0) : ($servo_hold? RadioControlValues(RADIO_ROLL) : actuators_pprz[7])" SERVO="FLAP_RIGHT"/>
+
+        <!-- Backup commands -->
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(7, -9600)) : actuators_pprz[0])" SERVO="BMOTOR_FRONT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(8, -9600)) : actuators_pprz[1])" SERVO="BMOTOR_RIGHT"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(9, -9600)) : actuators_pprz[2])" SERVO="BMOTOR_BACK"/>
+        <set VALUE="($hover_off? ($servo_hold? -9600 : pfc_actuators_value(10, -9600)) : actuators_pprz[3])" SERVO="BMOTOR_LEFT"/>
+        <set VALUE="pfc_actuators_value(6, rotwing_state_skewing.servo_pprz_cmd)"  SERVO="BROTATION_MECH"/>
+    </command_laws>
+
+    <section PREFIX="SYS_ID_" NAME="SYS_ID">
+        <define name="DOUBLET_AXES" value="{0,1,2,3,4,5,6,7,8}"/>
+        <define name="DOUBLET_RADIO_CHANNEL" value="6"/>
+
+        <define name="AUTO_DOUBLETS_N_ACTUATORS" value="4"/>
+        <define name="AUTO_DOUBLETS_ACTUATORS" value="{0,1,2,3}"/>
+        <define name="AUTO_DOUBLETS_AMPLITUDE" value="{1500,1500,1500,1500}"/>
+
+        <define name="CHIRP_AXES" value="{0,1,2,3}"/>
+        <define name="CHIRP_RADIO_CHANNEL" value="9"/>
+    </section>
+
+    <section name="CTRL_EFF_SHED" prefix="ROT_WING_EFF_SCHED_">
+        <define name="IXX_BODY"              value="0.04780"/>
+        <define name="IYY_BODY"              value="0.7546"/>
+        <define name="IZZ"                   value="0.9752"/>
+        <define name="IXX_WING"              value="0.08099"/>
+        <define name="IYY_WING"              value="0.1949"/>
+        <define name="M"                     value="6.67"/>
+
+        <define name="DM_DPPRZ_HOVER_PITCH"  value="0.001734904"/>
+        <define name="DM_DPPRZ_HOVER_ROLL"   value="0.001684595"/>
+
+        <define name="HOVER_ROLL_PITCH_COEF" value="{0.001600837,-0.000732843248849}"/>
+        <define name="HOVER_ROLL_ROLL_COEF"  value="{-0.0000947144886298017, -0.000053954}"/>
+
+        <define name="K_ELEVATOR"            value="{0.4603,-4.81466,-28.8464}"/>
+        <define name="K_RUDDER"              value="{-26.1434,-0.336403,-1.16702}"/>
+        <define name="K_AILERON"             value="2.777647188"/>
+        <define name="K_FLAPERON"            value="2.0439"/>
+        <define name="K_PUSHER"              value="{0.007777,-0.67521}"/>
+
+        <define name="K_ELEVATOR_DEFLECTION" value="{50.0,-0.0063}"/>
+        <define name="D_RUDDER_D_PPRZ"       value="-0.0018"/>
+        <define name="K_RPM_PPRZ_PUSHER"     value="{-131.497033952591,1.32098226269777,-0.0000291178067445214}"/>
+
+        <define name="K_LIFT_WING"           value="{-0.335811392,-0.615611143}"/>
+        <define name="K_LIFT_FUSELAGE"       value="-0.050653927"/>
+        <define name="K_LIFT_TAIL"           value="-0.101691751"/>
+    </section>
+
+    <section name="MISC">
+        <!-- Voltage and current measurements -->
+        <define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
+        <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
+
+        <!-- Preflight check actuators (ELE, RUD, AIL_L, FLAP_L, AIL_R, FLAP_R, ROT_M, M_FRONT, M_RIGHT_, M_BACK, M_LEFT, M_PUSH) -->
+        <define name="PFC_ACTUATORS" value="{{.feedback_id=SERVO_SERVO_ELEVATOR_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=0.85, .high_feedback=0.3, .timeout=1},{.feedback_id=SERVO_SERVO_RUDDER_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_LEFT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_FLAP_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_AIL_RIGHT_IDX, .feedback_id2=255, .low=-4500, .high=4500, .low_feedback=-0.15, .high_feedback=0.15, .timeout=1},{.feedback_id=SERVO_ROTATION_MECH_IDX, .feedback_id2=SERVO_BROTATION_MECH_IDX, .low=-9600, .high=9600, .low_feedback=1.57, .high_feedback=0, .timeout=5},{.feedback_id=SERVO_MOTOR_FRONT_IDX, .feedback_id2=SERVO_BMOTOR_FRONT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_RIGHT_IDX, .feedback_id2=SERVO_BMOTOR_RIGHT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_BACK_IDX, .feedback_id2=SERVO_BMOTOR_BACK_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_LEFT_IDX, .feedback_id2=SERVO_BMOTOR_LEFT_IDX, .low=-9600, .high=0, .low_feedback=0, .high_feedback=975, .timeout=3},{.feedback_id=SERVO_MOTOR_PUSH_IDX, .feedback_id2=255, .low=-9600, .high=2000, .low_feedback=0, .high_feedback=2200, .timeout=3}}"/>
+
+        <!-- Others -->
+        <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
+        <define name="NAV_CLIMB_VSPEED"                     value="2.0" />
+        <define name="NAV_DESCEND_VSPEED"                   value="-1.0"/>
+        <define name="NAV_CARROT_DIST"                      value="200"/>
+        <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST"       value="300"/>
+        <define name="ARRIVED_AT_WAYPOINT"                  value="50.0"/>
+        <define name="NO_GPS_LOST_WITH_DATALINK_TIME"       value="20"/>
+        <define name="NO_GPS_LOST_WITH_RC_VALID"            value="TRUE"/>
+        <define name="USE_AIRSPEED"                         value="TRUE"/>
+        <define name="NAV_HYBRID_MAX_DECELERATION"          value="0.5"/>
+        <define name="ROTWING_STATE_USE_ROTATION_REF_MODEL" value="TRUE"/>
+    </section>
+
+    <section name="GROUND_DETECT">
+        <define name="THRESHOLD_GROUND_DETECT"              value="40"/>
+        <define name="USE_GROUND_DETECT_INDI_THRUST"        value="TRUE"/>
+        <define name="USE_GROUND_DETECT_AGL_DIST"           value="TRUE"/>
+        <define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE"   value="0.24"/>
+        <define name="AGL_DIST_MIN_DISTANCE_CHECK"          value="0.20"/>
+        <define name="AGL_DIST_MAX_DISTANCE_CHECK"          value="0.25"/>
+        <define name="AGL_DIST_FILTER"                      value="0.07"/>
+    </section>
+
+    <section name="IMU" prefix="IMU_">
+        <define name="ACCEL_CALIB" value="{{.abi_id=20, .calibrated={.neutral=true, .scale=true, .filter=true},.neutral={-19,4,26}, .scale={{59909,31081,6709},{6117,3178,691}}, .filter_sample_freq=1138, .filter_freq=30}, {.abi_id=21, .calibrated={.neutral=true, .scale=true},.neutral={0,1,60}, .scale={{5003,51323,19499},{1021,10477,3977}}}, {.abi_id=22, .calibrated={.neutral=true, .scale=true},.neutral={-42,8,6}, .scale={{38293,32787,25898},{7823,6703,5301}}}}"/>
+        <define name="MAG_CALIB" value="{{.abi_id=5, .calibrated={.neutral=true, .scale=true, .rotation=true},.neutral={3073,2311,1939}, .scale={{8241,27895,4777},{15881,55537,10618}}, .body_to_sensor={{0,16384,0,16384,0,0,0,0,-16384}}}}"/>
+        <define name="GYRO_CALIB"  value="{{.abi_id=20, .calibrated={.filter=true}, .filter_sample_freq=1138, .filter_freq=30}}"/>
+
+        <!-- Define axis in hover frame -->
+        <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+        <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+        <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+    </section>
+
+    <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+        <!-- Limits -->
+        <define name="SP_MAX_PHI"           value="45." unit="deg" />
+        <define name="SP_MAX_THETA"         value="45." unit="deg"/>
+        <define name="SP_MAX_R"             value="90." unit="deg/s"/>
+        <define name="DEADBAND_R"           value="200"/>
+        <define name="SP_PSI_DELTA_LIMIT"   value="45" unit="deg"/>
+
+        <!-- Reference model -->
+        <define name="REF_OMEGA_P"          value="800" unit="deg/s"/>
+        <define name="REF_ZETA_P"           value="0.85"/>
+        <define name="REF_MAX_P"            value="300." unit="deg/s"/>
+        <define name="REF_MAX_PDOT"         value="RadOfDeg(7000.)"/>
+
+        <define name="REF_OMEGA_Q"          value="800" unit="deg/s"/>
+        <define name="REF_ZETA_Q"           value="0.85"/>
+        <define name="REF_MAX_Q"            value="300." unit="deg/s"/>
+        <define name="REF_MAX_QDOT"         value="RadOfDeg(7000.)"/>
+
+        <define name="REF_OMEGA_R"          value="500" unit="deg/s"/>
+        <define name="REF_ZETA_R"           value="0.85"/>
+        <define name="REF_MAX_R"            value="180." unit="deg/s"/>
+        <define name="REF_MAX_RDOT"         value="RadOfDeg(1800.)"/>
+
+        <!-- Gains -->
+        <define name="PHI_PGAIN"            value="500"/>
+        <define name="PHI_DGAIN"            value="230"/>
+        <define name="PHI_IGAIN"            value="10"/>
+        <define name="PHI_DDGAIN"           value="0"/>
+
+        <define name="THETA_PGAIN"          value="500"/>
+        <define name="THETA_DGAIN"          value="230"/>
+        <define name="THETA_IGAIN"          value="10"/>
+        <define name="THETA_DDGAIN"         value="0"/>
+
+        <define name="PSI_PGAIN"            value="700"/>
+        <define name="PSI_DGAIN"            value="200"/>
+        <define name="PSI_IGAIN"            value="10"/>
+        <define name="PSI_DDGAIN"           value="0"/>
+    </section>
+
+    <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+
+        <!-- G1 and G2 7 kg-->
+        <define name="G1_ROLL"      value="{   0.0,  -15.0,    0.0,   15.0, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
+        <define name="G1_PITCH"     value="{   1.5,    0.0,   -1.5,    0.0, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
+        <define name="G1_YAW"       value="{-  0.3,    0.3,   -0.3,    0.3, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
+        <define name="G1_THRUST"    value="{-0.575, -0.575, -0.575, -0.575, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
+        <define name="G1_THRUST_X"  value="{   0.0,    0.0,    0.0,    0.0, 0.0, 0.0, 0.0, 0.0, 0.55}"/>
+        <define name="G2"           value="{   0.0,    0.0,    0.0,    0.0, 0.0, 0.0, 0.0, 0.0,  0.0}"/>
+
+        <!-- Actuator dynamics -->
+        <define name="ACT_FREQ"             value="{10.1, 10.1, 10.1, 10.1, 52.7, 52.7, 52.7, 52.7, 24.1}"/>
+        <define name="ACT_IS_SERVO"         value="{   0,    0,    0,    0,    1,    1,    1,    1,    0}"/>
+        <define name="ACT_IS_THRUSTER_X"    value="{   0,    0,    0,    0,    0,    0,    0,    0,    1}"/>
+
+        <!-- Reference -->
+        <define name="REF_ERR_P"                    value="30.0"/>
+        <define name="REF_ERR_Q"                    value="32.0"/>
+        <define name="REF_ERR_R"                    value="23.0"/>
+        <define name="REF_RATE_P"                   value="5.0"/>
+        <define name="REF_RATE_Q"                   value="7.2"/>
+        <define name="REF_RATE_R"                   value="3.9"/>
+
+        <define name="MAX_R"                        value="30.0" unit="deg/s"/>
+
+        <!-- Filters -->
+        <define name="FILTER_RATES_SECOND_ORDER"        value="TRUE"/>
+        <define name="FILT_CUTOFF_P"                    value="5.0"/>
+        <define name="FILT_CUTOFF_Q"                    value="20.0"/>
+        <define name="FILT_CUTOFF_R"                    value="5.0"/>
+        <define name="FILT_CUTOFF"                      value="2.0"/>
+        <define name="ESTIMATION_FILT_CUTOFF"           value="2.0"/>
+        <define name="FILTER_YAW_RATE"                  value="TRUE"/>
+        <define name="FILT_CUTOFF_RDOT"                 value="0.5"/>
+
+        <!-- Other -->
+        <define name="WLS_PRIORITIES"   value="{1000, 1000, 1, 100, 100}"/>
+        <define name="WLS_WU"           value="{1.3, 1.3, 1.3, 1.3, 1.0, 1.0, 1.0, 1.0, 1.0}"/>
+        <define name="USE_ADAPTIVE"     value="FALSE"/>
+        <define name="ADAPTIVE_MU"      value="0.001"/>
+    </section>
+
+    <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+        <!-- Gains -->
+        <define name="HOVER_KP"                 value="310"/>
+        <define name="HOVER_KD"                 value="130"/>
+        <define name="HOVER_KI"                 value="10"/>
+        <define name="NOMINAL_HOVER_THROTTLE"   value="0.42"/>
+        <define name="ADAPT_THROTTLE_ENABLED"   value="FALSE"/>
+
+        <!-- Reference -->
+        <define name="REF_MIN_ZD"               value="-4.0"/> <!-- climb -->
+        <define name="REF_MAX_ZD"               value="4.0"/> <!-- descend -->
+    </section>
+
+    <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+        <define name="MAX_BANK"         value="30" unit="deg"/>
+        <define name="USE_SPEED_REF"    value="TRUE"/>
+
+        <!-- Gains -->
+        <define name="PGAIN"            value="60"/>
+        <define name="DGAIN"            value="100"/>
+        <define name="IGAIN"            value="20"/>
+        <define name="AGAIN"            value="0"/>
+    </section>
+
+    <section name="GUIDANCE_INDI_HYBRID" prefix="GUIDANCE_INDI_">
+        <!--WLS settings-->
+        <define name="USE_WLS"              value="TRUE"/>
+        <define name="WLS_PRIORITIES"       value="{10., 10., 10.}"/>
+        <define name="WLS_WU"               value="{10., 10., 100., 1.}"/>
+
+        <!-- Gains -->
+        <define name="POS_GAIN"             value="0.3"/>
+        <define name="POS_GAINZ"            value="0.5"/>
+        <define name="SPEED_GAIN"           value="0.7"/>
+        <define name="SPEED_GAINZ"          value="0.6"/>
+
+        <!-- Other -->
+        <define name="FILTER_CUTOFF"        value="2.0"/>
+        <define name="HEADING_BANK_GAIN"    value="5."/>
+        <define name="MAX_AIRSPEED"         value="19.0"/>
+        <define name="PITCH_LIFT_EFF"       value="0.0"/>
+
+        <define name="THRUST_Z_EFF"         value="-0.0023"/>
+        <define name="THRUST_X_EFF"         value="0.00055"/>
+
+        <define name="NAV_CIRCLE_DIST"      value="60."/>
+        <define name="NAV_LINE_DIST"        value="100"/>
+        <define name="LINE_GAIN"            value="0.2"/>
+        <define name="CLIMB_SPEED_FWD"      value="2.0"/>
+        <define name="DESCEND_SPEED_FWD"    value="-3.0"/>
+        <define name="QUADPLANE"            value="TRUE"/>
+
+        <define name="MAX_PITCH"            value="12"/>
+        <define name="MIN_PITCH"            value="-20"/>
+    </section>
+
+    <section name="FORWARD">
+        <define name="TURN_AIRSPEED_TH"             value="8.0"/> <!-- This is the pitch angle that the drone will have in forward flight, where 0 degrees is hover-->
+        <define name="TRANSITION_MAX_OFFSET"        value="0.0" unit="deg"/>
+        <define name="GUIDANCE_HEADING_IS_FREE"     value="FALSE"/>
+    </section>
+
+    <section name="AMT" prefix="APPROACH_MOVING_TARGET_">
+        <define name="CUTOFF_FREQ_FILTERS_HZ"   value="0.25"/>
+        <define name="ERR_SLOWDOWN_GAIN"        value="0.25" />
+        <define name="SLOPE"                    value="60.0"/>
+        <define name="DISTANCE"                 value="70.0"/>
+        <define name="SPEED"                    value="0.0"/>
+    </section>
+
+    <section name="AUTOPILOT">
+        <define name="MODE_MANUAL"      value="AP_MODE_ATTITUDE_DIRECT"/>
+        <define name="MODE_AUTO1"       value="AP_MODE_FORWARD"/>
+        <define name="MODE_AUTO2"       value="AP_MODE_NAV"/>
+        <define name="MODE_STARTUP"     value="AP_MODE_NAV"/>
+    </section>
+
+    <section name="BAT">
+        <define name="CATASTROPHIC_BAT_LEVEL"   value="18.0" unit="V"/>
+        <define name="CRITIC_BAT_LEVEL"         value="18.6" unit="V"/>
+        <define name="LOW_BAT_LEVEL"            value="19.2" unit="V"/>
+        <define name="MAX_BAT_LEVEL"            value="25.2" unit="V"/>
+        <define name="TAKEOFF_BAT_LEVEL"        value="24.2" unit="V"/>
+        <define name="BAT_NB_CELLS"             value="6"/>
+    </section>
+
+    <section name="SIMULATOR" prefix="NPS_">
+        <define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor, rudder, elevator, aileron, flap, pusher, skew" type="string[]"/>
+        <define name="JSBSIM_MODEL" value="rotwing3" type="string"/>
+        <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+        <define name="COMMANDS_NB" value="10"/>
+        <define name="NO_MOTOR_MIXING" value="TRUE"/>
+        <define name="JS_AXIS_MODE" value="4"/>
+    </section>
+</airframe>
diff --git a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
index de1e65e33c..b8547c6a38 100644
--- a/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
+++ b/conf/flight_plans/tudelft/rotating_wing_EHVB.xml
@@ -1,23 +1,23 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
-
-<flight_plan alt="70" ground_alt="0" lat0="52.168595" lon0="4.412444" max_dist_from_home="1070" name="Rotating wing Valkenburg" security_height="2">
+<flight_plan alt="70" ground_alt="0" lat0="52.1681551" lon0="4.4126468" max_dist_from_home="1070" name="Rotating Wing Valkenburg" security_height="2">
   <header/>
   <waypoints>
-    <waypoint name="HOME" x="12.6" y="-48.7"/>
-    <waypoint name="CLIMB" x="62.6" y="-80.4"/>
-    <waypoint name="trans" x="100." y="100."/>
-    <waypoint name="decel" x="100." y="100."/>
-    <waypoint name="end_trans" x="100." y="100."/>
-    <waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
-    <waypoint name="begin_trans" lat="52.168412" lon="4.4149282"/>
-    <waypoint name="p1" lat="52.1672408" lon="4.4144528"/>
-    <waypoint name="p2" lat="52.1682897" lon="4.4138441"/>
-    <waypoint name="p3" lat="52.1687878" lon="4.4155648"/>
-    <waypoint name="p4" lat="52.1678559" lon="4.4164701"/>
-    <waypoint name="circ" lat="52.1684116" lon="4.4149282"/>
-    <waypoint name="TD" lat="52.1681602" lon="4.4127708"/>
-    <waypoint name="APP" lat="52.1679567" lon="4.4136344"/>
-    <waypoint name="FOLLOW" lat="52.16850964562752" lon="4.413635008734417"/>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint name="CLIMB" x="300." y="70"/>
+    <waypoint name="trans" x="300." y="100."/>
+    <waypoint name="decel" x="300." y="110."/>
+    <waypoint name="begin_trans" x="300." y="90."/>
+    <waypoint name="end_trans" x="300." y="120."/>
+    <waypoint name="STDBY" x="60" y="20"/>
+    <waypoint name="p1" x="120" y="-75"/>
+    <waypoint name="p2" x="65" y="75"/>
+    <waypoint name="p3" x="200" y="120"/>
+    <waypoint name="p4" x="250" y="-30"/>
+    <waypoint name="circ" x="160" y="25"/>
+    <waypoint name="TD" x="10" y="-1"/>
+    <waypoint name="APP" x="70" y="-25"/>
+    <waypoint name="FOLLOW" x="300" y="80"/>
+    <!-- EHVB -->
     <waypoint lat="52.169189" lon="4.410820" name="C1"/>
     <waypoint lat="52.168049" lon="4.406923" name="C2"/>
     <waypoint lat="52.166515" lon="4.408235" name="C3"/>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 526b5b7e4f..7f6ff07b12 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
    gui_color="red"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
    gui_color="#ffffd633d633"
   />
   <aircraft
@@ -260,7 +260,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -282,7 +282,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/nederdrone_cyberzoo.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_chirp.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   settings_modules="modules/AOA_pwm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/eff_scheduling_nederdrone.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_chirp.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="blue"
   />
   <aircraft
@@ -572,14 +572,14 @@
    gui_color="red"
   />
   <aircraft
-   name="RotatingWingV3b"
-   ac_id="39"
-   airframe="airframes/tudelft/rot_wing_v3b.xml"
+   name="nav_hybrid_test"
+   ac_id="31"
+   airframe="airframes/tudelft/hybrid_nav_test.xml"
    radio="radios/crossfire_sbus.xml"
-   telemetry="telemetry/highspeed_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/tudelft/delft_basic.xml"
+   settings=""
+   settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="red"
   />
   <aircraft
@@ -594,25 +594,36 @@
    gui_color="red"
   />
   <aircraft
-   name="nav_hybrid_test"
-   ac_id="31"
-   airframe="airframes/tudelft/hybrid_nav_test.xml"
+   name="RotatingWingV3B"
+   ac_id="39"
+   airframe="airframes/tudelft/rot_wing_v3b.xml"
    radio="radios/crossfire_sbus.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/delft_basic.xml"
-   settings=""
-   settings_modules="modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml"
+   telemetry="telemetry/highspeed_rotorcraft.xml"
+   flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="red"
   />
   <aircraft
-   name="RotatingWingV3d"
+   name="RotatingWingV3D"
    ac_id="23"
    airframe="airframes/tudelft/rot_wing_v3d.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="RotatingWingV3E"
+   ac_id="30"
+   airframe="airframes/tudelft/rot_wing_v3e.xml"
+   radio="radios/crossfire_sbus.xml"
+   telemetry="telemetry/highspeed_rotorcraft.xml"
+   flight_plan="flight_plans/tudelft/rotating_wing_EHVB.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/ekf_aw.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rot_wing_automation.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="red"
   />
 </conf>