diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
new file mode 100644
index 0000000000..f447b9d73f
--- /dev/null
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -0,0 +1,307 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="Microjet BR Tiny 1.1">
+
+<!-- commands section -->
+  <servos>
+    <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1700"/>
+    <servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="3" min="950" neutral="1450" max="1950"/>
+    <servo name="CAM_PAN" no="5" min="1950" neutral="1450" max="950"/>
+    <servo name="CAM_TILT" no="2" min="1000" neutral="1550" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="CAM_TILT" failsafe_value="0"/>
+    <axis name="CAM_PAN" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="CAM_PAN" value="@YAW"/>
+    <set command="CAM_TILT" value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.4"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.7"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+
+    <set servo="THROTTLE" value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="CAM_PAN" value="@CAM_PAN"/>
+    <set servo="CAM_TILT" value="@CAM_TILT"/>
+  </command_laws>
+
+  <!-- Local magnetic field -->
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value="0.85490967783446"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="0"/>
+    <define name="GYRO_R_NEUTRAL" value="0"/>
+
+    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.947" integer="16"/>
+
+    <define name="GYRO_P_Q" value="0."/>
+    <define name="GYRO_P_R" value="0"/>
+    <define name="GYRO_Q_P" value="0."/>
+    <define name="GYRO_Q_R" value="0."/>
+    <define name="GYRO_R_P" value="0."/>
+    <define name="GYRO_R_Q" value="0."/>
+
+    <define name="GYRO_P_SIGN" value="-1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="1"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="-14"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+
+    <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
+    <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
+
+    <define name="ACCEL_X_SIGN" value="-1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="1"/>
+
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+
+    <define name="MAG_X_SENS" value="1" integer="16"/>
+    <define name="MAG_Y_SENS" value="1" integer="16"/>
+    <define name="MAG_Z_SENS" value="1" integer="16"/>
+
+    <define name="MAG_X_SIGN" value="1"/>
+    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_Z_SIGN" value="1"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0"/>
+    <define name="BODY_TO_IMU_THETA" value="0"/>
+    <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="1.1"/>
+    <define name="MAX_PITCH" value="0.9"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="25000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/> -->
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+
+    <define name="LIGHT_LED_1" value="3"/>
+  </section>
+
+  <section name="external leds">
+    <!-- ADC 4 -->
+    <define name="LED_4_BANK" value="0"/>
+    <define name="LED_4_PIN" value="22"/>
+  </section>
+
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.101000003517"/>
+    <!-- outer loop saturation max m/s the alt tap can be-->
+    <define name="ALTITUDE_MAX_CLIMB" value="4"/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.333000004292"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.15"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="219.511993408"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.104999996722" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.00700000021607"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.54100000858"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="5000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-7330.82714844"/>
+    <define name="PITCH_DGAIN" value="1.7254999876"/>
+    <define name="ELEVATOR_OF_ROLL" value="1250."/>
+    <define name="ROLL_RATE_GAIN" value="-112.781997681"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/>
+
+    <!--  roll rate loop -->
+    <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
+    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
+    <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
+    <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
+    <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="3000."/>
+    <define name="ROLL_RATE_IGAIN" value="0."/>
+    <define name="ROLL_RATE_DGAIN" value="0."/>
+    <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
+
+    <define name="ROLL_SLEW" value="0.1"/>
+
+    <define name="SIMPLE_ROLL_PGAIN" value="-15000"/>
+    <define name="SIMPLE_ROLL_DGAIN" value="-3000"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
+  <!--  <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file
+    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>  -->
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.55"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.5"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.3"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="80" unit="m"/>
+  </section>
+
+  <section name="CAM" prefix="CAM_">
+    <define name="TILT_MAX" value="30" unit="deg"/>
+    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
+    <define name="TILT_MIN" value="-30" unit="deg"/>
+    <define name="TILT0" value="0" unit="deg"/>
+
+    <define name="PAN_MAX" value="45" unit="deg"/>
+    <define name="PAN_NEUTRAL" value="0" unit="deg"/>
+    <define name="PAN_MIN" value="-45" unit="deg"/>
+    <define name="PAN0" value="0" unit="deg"/>
+  </section>
+
+<!--moet nog in tuning-->
+  <section name="Takeoff" prefix="Takeoff_">
+    <define name="Height" value="30" unit="m"/>
+    <define name="Speed" value="15" unit="m/s"/>
+    <define name="MinSpeed" value="5" unit="m/s"/>
+    <define name="Distance" value="10" unit="m"/>
+  </section>
+
+  <section name="Landing" prefix="Landing_">
+    <define name="FinalHeight" value="30" unit="m"/>
+    <define name="AFHeight" value="10" unit="m"/>
+    <define name="FinalStageTime" value="10" unit="s"/>
+  </section>
+
+ <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- ?????????????????????????? -->
+ </section>
+
+  <modules>
+    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+    </load>
+  </modules>
+
+  <firmware name="fixedwing">
+    <target name="ap" 			board="tiny_1.1">
+      <configure name="FLASH_MODE" value="IAP"/>
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+      <configure name="AHRS_ALIGNER_LED" value="2"/>
+      <define name="STRONG_WIND" />
+      <define name="LOITER_TRIM" />
+      <define name="ALT_KALMAN" />
+      <define name="AGR_CLIMB" />
+      <define name="TUNE_AGRESSIVE_CLIMB" />
+    </target>
+    <target name="sim" 			board="pc" >
+      <define name="STRONG_WIND" />
+      <define name="TUNE_AGRESSIVE_CLIMB" />
+      <define name="LOITER_TRIM" />
+      <define name="AGR_CLIMB" />
+    </target>
+
+    <subsystem name="radio_control" 	type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" 	type="transparent">
+      <configure name="MODEM_BAUD" 		value="B57600"/>
+    </subsystem>
+
+    <!-- Sensors -->
+    <subsystem name="imu" type="ppzuav"/>
+    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="i2c"/>
+
+    <subsystem name="gps" 		type="ublox_lea4p"/>
+    <subsystem name="control"	/>
+    <subsystem name="navigation" />
+
+  </firmware>
+
+</airframe>