diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index ee5d66b914..bfcc14ec98 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -166,10 +166,10 @@
 
   <modules>
     <load name="light.xml">
-      <param name="LIGHT_LED_STROBE" value="3"/>
-      <param name="LIGHT_LED_NAV" value="4"/>
-      <param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="LIGHT_LED_NAV" value="4"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
   </modules>
 
@@ -185,8 +185,8 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
-      <param name="MODEM_UART_NR" 	value="2"/>
-      <param name="MODEM_BAUD" 		value="B57600"/>
+      <configure name="MODEM_UART_NR" 	value="2"/>
+      <configure name="MODEM_BAUD" 		value="B57600"/>
     </subsystem>
 
     <!-- Actuators -->
@@ -194,14 +194,14 @@
     <!-- Sensors -->
     <subsystem name="radio_control" 	type="ppm"/>
     <!--<subsystem name="attitude"  	type="infrared">
-      <param name="ADC_IR1"        value="ADC_1"/>
-      <param name="ADC_IR2"        value="ADC_2"/>
-      <param name="ADC_IR_TOP"     value="ADC_0"/>
-      <param name="ADC_IR_NB_SAMPLES" value="16"/>
+      <configure name="ADC_IR1"        value="ADC_1"/>
+      <configure name="ADC_IR2"        value="ADC_2"/>
+      <configure name="ADC_IR_TOP"     value="ADC_0"/>
+      <configure name="ADC_IR_NB_SAMPLES" value="16"/>
     </subsystem>-->
 
     <subsystem name="gps" 		type="ublox_lea4p">
-      <param name="GPS_UART_NR"		value="1"/>
+      <configure name="GPS_UART_NR"		value="1"/>
     </subsystem>
 
   </firmware>
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index e67e97d6f3..160460fe9a 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -161,10 +161,10 @@
 
   <modules>
     <load name="light.xml">
-      <param name="LIGHT_LED_STROBE" value="3"/>
-      <param name="LIGHT_LED_NAV" value="4"/>
-      <param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="LIGHT_LED_NAV" value="4"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
   </modules>
 
@@ -179,7 +179,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
-      <param name="MODEM_BAUD" 		value="B9600"/>
+      <configure name="MODEM_BAUD" 		value="B9600"/>
     </subsystem>
 
     <!-- Actuators -->
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 74e44ece8e..83cc07e368 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -201,7 +201,7 @@
 <!-- FIRMWARE -->
 <firmware name="rotorcraft">
   <target name="ap" board="booz_1.0">
-    <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example--> 
+    <configure  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example--> 
   </target>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="actuators"     type="asctec"/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index dd3f84f026..dd8a36c92f 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -162,14 +162,14 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
-      <param name="MODEM_BAUD" 		value="B9600"/>
+      <configure name="MODEM_BAUD" 		value="B9600"/>
     </subsystem>
 
     <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="adc"           type="generic">
-      <param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
+      <configure name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
     </subsystem>
     <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_lea4p"/>
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index a4cf652c0e..9cbd0d5916 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<!-- 
+<!--
     Use settings/tuning_ins.xml
     Use telemetry/default_fixedwing_imu.xml
 
@@ -209,22 +209,22 @@
     <subsystem name="radio_control"     type="ppm"/>
     <!-- Communication -->
     <subsystem name="telemetry"     type="transparent">
-      <param name="MODEM_BAUD"      value="B9600"/>
+      <configure name="MODEM_BAUD"      value="B9600"/>
     </subsystem>
     <!-- Actuators are automatically chosen according to the board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="imu" 		type="analog">
-      <param name="GYRO_P" value="ADC_0"/>
-      <param name="GYRO_Q" value="ADC_1"/>
-      <param name="GYRO_R" value="ADC_2"/>
-      <param name="ACCEL_X" value="ADC_5"/>
-      <param name="ACCEL_Y" value="ADC_6"/>
-      <param name="ACCEL_Z" value="ADC_7"/>
+    <subsystem name="imu"       type="analog">
+      <configure name="GYRO_P" value="ADC_0"/>
+      <configure name="GYRO_Q" value="ADC_1"/>
+      <configure name="GYRO_R" value="ADC_2"/>
+      <configure name="ACCEL_X" value="ADC_5"/>
+      <configure name="ACCEL_Y" value="ADC_6"/>
+      <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
     <subsystem name="attitude"  type="dcm"/>
-    <subsystem name="gps" 		type="ublox_lea5h"/>
+    <subsystem name="gps"       type="ublox_lea5h"/>
     <subsystem name="navigation"/>
   </firmware>
   <!-- Carefull: add the location after!! -->
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index 76de339590..839a8f761d 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -41,8 +41,8 @@
 
   <modules main_freq="60">
     <load name="cam_point.xml">
-      <param name="POINT_CAM_YAW_PITCH"  value="1"/>
-      <param name="SHOW_CAM_COORDINATES" value="1"/>
+      <define name="POINT_CAM_YAW_PITCH"  value="1"/>
+      <define name="SHOW_CAM_COORDINATES" value="1"/>
     </load>
     <load name="sys_mon.xml"/>
   </modules>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index c757c95670..efbed68ea1 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -171,7 +171,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="xbee_api">
-      <param name="MODEM_BAUD" 		value="B9600"/>
+      <configure name="MODEM_BAUD" 		value="B9600"/>
     </subsystem>
 
     <subsystem name="control"/>
diff --git a/conf/autopilot/fixedwing.xml b/conf/autopilot/fixedwing.xml
index 696bce4992..0899eb9b68 100644
--- a/conf/autopilot/fixedwing.xml
+++ b/conf/autopilot/fixedwing.xml
@@ -3,7 +3,7 @@
 
 
  <target name="ap" description="The autopilot">
-   <param name="FLASH_MODE" values="IAP|JTAG|ISP"/>
+   <configure name="FLASH_MODE" values="IAP|JTAG|ISP"/>
    <define name="AGR_CLIMB" />
    <define name="TRAFFIC_INFO"/>
    <define name="LOITER_TRIM"/>
@@ -17,26 +17,26 @@
  <subsystem name="radio_control" 	types="ppm"/>
     <!-- Communication -->
  <subsystem name="telemetry" 	types="transparent|xbee_api|transparent_usb">
-   <param name="MODEM_BAUD"     values="B9600|B38400|B57600|B115200"/>
+   <configure name="MODEM_BAUD"     values="B9600|B38400|B57600|B115200"/>
  </subsystem>
  <!-- Actuators (automatically used according to board) -->
  <subsystem name="actuators" 	types="4015|4017|ppm|direct"/>
  <subsystem name="control"      types="NONE|adaptive|new"/>
  <!-- Sensors -->
  <subsystem name="gyro"         types="roll|pitch">
-   <param name="ADC_GYRO_ROLL"  value="ADC_3"/><!-- this is already the default if not set, change if needed -->
-   <param name="ADC_GYRO_PITCH" value="ADC_4"/><!-- this is already the default if not set, change if needed -->
-   <param name="ADC_GYRO_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_GYRO_ROLL"  value="ADC_3"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_GYRO_PITCH" value="ADC_4"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_GYRO_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
  </subsystem>
  <subsystem name="attitude"     types="infrared">
-   <param name="ADC_IR1"        value="ADC_1"/><!-- this is already the default if not set, change if needed -->
-   <param name="ADC_IR2"        value="ADC_2"/><!-- this is already the default if not set, change if needed -->
-   <param name="ADC_IR_TOP"     value="ADC_0"/><!-- this is already the default if not set, change if needed -->
-   <param name="ADC_IR_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_IR1"        value="ADC_1"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_IR2"        value="ADC_2"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_IR_TOP"     value="ADC_0"/><!-- this is already the default if not set, change if needed -->
+   <configure name="ADC_IR_NB_SAMPLES" value="16"/><!-- this is already the default if not set, change if needed -->
  </subsystem>
  <subsystem name="gps" 		    types="ublox_lea4p|lea5h">
-   <param name="GPS_BAUD"       values="B9600|B38400|B57600|B115200"/>
-   <param name="GPS_LED"        values="1,2,3,4,none"/>
+   <configure name="GPS_BAUD"       values="B9600|B38400|B57600|B115200"/>
+   <configure name="GPS_LED"        values="1,2,3,4,none"/>
  </subsystem>
  <subsystem name="navigation"   types="NONE|extra"/>
  <subsystem name="joystick"     types="NONE"/>
diff --git a/conf/autopilot/rotorcraft.xml b/conf/autopilot/rotorcraft.xml
index 2f6282417b..a28c88f984 100644
--- a/conf/autopilot/rotorcraft.xml
+++ b/conf/autopilot/rotorcraft.xml
@@ -2,10 +2,10 @@
   description="autopilot and simulator for rotorcrafts">
 
  <!-- a parameter that belongs to BOARD -->
- <param name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
+ <configure name="FLASH_MODE" values="|IAP|JTAG|ISP|"/>
 
  <target name="ap" description="The autopilot">
-   <param name="MODEM_BAUD" values="|B57600|B9600|"/>
+   <configure name="MODEM_BAUD" values="|B57600|B9600|"/>
  </target>
 
  <target name="sim" description="The simulator">
@@ -13,8 +13,8 @@
 
  <subsystem name="radio_control" types="ppm,spektrum">
    <type name="spektrum">
-     <param name="RADIO_CONTROL_SPEKTRUM_MODEL" values="\"subsystems/radio_control/spektrum_dx7se.h\""/>
-     <param name="RADIO_CONTROL_LINK" values="UART1|UART2|UART3|UART5"/>
+     <configure name="RADIO_CONTROL_SPEKTRUM_MODEL" values="\"subsystems/radio_control/spektrum_dx7se.h\""/>
+     <configure name="RADIO_CONTROL_LINK" values="UART1|UART2|UART3|UART5"/>
    </type>
  </subsystem>