diff --git a/conf/airframes/ENAC/fixed-wing/hawkeye.xml b/conf/airframes/ENAC/fixed-wing/hawkeye.xml
index b1ef33f165..29461dd09b 100644
--- a/conf/airframes/ENAC/fixed-wing/hawkeye.xml
+++ b/conf/airframes/ENAC/fixed-wing/hawkeye.xml
@@ -10,7 +10,9 @@
-
+
+
+
@@ -253,6 +255,7 @@
diff --git a/conf/airframes/ENAC/quadrotor/drop1.xml b/conf/airframes/ENAC/quadrotor/drop1.xml
new file mode 100644
index 0000000000..a740652581
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/drop1.xml
@@ -0,0 +1,286 @@
+
+
+
+
+
+ * Autopilot: Tawaki
+ * Actuators: 4 in 4 Holybro BLHELI ESC
+ * Telemetry: XBee
+ * GPS: datalink
+ * RC: Futaba
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/flight_plans/competitions/IMAV2019_carto.xml b/conf/flight_plans/competitions/IMAV2019_carto.xml
new file mode 100644
index 0000000000..deef0c4ef2
--- /dev/null
+++ b/conf/flight_plans/competitions/IMAV2019_carto.xml
@@ -0,0 +1,172 @@
+
+
+
+
+#include "subsystems/datalink/datalink.h"
+static inline bool delay_test_rc(bool test, int delay) {
+ static int nb = 0;
+ if (test) {
+ nb++;
+ if (nb == delay) {
+ nb = 0;
+ return true;
+ }
+ return false;
+ } else {
+ nb = 0;
+ return false;
+ }
+}
+static inline bool delay_test_gf(bool test, int delay) {
+ static int nb = 0;
+ if (test) {
+ nb++;
+ if (nb == delay) {
+ nb = 0;
+ return true;
+ }
+ return false;
+ } else {
+ nb = 0;
+ return false;
+ }
+}
+
+#if DIGITAL_CAM
+#ifndef SITL
+static inline void set_expo(float e) {
+ uint8_t tab[2];
+ tab[0] = 'e';
+ tab[1] = (uint8_t)(e * 10.f);
+ DOWNLINK_SEND_PAYLOAD_COMMAND(extra_pprz_tp, EXTRA_DOWNLINK_DEVICE, 0, 2, tab);
+}
+#else
+#include "stdio.h"
+#define set_expo(_e) { printf("setting expo %f",_e); fflush(stdout); }
+#endif
+#define LINE_START_FUNCTION dc_Survey(20);
+#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
+#endif
+
+#define NavQdrCloseToAxis(_from, _to) NavQdrCloseTo(DegOfRad(-atan2f(WaypointY(_to) - WaypointY(_from), WaypointX(_to) - WaypointX(_from))))
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/conf/flight_plans/competitions/IMAV2019_drop.xml b/conf/flight_plans/competitions/IMAV2019_drop.xml
new file mode 100644
index 0000000000..42ba79ce90
--- /dev/null
+++ b/conf/flight_plans/competitions/IMAV2019_drop.xml
@@ -0,0 +1,304 @@
+
+
+
+
+#include "subsystems/datalink/datalink.h"
+static inline bool delay_test_rc(bool test, int delay) {
+ static int nb = 0;
+ if (test) {
+ nb++;
+ if (nb == delay) {
+ nb = 0;
+ return true;
+ }
+ return false;
+ } else {
+ nb = 0;
+ return false;
+ }
+}
+static inline bool delay_test_gf(bool test, int delay) {
+ static int nb = 0;
+ if (test) {
+ nb++;
+ if (nb == delay) {
+ nb = 0;
+ return true;
+ }
+ return false;
+ } else {
+ nb = 0;
+ return false;
+ }
+}
+#ifdef SITL
+#define SwitchServoOff(_x) {}
+#ifdef NAV_C
+#define jevois_stream(_x) {}
+#endif
+#endif
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+