From 26b66809b056a27d7622e01f362bc2b981dbac09 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Thu, 27 Sep 2018 11:15:27 +0200
Subject: [PATCH] Conf cleaning (#2327)

* [cleaning] remove PBN module
* [cleaning] remove ENOSE module
* [cleaning] update ENAC conf

* Cleaning on flight plans

* [cleaning] clean example and test conf

* add gazebo to the install step and compile example airframe
---
 .gitmodules                                   |   1 -
 .travis.yml                                   |   4 +-
 conf/airframes/ENAC/conf_enac.xml             |  84 +-----
 conf/airframes/ENAC/fixed-wing/crrcsim.xml    |  19 +-
 conf/airframes/ENAC/fixed-wing/funjet2.xml    | 247 ----------------
 conf/airframes/ENAC/fixed-wing/merlin.xml     | 198 -------------
 conf/airframes/ENAC/fixed-wing/mythe.xml      | 265 ------------------
 conf/airframes/ENAC/fixed-wing/quark1.xml     | 214 --------------
 conf/airframes/ENAC/quadrotor/ard2_102.xml    |  34 ---
 conf/airframes/ENAC/quadrotor/bebop_201.xml   | 219 ---------------
 conf/airframes/ENAC/quadrotor/blender.xml     | 246 ----------------
 .../ENAC/quadrotor/ladybird_lisa_s.xml        | 241 ----------------
 conf/conf_example.xml                         | 143 ----------
 conf/conf_tests.xml                           | 165 ++---------
 conf/flight_plans/IS.xml                      | 160 -----------
 .../{ => formation}/form_follow.xml           |   2 +-
 .../{ => formation}/form_leader.xml           |   2 +-
 conf/flight_plans/generic.xml                 |  50 ----
 conf/flight_plans/{ => legacy}/corsica.xml    |   2 +-
 .../{ => legacy}/corsica_sectors.xml          |   2 +-
 conf/flight_plans/{ => legacy}/creidlitz.xml  |   2 +-
 conf/flight_plans/{ => legacy}/fp_tp_auto.xml |   2 +-
 .../{ => legacy}/grosslobke_demo.xml          |   2 +-
 .../{ => legacy}/grosslobke_kreise.xml        |   0
 .../{ => legacy}/grosslobke_start.xml         |   0
 .../{ => legacy}/ingolfsskali.xml             |   2 +-
 conf/flight_plans/{ => legacy}/kalscott.xml   |   2 +-
 .../{ => legacy}/muret_demo_1.xml             |   0
 conf/flight_plans/{ => legacy}/muret_for.xml  |   2 +-
 conf/flight_plans/{ => legacy}/nordlys.xml    |   2 +-
 .../quadshot_land_takeoff_again.xml           |   2 +-
 .../{ => legacy}/rotorcraft_krooz.xml         |   2 +-
 .../{ => legacy}/rotorcraft_oa_avoid.xml      |   2 +-
 .../{ => legacy}/slayer_training.xml          |   2 +-
 .../versatile_carto_fixe_muret.xml            |   2 +-
 conf/flight_plans/xsens_cachejunction.xml     | 102 -------
 conf/modules/enose.xml                        |  34 ---
 conf/modules/pbn.xml                          |  39 ---
 .../arch/sim/modules/enose/sim_enose.c        |  29 --
 sw/airborne/boards/pc_sim.h                   |   3 +
 sw/airborne/modules/enose/anemotaxis.c        | 108 -------
 sw/airborne/modules/enose/anemotaxis.h        |  10 -
 sw/airborne/modules/enose/chemo_detect.c      |  38 ---
 sw/airborne/modules/enose/chemo_detect.h      |  12 -
 sw/airborne/modules/enose/chemotaxis.c        |  57 ----
 sw/airborne/modules/enose/chemotaxis.h        |   9 -
 sw/airborne/modules/enose/enose.c             |  92 ------
 sw/airborne/modules/enose/enose.h             |  34 ---
 .../modules/sensors/pressure_board_navarro.c  | 161 -----------
 .../modules/sensors/pressure_board_navarro.h  |  62 ----
 sw/airborne/subsystems/abi_sender_ids.h       |   4 -
 51 files changed, 54 insertions(+), 3062 deletions(-)
 delete mode 100644 conf/airframes/ENAC/fixed-wing/funjet2.xml
 delete mode 100644 conf/airframes/ENAC/fixed-wing/merlin.xml
 delete mode 100644 conf/airframes/ENAC/fixed-wing/mythe.xml
 delete mode 100644 conf/airframes/ENAC/fixed-wing/quark1.xml
 delete mode 100644 conf/airframes/ENAC/quadrotor/ard2_102.xml
 delete mode 100644 conf/airframes/ENAC/quadrotor/bebop_201.xml
 delete mode 100644 conf/airframes/ENAC/quadrotor/blender.xml
 delete mode 100644 conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
 delete mode 100644 conf/flight_plans/IS.xml
 rename conf/flight_plans/{ => formation}/form_follow.xml (97%)
 rename conf/flight_plans/{ => formation}/form_leader.xml (98%)
 delete mode 100644 conf/flight_plans/generic.xml
 rename conf/flight_plans/{ => legacy}/corsica.xml (98%)
 rename conf/flight_plans/{ => legacy}/corsica_sectors.xml (96%)
 rename conf/flight_plans/{ => legacy}/creidlitz.xml (98%)
 rename conf/flight_plans/{ => legacy}/fp_tp_auto.xml (99%)
 rename conf/flight_plans/{ => legacy}/grosslobke_demo.xml (99%)
 rename conf/flight_plans/{ => legacy}/grosslobke_kreise.xml (100%)
 rename conf/flight_plans/{ => legacy}/grosslobke_start.xml (100%)
 rename conf/flight_plans/{ => legacy}/ingolfsskali.xml (98%)
 rename conf/flight_plans/{ => legacy}/kalscott.xml (98%)
 rename conf/flight_plans/{ => legacy}/muret_demo_1.xml (100%)
 rename conf/flight_plans/{ => legacy}/muret_for.xml (94%)
 rename conf/flight_plans/{ => legacy}/nordlys.xml (98%)
 rename conf/flight_plans/{ => legacy}/quadshot_land_takeoff_again.xml (98%)
 rename conf/flight_plans/{ => legacy}/rotorcraft_krooz.xml (98%)
 rename conf/flight_plans/{ => legacy}/rotorcraft_oa_avoid.xml (94%)
 rename conf/flight_plans/{ => legacy}/slayer_training.xml (98%)
 rename conf/flight_plans/{ => legacy}/versatile_carto_fixe_muret.xml (99%)
 delete mode 100644 conf/flight_plans/xsens_cachejunction.xml
 delete mode 100644 conf/modules/enose.xml
 delete mode 100644 conf/modules/pbn.xml
 delete mode 100644 sw/airborne/arch/sim/modules/enose/sim_enose.c
 delete mode 100644 sw/airborne/modules/enose/anemotaxis.c
 delete mode 100644 sw/airborne/modules/enose/anemotaxis.h
 delete mode 100644 sw/airborne/modules/enose/chemo_detect.c
 delete mode 100644 sw/airborne/modules/enose/chemo_detect.h
 delete mode 100644 sw/airborne/modules/enose/chemotaxis.c
 delete mode 100644 sw/airborne/modules/enose/chemotaxis.h
 delete mode 100644 sw/airborne/modules/enose/enose.c
 delete mode 100644 sw/airborne/modules/enose/enose.h
 delete mode 100644 sw/airborne/modules/sensors/pressure_board_navarro.c
 delete mode 100644 sw/airborne/modules/sensors/pressure_board_navarro.h

diff --git a/.gitmodules b/.gitmodules
index 7ca58eb691..77acd9b9e7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -41,7 +41,6 @@
 [submodule "sw/ext/tudelft_gazebo_models"]
 	path = sw/ext/tudelft_gazebo_models
 	url = https://github.com/tudelft/gazebo_models.git
-	shallow = true
 [submodule "sw/ext/eigen"]
 	path = sw/ext/eigen
 	url = https://github.com/eigenteam/eigen-git-mirror.git
diff --git a/.travis.yml b/.travis.yml
index 83114b5a7b..915826e1b1 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,9 +7,11 @@ compiler:
 before_install:
   - sudo add-apt-repository ppa:paparazzi-uav/ppa -y
   - sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa -y
+  - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+  - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   - sudo apt-get update -q
 install:
-  - sudo apt-get install -y --force-yes paparazzi-dev paparazzi-jsbsim gcc-arm-embedded gcc-arm-linux-gnueabi libipc-run-perl rustc cargo
+  - sudo apt-get install -y --force-yes paparazzi-dev paparazzi-jsbsim gcc-arm-embedded gcc-arm-linux-gnueabi libipc-run-perl rustc cargo libgazebo7-dev
 script:
   - arm-none-eabi-gcc --version
   - if [ "${COVERITY_SCAN_BRANCH}" != 1 ]; then if [ "${TRAVIS_EVENT_TYPE}" == "cron" ]; then make test_all_confs; else make test; fi; fi
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index d63ab66b25..fe532310d2 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -21,28 +21,6 @@
    settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="yellow"
   />
-  <aircraft
-   name="ARD2_104"
-   ac_id="104"
-   airframe="airframes/ENAC/quadrotor/ard2_basic_adhoc.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/estimation/ins_float_invariant.xml"
-   settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="pink"
-  />
-  <aircraft
-   name="BEBOP_201"
-   ac_id="201"
-   airframe="airframes/ENAC/quadrotor/bebop_201.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#ffff00000000"
-  />
   <aircraft
    name="BLACK_CAT"
    ac_id="2"
@@ -55,15 +33,15 @@
    gui_color="white"
   />
   <aircraft
-   name="BLENDER"
-   ac_id="3"
-   airframe="airframes/ENAC/quadrotor/blender.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#3cf2d51335a7"
+   name="CHIMERA"
+   ac_id="23"
+   airframe="airframes/ENAC/fixed-wing/chimera.xml"
+   radio="radios/T10CG_SBUS.xml"
+   telemetry="telemetry/fixedwing_flight_recorder.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/airspeed_ms45xx_i2c.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   gui_color="#fdeb90060000"
   />
   <aircraft
    name="CYFOAM"
@@ -76,17 +54,6 @@
    settings_modules="modules/guidance_indi.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/air_data.xml modules/imu_common.xml modules/airspeed_ms45xx_i2c.xml"
    gui_color="#ffff7f7f0000"
   />
-  <aircraft
-   name="FJ2"
-   ac_id="8"
-   airframe="airframes/ENAC/fixed-wing/funjet2.xml"
-   radio="radios/T10CG_SBUS.xml"
-   telemetry="telemetry/fixedwing_flight_recorder.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
-   gui_color="#0000fffff0ed"
-  />
   <aircraft
    name="G1"
    ac_id="9"
@@ -109,39 +76,6 @@
    settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
-  <aircraft
-   name="LADY"
-   ac_id="18"
-   airframe="airframes/ENAC/quadrotor/ladybird_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#ffff7f7f0000"
-  />
-  <aircraft
-   name="MERLIN"
-   ac_id="13"
-   airframe="airframes/ENAC/fixed-wing/merlin.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/gps.xml [modules/infrared_adc.xml] modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="#feed4f854f85"
-  />
-  <aircraft
-   name="MJ6"
-   ac_id="14"
-   airframe="airframes/examples/microjet.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
-   gui_color="#ffffac1f0000"
-  />
   <aircraft
    name="WEASEL"
    ac_id="19"
diff --git a/conf/airframes/ENAC/fixed-wing/crrcsim.xml b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
index 97b216a498..2ddb405d4e 100644
--- a/conf/airframes/ENAC/fixed-wing/crrcsim.xml
+++ b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
@@ -8,25 +8,17 @@
      Digital camera
 -->
 
-<airframe name="Funjet II">
+<airframe name="CRRCSIM demo">
 
   <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="USE_I2C1"/>
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
     <define name="USE_AIRSPEED"/>
 
-    <target name="sim" board="pc">
-      <module name="imu"     type="umarim"/>
-    </target>
     <target name="nps" board="pc">
       <module name="fdm" type="crrcsim"/>
       <module name="imu"     type="nps"/>
     </target>
-    <target name="ap" board="umarim_lite_2.0">
-      <module name="imu"     type="umarim"/>
-    </target>
 
     <module name="radio_control" type="ppm"/>
 
@@ -47,15 +39,6 @@
     </module>
 
     <module name="navigation"/>
-
-    <!--module name="light">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </module-->
-    <!--module name="baro_board">
-      <define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
-    </module-->
-    <module name="pbn"/>
   </firmware>
 
   <servos>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
deleted file mode 100644
index 06b55319b4..0000000000
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ /dev/null
@@ -1,247 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Apogee 1.0
-     Radiotronix modem
-     UBX GPS
-     Airspeed sensor
-     Digital camera
--->
-
-<airframe name="Funjet II">
-
-  <firmware name="fixedwing">
-    <configure name="PERIODIC_FREQUENCY" value="125"/>
-
-    <target name="ap" board="apogee_1.0">
-      <module name="radio_control" type="sbus"/>
-    </target>
-    <target name="sim" board="pc">
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-
-    <!-- Communication -->
-    <module name="telemetry" type="transparent"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <module name="imu" type="apogee">
-      <!--define name="USE_MAGNETOMETER"/-->
-      <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
-      <define name="APOGEE_SMPLRT_DIV" value="7"/>
-    </module>
-    <!--module name="ins"     type="float_invariant">
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
-      <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
-      <define name="MPL3115_OVERSAMPLING" value="2"/>
-    </module-->
-    <module name="ahrs" type="float_dcm"/>
-    <module name="ins" type="alt_float"/>
-    <module name="control" type="new"/>
-    <module name="navigation"/>
-    <!-- Sensors -->
-    <module name="gps" type="ublox">
-      <configure name="GPS_BAUD" value="B57600"/>
-    </module>
-
-    <module name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
-    </module>
-
-    <module name="mag" type="hmc58xx">
-      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
-    </module>
-    <!--module name="sys_mon"/-->
-    <!--module name="light">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </module-->
-    <!--module name="pbn"/-->
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_RIGHT" no="1" min="1120" neutral="1760" max="1980"/>
-    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="45" unit="deg"/>
-    <define name="MAX_PITCH" value="30" unit="deg"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Calibration Neutral -->
-    <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_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="-1"/>
-    <define name="ACCEL_Z_SIGN" value="-1"/>
-    <define name="ACCEL_X_NEUTRAL" value="-20"/>
-    <define name="ACCEL_Y_NEUTRAL" value="41"/>
-    <define name="ACCEL_Z_NEUTRAL" value="170"/>
-    <define name="ACCEL_X_SENS" value="2.44857790576" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.46450311739" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.44257470231" 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="MAG_X_NEUTRAL" value="-21"/>
-    <define name="MAG_Y_NEUTRAL" value="-137"/>
-    <define name="MAG_Z_NEUTRAL" value="67"/>
-    <define name="MAG_X_SENS" value="3.91383504208" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.91521306757" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.55239350329" integer="16"/>
-
-    <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="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5.32701781054" unit="deg"/>
-    <define name="H_X" value="0.5180"/>
-    <define name="H_Y" value="-0.0071"/>
-    <define name="H_Z" value="0.8554"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-406)*6.7"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.1"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="4."/>
-    <!-- disable climb rate limiter -->
-    <define name="AUTO_CLIMB_LIMIT" value="2*V_CTL_ALTITUDE_MAX_CLIMB"/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.073" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.005"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
-    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="30"/>
-    <define name="AIRSPEED_MIN" value="10"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
-    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.6"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="10000."/>
-    <define name="ROLL_RATE_GAIN" value="1000."/>
-    <define name="ROLL_IGAIN" value="50."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="18000."/>
-    <define name="PITCH_DGAIN" value="500."/>
-    <define name="PITCH_IGAIN" value="50."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="1." unit="deg"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
-    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
-    <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
deleted file mode 100644
index 67fc062509..0000000000
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ /dev/null
@@ -1,198 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Merlin
-     Tiny 2.11
-     Tilted infrared sensor
-     XBee modem
-     LEA 5H
--->
-
-<airframe name="Merlin">
-
-  <firmware name="fixedwing">
-    <define name="PITCH_TRIM"/>
-
-    <target name="ap" 			        board="tiny_2.11"/>
-    <target name="sim" 			        board="pc"/>
-
-    <module name="radio_control" type="ppm"/>
-    <module name="telemetry"     type="transparent"/>
-    <module name="control"/>
-    <module name="infrared"      type="adc"/>
-    <module name="ahrs"          type="infrared"/>
-    <!--module name="ins"         type="vn100"/-->
-    <module name="ins"           type="alt_float"/>
-    <module name="gps"           type="ublox"/>
-    <module name="navigation"/>
-
-    <!--module name="spi">
-      <define name="USE_SPI_SLAVE0"/>
-      <define name="USE_SPI1"/>
-    </module-->
-  </firmware>
-
-  <modules>
-  </modules>
-
-<!-- commands section -->
-  <servos>
-    <servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
-    <servo name="AILERON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="ELEVATOR"      no="6" min="1100" neutral="1500" max="1900"/>
-    <servo name="RUDDER"        no="7" min="1100" neutral="1500" max="1900"/>
-    <servo name="MOTOR"         no="3" min="1000" neutral="1000" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"      failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"      value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
-
-    <define name="LATERAL_CORRECTION" value="1"/>
-    <define name="LONGITUDINAL_CORRECTION" value="1"/>
-    <define name="VERTICAL_CORRECTION" value="1"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR1_SIGN" value="1"/>
-    <define name="IR2_SIGN" value="1"/>
-    <define name="TOP_SIGN" value="1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-                                        <!-- 0.0247311828 -->
-                                        <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-<!--    <define name="XBEE_INIT" value="ATPL2\rATRN1\rATTT80\r" type="string"/> -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
-  </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="0.06"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-
-  </section>
-
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="5900"/>
-    <define name="ROLL_RATE_GAIN" value="2900"/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="ROLL_KFFA" value="500"/>
-    <define name="ROLL_KFFD" value="500"/>
-
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="PITCH_IGAIN" value="500"/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
-    <define name="ELEVATOR_OF_ROLL" value="0"/>
- </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </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="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-</airframe>
-
diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
deleted file mode 100644
index 9b4aeb6274..0000000000
--- a/conf/airframes/ENAC/fixed-wing/mythe.xml
+++ /dev/null
@@ -1,265 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Mythe
-     Umarim
-     XBee modem
-     LEA 5H GPS
--->
-
-<airframe name="Funjet">
-
-  <firmware name="fixedwing">
-    <!--define name="AGR_CLIMB"/-->
-    <define name="USE_AIRSPEED"/>
-    <!--define name="LOITER_TRIM"/-->
-    <!--define name="PITCH_TRIM"/-->
-    <define name="SENSOR_SYNC_SEND"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="umarim_1.0"/>
-
-    <module name="radio_control" type="ppm">
-      <define name="USE_PPM_RSSI_GPIO"/>
-      <define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
-      <define name="PPM_RSSI_PIN" value="10"/>
-      <define name="PPM_RSSI_VALID_LEVEL" value="0"/>
-    </module>
-
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api"/>
-
-    <module name="airspeed"  type="adc">
-      <configure name="ADC_AIRSPEED" value="ADC_0"/>
-      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
-      <define name="AIRSPEED_ADC_BIAS" value="110"/>
-    </module>
-    <!--module name="airspeed"  type="ads1114"/-->
-    <module name="AOA"       type="adc">
-      <configure name="ADC_AOA" value="ADC_2"/>
-    </module>
-    <!--module name="adc"    type="generic">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
-    </module-->
-    <!--module name="baro"   type="hca">
-      <define name="I2C0_SCLL" value="25"/>
-      <define name="I2C0_SCLH" value="25"/>
-    </module-->
-    <!--module name="baro"   type="bmp">
-      <configure name="BMP_I2C_DEV" value="i2c1"/>
-    </module-->
-    <!--module name="baro"   type="ms5611_i2c">
-      <configure name="MS5611_I2C_DEV" value="i2c0"/>
-    </module-->
-    <!--module name="baro"   type="mpl3115">
-      <configure name="MPL3115_I2C_DEV" value="i2c0"/>
-      <define name="SENSOR_SYNC_SEND"/>
-    </module-->
-    <!--module name="mcp355x"/-->
-    <!--module name="sys_mon"/-->
-
-    <!-- Actuators are automatically chosen according to board-->
-    <module name="imu"     type="umarim"/>
-    <module name="ahrs"    type="float_dcm"/>
-    <module name="ins"     type="alt_float"/>
-    <module name="control" type="new"/>
-    <module name="navigation"/>
-    <!-- Sensors -->
-    <module name="gps" type="ublox"/>
-
-    <module name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
-    </module>
-
-    <!--module name="spi"/-->
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="7" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1543" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="3" min="1100" neutral="1561" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="GYRO_P_SIGN" value="-1"/>
-    <define name="GYRO_Q_SIGN" value="-1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
-
-    <!-- Calibration Neutral -->
-    <define name="GYRO_P_NEUTRAL" value="-83"/>
-    <define name="GYRO_Q_NEUTRAL" value="81"/>
-    <define name="GYRO_R_NEUTRAL" value="77 "/>
-
-    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
-    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.97312" 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="ACCEL_X_NEUTRAL" value="1"/>
-    <define name="ACCEL_Y_NEUTRAL" value="6"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-18"/>
-
-    <define name="ACCEL_X_SENS" value="38.2761110243" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="38.9101161196" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39.8204157329" integer="16"/>
-
-    <!-- Just to compile -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-
-    <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="4." unit="deg"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-158)*16.5698"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.18"/> <!-- 0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="5."/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.002"/> <!-- 0.005 -->
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/> <!-- 0.005 -->
-    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.04"/> <!-- 0.03 -->
-    <define name="AUTO_PITCH_DGAIN" value="0.04"/> <!-- 0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="30"/>
-    <define name="AIRSPEED_MIN" value="10"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim --> <!-- 5 deg -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="8800."/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
-    <define name="ROLL_IGAIN" value="150."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="14000."/>
-    <define name="PITCH_DGAIN" value="0."/>
-    <define name="PITCH_IGAIN" value="250."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
-    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
-    <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/quark1.xml b/conf/airframes/ENAC/fixed-wing/quark1.xml
deleted file mode 100644
index 6330eac7a4..0000000000
--- a/conf/airframes/ENAC/fixed-wing/quark1.xml
+++ /dev/null
@@ -1,214 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="Quark">
-
-  <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="USE_I2C1"/>
-    <!--define name="AGR_CLIMB"/-->
-    <define name="USE_AIRSPEED"/>
-    <!--define name="LOITER_TRIM"/-->
-    <!--define name="PITCH_TRIM"/-->
-    <configure name="PERIODIC_FREQUENCY" value="125"/>
-    <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
-    <define name="CONTROL_FREQUENCY" value="125"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="umarim_lite_2.0"/>
-
-    <module name="radio_control" type="datalink"/>
-
-    <!-- Communication -->
-    <module name="telemetry" type="transparent"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <module name="imu"   type="umarim"/>
-    <module name="ahrs"  type="float_dcm"/>
-    <module name="ins"   type="alt_float"/>
-    <module name="control" type="new"/>
-    <module name="navigation"/>
-    <!-- Sensors -->
-    <module name="gps" type="ublox"/>
-    <module name="gps" type="ubx_ucenter"/>
-  </firmware>
-
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="0" min="1900" neutral="1394" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="1" min="1100" neutral="1369" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL"/>
-    <let var="elevator" value="@PITCH"/>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator + $aileron"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="-1"/>
-    <define name="GYRO_R_SIGN" value="-1"/>
-
-    <!-- Calibration Neutral -->
-    <define name="GYRO_P_NEUTRAL" value="0"/>
-    <define name="GYRO_Q_NEUTRAL" value="0"/>
-    <define name="GYRO_R_NEUTRAL" value="0"/>
-
-    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
-    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.97312" 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="ACCEL_X_NEUTRAL" value="-13"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-14"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-34"/>
-
-    <define name="ACCEL_X_SENS" value="38.8302353809" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="38.6959597569" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39.2279525433" integer="16"/>
-
-    <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="UMARIM IMU" prefix="UMARIM_">
-    <define name="ACCEL_RANGE" value="ADXL345_RANGE_8G"/>
-    <define name="GYRO_LOWPASS" value="ITG3200_DLPF_20HZ"/>
-    <define name="GYRO_SMPLRT_DIV" value="7"/> <!-- 125 Hz -->
-  </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="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-    <define name="MAX_BAT_LEVEL" value="8.0" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="6.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.15"/> <!-- -0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="20." unit="deg"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-20." unit="deg"/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
-    <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
-    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="30" unit="m/s"/>
-    <define name="AIRSPEED_MIN" value="10" unit="m/s"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15" unit="m/s"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim --> <!-- 5 deg -->
-    <define name="PITCH_LOITER_TRIM" value="0." unit="deg"/>
-    <define name="PITCH_DASH_TRIM" value="0." unit="deg"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="3800."/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
-    <define name="ROLL_IGAIN" value="150."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="10000."/>
-    <define name="PITCH_DGAIN" value="100."/>
-    <define name="PITCH_IGAIN" value="250."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="0.0" unit="deg"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
-  </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="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_102.xml b/conf/airframes/ENAC/quadrotor/ard2_102.xml
deleted file mode 100644
index 74111fa3c4..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_102.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-
-<airframe>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2033"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2050"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2045"/>
-    <define name="ACCEL_X_SENS" value="19.4125494887" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="19.5801376185" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="19.4761009738" integer="16"/>
-
-    <!-- Magneto calibration -->
-    <!--define name="MAG_X_NEUTRAL" value="64"/>
-    <define name="MAG_Y_NEUTRAL" value="7"/>
-    <define name="MAG_Z_NEUTRAL" value="-28"/>
-    <define name="MAG_X_SENS" value="15.0972908192" integer="16"/>
-    <define name="MAG_Y_SENS" value="14.9806854769" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.0049628842" integer="16"/-->
-
-    <define name="MAG_X_NEUTRAL" value="48"/>
-    <define name="MAG_Y_NEUTRAL" value="-23"/>
-    <define name="MAG_Z_NEUTRAL" value="-9"/>
-    <define name="MAG_X_SENS" value="15.3920639363" integer="16"/>
-    <define name="MAG_Y_SENS" value="15.3302290802" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.236687484" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/bebop_201.xml b/conf/airframes/ENAC/quadrotor/bebop_201.xml
deleted file mode 100644
index d5cd93f4f9..0000000000
--- a/conf/airframes/ENAC/quadrotor/bebop_201.xml
+++ /dev/null
@@ -1,219 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="bebop 201">
-
-  <firmware name="rotorcraft">
-
-    <target name="ap" board="bebop">
-      <module name="radio_control" type="datalink"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <!--define name="USE_SONAR" value="TRUE"/-->
-
-    <module name="telemetry" type="transparent_udp"/>
-    <!-- Subsystem section -->
-    <module name="motor_mixing"/>
-    <module name="actuators" type="bebop"/>
-    <module name="imu" type="bebop"/>
-    <module name="gps" type="furuno"/>
-    <module name="stabilization" type="int_quat"/>
-    <!--module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins" type="extended"/-->
-    <module name="ins" type="float_invariant"/>
-
-    <module name="sonar" type="bebop">
-      <define name="SENSOR_SYNC_SEND_SONAR"/>
-    </module>
-    <!--module name="send_imu_mag_current"/>
-    <module name="file_logger">
-      <define name="FILE_LOGGER_PATH" value="\\/data/ftp/internal_000/\\" type="string"/>
-    </module-->
-    <!--module name="video_rtp_stream">
-      <define name="VIEWVIDEO_FPS" value="60"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
-      <define name="VIEWVIDEO_RTP_TIME_INC" value="0"/>
-      <define name="VIEWVIDEO_DEVICE" value="/dev/video0"/>
-      <define name="VIEWVIDEO_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
-      <define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
-      <define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
-    </module-->
-  </firmware>
-
-  <modules main_freq="512"/>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
-    <define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="ROLL_COEF" value="{ 256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF" value="{ 256,  256, -256, -256 }"/>
-    <define name="YAW_COEF" value="{ -256,  256, -256,  256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="358"/>
-    <define name="MAG_Y_NEUTRAL" value="48"/>
-    <define name="MAG_Z_NEUTRAL" value="744"/>
-    <define name="MAG_X_SENS" value="7.76516794782" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.23183938318" integer="16"/>
-    <define name="MAG_Z_SENS" value="8.59604596472" integer="16"/>
-
-    <!--define name="MAG_X_NEUTRAL" value="18"/>
-    <define name="MAG_Y_NEUTRAL" value="157"/>
-    <define name="MAG_Z_NEUTRAL" value="49"/>
-    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
-    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
-    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/-->
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="INS_">
-    <!-- Toulouse -->
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
-    <!-- Delft -->
-    <!--define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/-->
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="650"/>
-    <define name="PHI_DGAIN" value="300"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="650"/>
-    <define name="THETA_DGAIN" value="300"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="4000"/>
-    <define name="PSI_DGAIN" value="350"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="0"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="82"/>
-    <define name="HOVER_KD" value="117"/>
-    <define name="HOVER_KI" value="0"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.53"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
deleted file mode 100644
index cf79682026..0000000000
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ /dev/null
@@ -1,246 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="Blender">
-
-  <firmware name="rotorcraft">
-    <define name="USE_INS_NAV_INIT"/>
-
-    <target name="ap" board="navgo_1.0">
-      <define name="FAILSAFE_GROUND_DETECT"/>
-      <define name="USE_GPS_ACC4R"/>
-      <define name="ACTUATORS_START_DELAY" value="3"/>
-    </target>
-
-    <module name="radio_control" type="ppm"/>
-    <module name="telemetry"     type="transparent"/>
-    <module name="actuators"     type="skiron">
-      <configure name="ACTUATORS_SKIRON_I2C_SCL_TIME" value="25"/>
-    </module>
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="USE_PWM0"/>
-    </module>
-    <module name="imu"           type="navgo"/>
-    <module name="gps"           type="ublox">
-      <configure name="GPS_BAUD" value="B57600"/>
-    </module>
-    <module name="stabilization" type="int_euler"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-
-    <module name="switch" type="servo"/>
-    <module name="rotorcraft_cam"/>
-    <!--module name="sonar" type="adc"/-->
-    <!--module name="adc_generic">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
-    </module-->
-  </firmware>
-
-  <modules main_freq="512"/>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="-50"/>
-    <define name="TRIM_PITCH" value="-150"/>
-    <define name="TRIM_YAW" value="-100"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF"  value="{    0, -256,    0,  256}"/>
-    <define name="PITCH_COEF" value="{  256,    0, -256,    0}"/>
-    <define name="YAW_COEF"   value="{ -256,  256, -256,  256}"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-  </section>
-
-  <servos driver="Skiron">
-    <servo name="FRONT"  no="0"    min="0" neutral="20" max="255"/>
-    <servo name="RIGHT"  no="1"    min="0" neutral="20" max="255"/>
-    <servo name="BACK"   no="2"    min="0" neutral="20" max="255"/>
-    <servo name="LEFT"   no="3"    min="0" neutral="20" max="255"/>
-  </servos>
-
-  <servos driver="Pwm">
-    <servo name="DROP" no="0" min="1000" neutral="1500" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[0]"/>
-    <set servo="BACK"  value="motor_mixing.commands[1]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="GYRO_P_NEUTRAL" value="10"/>
-    <define name="GYRO_Q_NEUTRAL" value="-32"/>
-    <define name="GYRO_R_NEUTRAL" value="11"/>
-
-    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
-    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="9"/>
-    <define name="ACCEL_Y_NEUTRAL" value="14"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-16"/>
-
-    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
-    <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
-
-    <!-- Calib Toulouse -->
-    <!--define name="MAG_X_NEUTRAL" value="80"/>
-    <define name="MAG_Y_NEUTRAL" value="-271"/>
-    <define name="MAG_Z_NEUTRAL" value="112"/>
-    <define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.298653926" integer="16"/-->
-
-    <!-- Calid IMAV -->
-    <define name="MAG_X_NEUTRAL" value="308"/>
-    <define name="MAG_Y_NEUTRAL" value="-395"/>
-    <define name="MAG_Z_NEUTRAL" value="156"/>
-    <define name="MAG_X_SENS" value="4.04127878147" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.99918458069" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.79859595184" integer="16"/>
-
-    <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>
-
-  <!-- Magnetic field for Toulouse (declination -16°) -->
-  <!--section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
-    <define name="H_X" value=" 0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value=" 0.858336"/>
-  </section-->
-
-  <!-- Magnetic field for Gifhorn (declination 2°) -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
-    <define name="H_X" value="0.3794131"/>
-    <define name="H_Y" value="0.0141005"/>
-    <define name="H_Z" value="0.9251199"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <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="250"/>
-
-    <!-- reference -->
-    <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="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1800"/>
-    <define name="PHI_DGAIN"  value="240"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="1800"/>
-    <define name="THETA_DGAIN"  value="240"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="1000"/>
-    <define name="PSI_DGAIN"  value="350"/>
-    <define name="PSI_IGAIN"  value="20"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value="170"/>
-    <define name="THETA_DDGAIN" value="170"/>
-    <define name="PSI_DDGAIN"   value="170"/>
-
-    <define name="PHI_AGAIN"   value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN"   value="0"/>
-  </section>
-
-  <section name="GUIDANCE_V"   prefix="GUIDANCE_V_">
-
-   <define name="REF_MIN_ZDD"  value="-0.5*9.81"/>
-   <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
-   <define name="REF_MIN_ZD"   value="-1.5"/>
-   <define name="REF_MAX_ZD"   value=" 1.5"/>
-   <define name="HOVER_KP"     value="130"/>
-   <define name="HOVER_KD"     value="80"/>
-   <define name="HOVER_KI"     value="0"/>
-   <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="MAX_BANK" value="30" unit="deg"/>
-   <define name="PGAIN" value="50"/>
-   <define name="DGAIN" value="80"/>
-   <define name="IGAIN" value="20"/>
-   <define name="NGAIN" value="0"/>
-   <!-- feedforward -->
-   <define name="AGAIN" value="0"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <section name="AUTOPILOT">
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
-   <!--define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/-->
-   <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
- </section>
-
- <section name="FMS">
-   <define name="BOOZ_FMS_TIMEOUT" value="0"/>
- </section>
-
- <section name="CAM" prefix="ROTORCRAFT_CAM_">
-    <define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
- </section>
-
-  <section name="SWITCH_SERVO">
-    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
-    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="SwitchServoOn()"/>
-    <define name="DropClose()" value="SwitchServoOff()"/>
-  </section>
-
- <section name="MISC">
-   <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
- </section>
-
-  <section name="GCS">
-    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
-    <define name="ALT_SHIFT_PLUS" value="1"/>
-    <define name="ALT_SHIFT_MINUS" value="-1"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml b/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
deleted file mode 100644
index f129adb70e..0000000000
--- a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
+++ /dev/null
@@ -1,241 +0,0 @@
-<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
-<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
-
-<!--
-     The motor and rotor configuration is the following:
-
-	   Front
-             ^
-             |
-
-    Motor3(NW)  Motor0(NE)
-        CW      CCW
-          \     /
-           ,___,
-           |   |
-           |   |
-           |___|
-          /     \
-        CCW      CW
-     Motor2(SW)  Motor1(SE)
-
-    The Lisa/S is rotated by 13deg CCW against the frame.
--->
-
-<!--
-     Applicable configuration:
-     airframe="airframes/examples/ladybird_lisa_s"
-     radio="radios/cockpitSX"
-     telemetry="telemetry/default_rotorcraft"
-     flight_plan="flight_plans/rotorcraft_basic"
-     settings="settings/rotorcraft_basic settings/control/rotorcraft_guidance settings/control/stabilization_att_int"
--->
-
-<airframe name="quadrotor_lisa_s">
-
-  <servos driver="Pwm">
-    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
-    <servo name="SE" no="1" min="0" neutral="50" max="1000"/>
-    <servo name="SW" no="2" min="0" neutral="50" max="1000"/>
-    <servo name="NW" no="3" min="0" neutral="50" max="1000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="NE" value="motor_mixing.commands[0]"/>
-    <set servo="SE" value="motor_mixing.commands[1]"/>
-    <set servo="SW" value="motor_mixing.commands[2]"/>
-    <set servo="NW" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF" value="{  -256, -256,  256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256, -256, -256,  256 }"/>
-    <define name="YAW_COEF" value="{    256, -256,  256, -256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <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="-13." unit="deg"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <!-- MAGNETO CALIBRATION DELFT -->
-    <define name="MAG_X_NEUTRAL" value="286"/>
-    <define name="MAG_Y_NEUTRAL" value="-72"/>
-    <define name="MAG_Z_NEUTRAL" value="97"/>
-    <define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
-
-    <!-- MAGNETO CURRENT CALIBRATION -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
-    <define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
-  </section>
-
- <section name="AUTOPILOT">
-   <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-   <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
- </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45." unit="deg"/>
-    <define name="SP_MAX_THETA" value="45." unit="deg"/>
-    <define name="SP_MAX_PSI" value="45." unit="deg"/>
-    <define name="SP_MAX_R" value="90." unit="deg/s"/>
-    <define name="SP_MAX_P" value="90." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="400"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="100"/>
-
-    <define name="THETA_PGAIN" value="400"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="100"/>
-
-    <define name="PSI_PGAIN" value="500"/>
-    <define name="PSI_DGAIN" value="300"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value=" 300"/>
-
-    <define name="PHI_AGAIN" value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="HOVER_KP" value="276"/>
-   <define name="HOVER_KD" value="455"/>
-   <define name="HOVER_KI" value="100"/>
-   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value=" 0.47577"/>
-    <define name="H_Y" value=" 0.11811"/>
-    <define name="H_Z" value=" 0.87161"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="39"/>
-   <define name="DGAIN" value="50"/>
-   <define name="IGAIN" value="19"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
-   <define name="JSBSIM_INIT" value="reset00" type="string"/>
-   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
- </section>
-
- <modules main_freq="512"/>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <module name="radio_control" type="superbitrf_rc">
-	    <!-- To store the binding parameters for the superbit radio in your -->
-        <!-- airframe file uncomment the following three lines and set the -->
-        <!-- correct values based on the output of the superbitrf telemetry messages. -->
-        <!--define name="RADIO_TRANSMITTER_ID" value="3028580352"/--> <!-- Esden (1BitSquared) Dx6i: TX 1 -->
-        <!--define name="RADIO_TRANSMITTER_CHAN" value="8"/>
-        <define name="RADIO_TRANSMITTER_PROTOCOL" value="18"/-->
-        <define name="RADIO_MODE" value="RADIO_FLAP"/>
-        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-        <!--define name="SUPERBITRF_FORCE_DSM2" value="TRUE"/-->
-      </module>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-      <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators" type="pwm">
-      <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
-           With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
-           If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-      -->
-      <!-- Setting the PWM timer base frequency to 36MHz -->
-      <define name="PWM_BASE_FREQ" value="36000000"/>
-      <!-- Setting the PWM interval to 36KHz -->
-      <define name="SERVO_HZ" value="36000"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <module name="telemetry" type="superbitrf"/>
-    <!-- Comment the previous line and uncomment the following one if you need
-         to use the debug serial interface for telemetry. -->
-    <!--module name="telemetry" type="transparent"/-->
-    <module name="imu" type="lisa_s_v1.0">
-      <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
-    </module>
-    <module name="gps" type="ublox"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-
-    <!--module name="send_imu_mag_current"/-->
-  </firmware>
-</airframe>
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index f4c598806d..b575d3fe6f 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -1,26 +1,4 @@
 <conf>
-  <aircraft
-   name="Ark_Quad"
-   ac_id="41"
-   airframe="airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml"
-   radio="radios/AGGIEAIR/aggieair_taranis.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
-   gui_color="#ffff954c0000"
-  />
-  <aircraft
-   name="BOOZ2"
-   ac_id="1"
-   airframe="airframes/examples/booz2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="white"
-  />
   <aircraft
    name="Bixler"
    ac_id="2"
@@ -43,17 +21,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
-  <aircraft
-   name="EasyStar_ETS"
-   ac_id="4"
-   airframe="airframes/examples/easystar_ets.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_fw.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="red"
-  />
   <aircraft
    name="Hexa_LisaL"
    ac_id="5"
@@ -98,17 +65,6 @@
    settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
-  <aircraft
-   name="Microjet_LisaM"
-   ac_id="15"
-   airframe="airframes/examples/microjet_lisa_m.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/nav_modules.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="Minion_Lia"
    ac_id="42"
@@ -153,28 +109,6 @@
    settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
-  <aircraft
-   name="Quad_LisaS"
-   ac_id="163"
-   airframe="airframes/examples/quadrotor_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="Quad_NavGo"
-   ac_id="23"
-   airframe="airframes/examples/quadrotor_navgo.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
-   gui_color="white"
-  />
   <aircraft
    name="Quad_Navstik"
    ac_id="24"
@@ -186,17 +120,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#710080"
   />
-  <aircraft
-   name="Twinjet"
-   ac_id="25"
-   airframe="airframes/examples/twinjet.xml"
-   radio="radios/cockpitMM.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/infrared_adc.xml modules/nav_basic_fw.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="#ba6293"
-  />
   <aircraft
    name="Twinstar_energyadaptive"
    ac_id="26"
@@ -208,17 +131,6 @@
    settings_modules="modules/digital_cam.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_adaptive_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="Twog_IMU"
-   ac_id="27"
-   airframe="airframes/examples/twog_analogimu.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="Umarim_Lite"
    ac_id="28"
@@ -241,39 +153,6 @@
    settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
-  <aircraft
-   name="ardrone2_flightplan_guided_gazebo"
-   ac_id="35"
-   airframe="airframes/examples/ardrone2_gazebo.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="ardrone2_gazebo"
-   ac_id="32"
-   airframe="airframes/examples/ardrone2_gazebo.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="bebop"
-   ac_id="33"
-   airframe="airframes/examples/bebop.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
   <aircraft
    name="bebop2"
    ac_id="203"
@@ -318,26 +197,4 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="setup_elle0"
-   ac_id="17"
-   airframe="airframes/examples/setup_elle0.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/dummy.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/setup_actuators.xml"
-   settings_modules=""
-   gui_color="blue"
-  />
-  <aircraft
-   name="setup_lisam2"
-   ac_id="38"
-   airframe="airframes/examples/setup_lisam2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/dummy.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/setup_actuators.xml"
-   settings_modules=""
-   gui_color="blue"
-  />
 </conf>
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index d3ba01cc6b..2757923619 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -1,37 +1,4 @@
 <conf>
-  <aircraft
-   name="Ark_Quad"
-   ac_id="41"
-   airframe="airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml"
-   radio="radios/AGGIEAIR/aggieair_taranis.xml"
-   telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
-   gui_color="#ffff954c0000"
-  />
-  <aircraft
-   name="BOOZ2"
-   ac_id="1"
-   airframe="airframes/examples/booz2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="Bixler"
-   ac_id="2"
-   airframe="airframes/examples/bixler_lisa_m_2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="DelftaCopter"
    ac_id="48"
@@ -87,17 +54,6 @@
    settings_modules="modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
-  <aircraft
-   name="Iris"
-   ac_id="44"
-   airframe="airframes/tudelft/iris_indi.xml"
-   radio="radios/FrSky3dr.xml"
-   telemetry="telemetry/default_rotorcraft_slow.xml"
-   flight_plan="flight_plans/tudelft/delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="[modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#ffffcccaccca"
-  />
   <aircraft
    name="Iris_chibios"
    ac_id="45"
@@ -120,17 +76,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
-  <aircraft
-   name="LadyLisa"
-   ac_id="7"
-   airframe="airframes/examples/ladybird_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
-   gui_color="white"
-  />
   <aircraft
    name="LadyLisaBluetooth"
    ac_id="8"
@@ -142,39 +87,6 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
-  <aircraft
-   name="LisaLv11_Aspirinv15_FW"
-   ac_id="9"
-   airframe="airframes/testhardware/LisaL_v1.1_aspirin_v1.5_fw.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="LisaLv11_Aspirinv15_RC"
-   ac_id="10"
-   airframe="airframes/testhardware/LisaL_v1.1_aspirin_v1.5_rc.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="LisaLv11_Booz2v12_FW"
-   ac_id="11"
-   airframe="airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="LisaLv11_Booz2v12_RC"
    ac_id="12"
@@ -230,17 +142,6 @@
    settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="Microjet_Twog_Aspirin"
-   ac_id="16"
-   airframe="airframes/examples/microjet_twog_aspirin.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="Microjet_xsens_imu"
    ac_id="17"
@@ -318,17 +219,6 @@
    settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
-  <aircraft
-   name="Quad_NavGo"
-   ac_id="23"
-   airframe="airframes/examples/quadrotor_navgo.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
-   gui_color="white"
-  />
   <aircraft
    name="Quad_Navstik"
    ac_id="24"
@@ -351,17 +241,6 @@
    settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="Twinjet"
-   ac_id="25"
-   airframe="airframes/examples/twinjet.xml"
-   radio="radios/cockpitMM.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/infrared_adc.xml modules/nav_basic_fw.xml modules/gps.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="#ba6293"
-  />
   <aircraft
    name="Twinstar_energyadaptive"
    ac_id="26"
@@ -428,17 +307,6 @@
    settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="ardrone2"
-   ac_id="31"
-   airframe="airframes/examples/ardrone2.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
   <aircraft
    name="ardrone2_opticflow"
    ac_id="32"
@@ -472,17 +340,6 @@
    settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="lisa_l_chimu"
-   ac_id="35"
-   airframe="airframes/examples/lisa_l_chimu.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="quad_mavlink"
    ac_id="36"
@@ -538,4 +395,26 @@
    settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="setup_elle0"
+   ac_id="41"
+   airframe="airframes/examples/setup_elle0.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/dummy.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/setup_actuators.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
+  <aircraft
+   name="ardrone2_gazebo"
+   ac_id="44"
+   airframe="airframes/examples/ardrone2_gazebo.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_optitrack.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="red"
+  />
 </conf>
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
deleted file mode 100644
index ff9a8b8c93..0000000000
--- a/conf/flight_plans/IS.xml
+++ /dev/null
@@ -1,160 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan ground_alt="0" alt="75" lat0="43.2375" lon0="1.3277" max_dist_from_home="3500" name="Intelligent Surveillance" qfu="270" security_height="35">
-<header>
-#include "subsystems/datalink/datalink.h"
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="AF" x="200" y="-10" alt="215"/>
-    <waypoint name="TOD" x="-150" y="0"/>
-    <waypoint name="TD" x="80" y="20" alt="185"/>
-    <waypoint name="1" x="-75" y="75"/>
-    <waypoint name="2" x="75" y="75"/>
-    <waypoint name="MOB" x="200" y="200"/>
-    <waypoint name="S1" x="-200" y="-200"/>
-    <waypoint name="S2" x="300" y="400"/>
-    <waypoint name="C" x="-250" y="-200"/>
-    <waypoint name="C1" x="-250" y="-200"/>
-    <waypoint name="C2" x="350" y="400"/>
-    <waypoint name="PLUME" x="400" y="300"/>
-    <waypoint name="BASELEG" x="400" y="350"/>
-    <waypoint name="CAM_TARGET" x="100" y="-200" alt="0"/>
-  </waypoints>
-  <blocks>
-    <block name="wait GPS">
-      <while cond="!GpsFixValid()"/>
-    </block>
-
-    <block name="init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call_once fun="NavSetGroundReferenceHere()"/>
-      <deroute block="wait"/>
-    </block>
-
-    <block name="wait" strip_button="0">
-      <circle radius="nav_radius" wp="1"/>
-    </block>
-
-    <block name="ground speed">
-<!--      <exception cond="nav_ground_speed_loop()" deroute="ground speed"/> -->
-      <circle radius="nav_radius" wp="1"/>
-    </block>
-
-    <block name="eight 1" strip_button="8">
-      <eight radius="nav_radius" center="1" turn_around="2"/>
-    </block>
-
-    <block name="Line">
-         <call_once fun="nav_line_setup()"/>
-         <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
-    </block>
-
-
-    <block name="oval">
-      <oval p1="1" p2="2" radius="nav_radius"/>
-    </block>
-
-    <block name="MOB" strip_button="MOB">
-      <call_once fun="NavSetWaypointHere(WP_MOB)"/>
-      <circle wp="MOB" radius="nav_radius"/>
-    </block>
-
-    <block name="Anemotaxis" strip_button="Anem">
-      <call fun="nav_anemotaxis_downwind(WP_C, 300)"/>
-      <go from="HOME" wp="C" hmode="route" approaching_time="0"/>
-      <call_once fun="nav_anemotaxis_init(WP_C)"/>
-      <call fun="nav_anemotaxis(WP_C, WP_C1, WP_C2, WP_PLUME)"/>
-    </block>
-
-    <block name="Chemotaxis">
-      <call_once fun="nav_chemotaxis_init(WP_C, WP_PLUME)"/>
-      <call fun="nav_chemotaxis(WP_C, WP_PLUME)"/>
-    </block>
-
-    <block name="ChemotaxisHere">
-      <set var="waypoints[WP_C].x" value="GetPosX()"/>
-      <set var="waypoints[WP_C].y" value="GetPosY()"/>
-      <deroute block="Chemotaxis"/>
-    </block>
-
-    <block name="Disc survey" strip_button="DS">
-      <exception cond="chemo_sensor > 0" deroute="ChemotaxisHere"/>
-      <call_once fun="nav_survey_disc_setup(150)"/>
-      <call fun="nav_survey_disc_run(WP_HOME, 350)"/>
-    </block>
-
-<!--
-    <block name="circle 1 auto pitch">
-      <circle radius="75" wp="1" pitch="auto" throttle="0.7"/>
-    </block>
--->
-
-    <block name="far away">
-      <exception cond="datalink_time > 22" deroute="wait"/>
-      <go approaching_time="0" from="1" hmode="route" wp="2"/>
-      <go approaching_time="0" from="2" hmode="route" wp="1"/>
-    </block>
-
-    <block name="circle left 1">
-      <circle radius="-75" wp="1"/>
-    </block>
-
-    <block name="climb 75">
-      <circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10 > PowerVoltage()"/>
-    </block>
-
-    <block name="climb 1">
-      <circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" climb="1" pitch="5" vmode="climb" until="10 > PowerVoltage()"/>
-    </block>
-
-    <block name="descent 0">
-      <circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle" until="GetAltRef()+50 > GetPosAlt()"/>
-      <deroute block="wait"/>
-    </block>
-
-    <block name="route12">
-      <go approaching_time="0" from="1" hmode="route" wp="2"/>
-    </block>
-
-    <block name="glide12">
-      <go from="1" hmode="route" vmode="glide" wp="2"/>
-    </block>
-
-    <block name="stack 2">
-      <circle radius="75" wp="2"/>
-    </block>
-
-    <block name="route21">
-      <go approaching_time="0" from="2" hmode="route" wp="1"/>
-    </block>
-
-    <block name="stack 1">
-      <circle radius="75" wp="1"/>
-    </block>
-
-    <block name="survey">
-      <survey_rectangle grid="nav_survey_shift" wp1="S1" wp2="S2"/>
-    </block>
-
-   <block name="land">
-      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
-      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius"
-              until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))"
-              wp="BASELEG"/>
-    </block>
-
-    <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/form_follow.xml b/conf/flight_plans/formation/form_follow.xml
similarity index 97%
rename from conf/flight_plans/form_follow.xml
rename to conf/flight_plans/formation/form_follow.xml
index a72076867c..0280b01dbd 100644
--- a/conf/flight_plans/form_follow.xml
+++ b/conf/flight_plans/formation/form_follow.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="250" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="400" name="test laas" qfu="270" security_height="25">
   <waypoints>
diff --git a/conf/flight_plans/form_leader.xml b/conf/flight_plans/formation/form_leader.xml
similarity index 98%
rename from conf/flight_plans/form_leader.xml
rename to conf/flight_plans/formation/form_leader.xml
index 06333ab7f7..2247f4b8af 100644
--- a/conf/flight_plans/form_leader.xml
+++ b/conf/flight_plans/formation/form_leader.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="250" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="400" name="formation flight" qfu="270" security_height="25">
   <waypoints>
diff --git a/conf/flight_plans/generic.xml b/conf/flight_plans/generic.xml
deleted file mode 100644
index 144b1b6d34..0000000000
--- a/conf/flight_plans/generic.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan alt="450" ground_alt="400" lat0="43.4624" lon0="1.2727" max_dist_from_home="1000" name="Generic" qfu="270" security_height="25">
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="1" x="200" y="0"/>
-    <waypoint name="2" x="0" y="200"/>
-    <waypoint name="S1" x="-200" y="-200"/>
-    <waypoint name="S2" x="300" y="400"/>
-  </waypoints>
-  <blocks>
-	  <block name="Wait GPS">
-		  <set value="1" var="autopilot.kill_throttle"/>
-		  <while cond="!GpsFixValid()"/>
-	  </block>
-	  <block name="Geo init">
-		  <while cond="LessThan(NavBlockTime(), 10)"/>
-		  <call_once fun="NavSetGroundReferenceHere()"/>
-    </block>
-    <block name="circlehome">
-      <circle radius="75" wp="HOME"/>
-    </block>
-    <block name="circle left home">
-      <circle radius="-75" wp="HOME"/>
-    </block>
-    <block name="climb 75">
-      <circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10>PowerVoltage()"/>
-    </block>
-    <block name="stack 1">
-      <circle radius="GetPosAlt()/2" wp="1"/>
-    </block>
-    <block name="descent 0" strip_button="Descent">
-      <circle radius="GetPosAlt()/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle"/>
-    </block>
-    <block name="route12">
-      <go approaching_time="0" from="1" hmode="route" wp="2"/>
-      <deroute block="stack 2"/>
-    </block>
-    <block name="route21">
-      <go approaching_time="0" from="2" hmode="route" wp="1"/>
-      <deroute block="stack 1"/>
-    </block>
-    <block name="stack 2">
-      <circle radius="75" wp="2"/>
-    </block>
-    <block name="survey">
-      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/corsica.xml b/conf/flight_plans/legacy/corsica.xml
similarity index 98%
rename from conf/flight_plans/corsica.xml
rename to conf/flight_plans/legacy/corsica.xml
index 47c5debc2b..6b7e21d2fd 100644
--- a/conf/flight_plans/corsica.xml
+++ b/conf/flight_plans/legacy/corsica.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <!--flight_plan alt="120" ground_alt="0" lat0="42.644957" lon0="9.015701" max_dist_from_home="200000" name="Corsica" security_height="70"-->
 <flight_plan alt="80" ground_alt="0" lat0="43.771918" lon0="7.499057" max_dist_from_home="200000" name="Corsica" security_height="70" qfu="130">
diff --git a/conf/flight_plans/corsica_sectors.xml b/conf/flight_plans/legacy/corsica_sectors.xml
similarity index 96%
rename from conf/flight_plans/corsica_sectors.xml
rename to conf/flight_plans/legacy/corsica_sectors.xml
index 6ee78ab4ad..09b29b53a7 100644
--- a/conf/flight_plans/corsica_sectors.xml
+++ b/conf/flight_plans/legacy/corsica_sectors.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
+<!DOCTYPE procedure SYSTEM "../flight_plan.dtd">
 
 <procedure>
 
diff --git a/conf/flight_plans/creidlitz.xml b/conf/flight_plans/legacy/creidlitz.xml
similarity index 98%
rename from conf/flight_plans/creidlitz.xml
rename to conf/flight_plans/legacy/creidlitz.xml
index b6e3b6fb55..06040a9eb1 100644
--- a/conf/flight_plans/creidlitz.xml
+++ b/conf/flight_plans/legacy/creidlitz.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="420" ground_alt="360" lat0="50.230060" lon0="10.990449" max_dist_from_home="1500" name="Flugplatz Steinruecken" security_height="25"  QFU="210">
   <header>
diff --git a/conf/flight_plans/fp_tp_auto.xml b/conf/flight_plans/legacy/fp_tp_auto.xml
similarity index 99%
rename from conf/flight_plans/fp_tp_auto.xml
rename to conf/flight_plans/legacy/fp_tp_auto.xml
index 92782ef0d2..4a64f0ad03 100644
--- a/conf/flight_plans/fp_tp_auto.xml
+++ b/conf/flight_plans/legacy/fp_tp_auto.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
   <header>
diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/legacy/grosslobke_demo.xml
similarity index 99%
rename from conf/flight_plans/grosslobke_demo.xml
rename to conf/flight_plans/legacy/grosslobke_demo.xml
index 0e415048a7..37543fe031 100644
--- a/conf/flight_plans/grosslobke_demo.xml
+++ b/conf/flight_plans/legacy/grosslobke_demo.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="170" ground_alt="68" lat0="52.26483" lon0="9.99394" max_dist_from_home="1500" name="Gross Lobke Demo" qfu="270" security_height="60">
   <header>
diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/legacy/grosslobke_kreise.xml
similarity index 100%
rename from conf/flight_plans/grosslobke_kreise.xml
rename to conf/flight_plans/legacy/grosslobke_kreise.xml
diff --git a/conf/flight_plans/grosslobke_start.xml b/conf/flight_plans/legacy/grosslobke_start.xml
similarity index 100%
rename from conf/flight_plans/grosslobke_start.xml
rename to conf/flight_plans/legacy/grosslobke_start.xml
diff --git a/conf/flight_plans/ingolfsskali.xml b/conf/flight_plans/legacy/ingolfsskali.xml
similarity index 98%
rename from conf/flight_plans/ingolfsskali.xml
rename to conf/flight_plans/legacy/ingolfsskali.xml
index 431ce3ba56..03681f88a1 100644
--- a/conf/flight_plans/ingolfsskali.xml
+++ b/conf/flight_plans/legacy/ingolfsskali.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="1000" ground_alt="840" lat0="65.007419" lon0="-18.895916" max_dist_from_home="4500" name="Ingolfsskali" qfu="0" security_height="160">
   <header>
diff --git a/conf/flight_plans/kalscott.xml b/conf/flight_plans/legacy/kalscott.xml
similarity index 98%
rename from conf/flight_plans/kalscott.xml
rename to conf/flight_plans/legacy/kalscott.xml
index a039c09f1c..7dd10a4345 100644
--- a/conf/flight_plans/kalscott.xml
+++ b/conf/flight_plans/legacy/kalscott.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="100" ground_alt="0" lat0="38.9159" lon0="-95.3207" max_dist_from_home="1500" name="KalScott" security_height="25">
   <header>
diff --git a/conf/flight_plans/muret_demo_1.xml b/conf/flight_plans/legacy/muret_demo_1.xml
similarity index 100%
rename from conf/flight_plans/muret_demo_1.xml
rename to conf/flight_plans/legacy/muret_demo_1.xml
diff --git a/conf/flight_plans/muret_for.xml b/conf/flight_plans/legacy/muret_for.xml
similarity index 94%
rename from conf/flight_plans/muret_for.xml
rename to conf/flight_plans/legacy/muret_for.xml
index 6748cf1d45..20f4b540e9 100644
--- a/conf/flight_plans/muret_for.xml
+++ b/conf/flight_plans/legacy/muret_for.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="250" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="1000" name="example - Muret for loops" qfu="270" security_height="25">
 
diff --git a/conf/flight_plans/nordlys.xml b/conf/flight_plans/legacy/nordlys.xml
similarity index 98%
rename from conf/flight_plans/nordlys.xml
rename to conf/flight_plans/legacy/nordlys.xml
index efe0fa8d12..773f84c8b4 100644
--- a/conf/flight_plans/nordlys.xml
+++ b/conf/flight_plans/legacy/nordlys.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="150" ground_alt="10" lat0="78.202961" lon0="15.8310" max_dist_from_home="3000" name="Nordlysstasjonen" qfu="270" security_height="60">
   <header>
diff --git a/conf/flight_plans/quadshot_land_takeoff_again.xml b/conf/flight_plans/legacy/quadshot_land_takeoff_again.xml
similarity index 98%
rename from conf/flight_plans/quadshot_land_takeoff_again.xml
rename to conf/flight_plans/legacy/quadshot_land_takeoff_again.xml
index af34add494..96c269aa39 100644
--- a/conf/flight_plans/quadshot_land_takeoff_again.xml
+++ b/conf/flight_plans/legacy/quadshot_land_takeoff_again.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="40" ground_alt="0" lat0="52.170867" lon0="4.412194" max_dist_from_home="1000" name="Transitioning test" security_height="2">
 <!-- <flight_plan alt="40" ground_alt="0" lat0="51.979438" lon0="4.390148" max_dist_from_home="1000" name="Transitioning test" security_height="2"> -->
diff --git a/conf/flight_plans/rotorcraft_krooz.xml b/conf/flight_plans/legacy/rotorcraft_krooz.xml
similarity index 98%
rename from conf/flight_plans/rotorcraft_krooz.xml
rename to conf/flight_plans/legacy/rotorcraft_krooz.xml
index 6060def627..2581de364f 100644
--- a/conf/flight_plans/rotorcraft_krooz.xml
+++ b/conf/flight_plans/legacy/rotorcraft_krooz.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="35" ground_alt="0" lat0="54.117477" lon0="12.184862" max_dist_from_home="100" name="Krooz Test" security_height="10">
   <header>
diff --git a/conf/flight_plans/rotorcraft_oa_avoid.xml b/conf/flight_plans/legacy/rotorcraft_oa_avoid.xml
similarity index 94%
rename from conf/flight_plans/rotorcraft_oa_avoid.xml
rename to conf/flight_plans/legacy/rotorcraft_oa_avoid.xml
index 9a1e42ecfe..dcfd96c1c0 100644
--- a/conf/flight_plans/rotorcraft_oa_avoid.xml
+++ b/conf/flight_plans/legacy/rotorcraft_oa_avoid.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
   <header>
diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/legacy/slayer_training.xml
similarity index 98%
rename from conf/flight_plans/slayer_training.xml
rename to conf/flight_plans/legacy/slayer_training.xml
index ef2d13859d..2359370bb9 100644
--- a/conf/flight_plans/slayer_training.xml
+++ b/conf/flight_plans/legacy/slayer_training.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="800" name="Versatile" qfu="270" security_height="25">
   <header>
diff --git a/conf/flight_plans/versatile_carto_fixe_muret.xml b/conf/flight_plans/legacy/versatile_carto_fixe_muret.xml
similarity index 99%
rename from conf/flight_plans/versatile_carto_fixe_muret.xml
rename to conf/flight_plans/legacy/versatile_carto_fixe_muret.xml
index 0987732e0a..7e4cce76d1 100644
--- a/conf/flight_plans/versatile_carto_fixe_muret.xml
+++ b/conf/flight_plans/legacy/versatile_carto_fixe_muret.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
 <flight_plan alt="240" ground_alt="190" lat0="43.4622" lon0="1.2729" max_dist_from_home="1200" name="Versatile" qfu="270" security_height="60">
 
diff --git a/conf/flight_plans/xsens_cachejunction.xml b/conf/flight_plans/xsens_cachejunction.xml
deleted file mode 100644
index 841d507330..0000000000
--- a/conf/flight_plans/xsens_cachejunction.xml
+++ /dev/null
@@ -1,102 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan alt="1450" ground_alt="1350" lat0="41.820661" lon0="-111.987935" max_dist_from_home="1500" name="Basic" security_height="25">
-  <header>
-#include "datalink.h"
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="STDBY" x="49.5" y="100.1"/>
-    <waypoint name="1" x="61.1" y="-227.6"/>
-    <waypoint name="2" x="51.7" y="243.8"/>
-    <waypoint name="MOB" x="137.0" y="-11.6"/>
-    <waypoint name="S1" x="-131.2" y="-154.4"/>
-    <waypoint name="S2" x="304.7" y="242.1"/>
-    <waypoint name="S3" x="-800" y="-800"/>
-    <waypoint name="S4" x="800" y="800"/>
-    <waypoint name="S5" x="800" y="-800"/>
-    <waypoint name="AF" x="177.4" y="45.1" alt="1380"/>
-    <waypoint name="TD" x="28.8" y="57.0" alt="1350"/>
-    <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
-    <waypoint name="CLIMB" x="-114.5" y="162.3"/>
-  </waypoints>
-  <exceptions/>
-  <blocks>
-    <block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
-      <set value="0" var="autopilot.kill_throttle"/>
-      <set value="0" var="autopilot.flight_time"/>
-      <go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
-    </block>
-    <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <circle radius="nav_radius" wp="STDBY"/>
-    </block>
-    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
-      <eight center="1" radius="nav_radius" turn_around="2"/>
-    </block>
-    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
-      <oval p1="1" p2="2" radius="nav_radius"/>
-    </block>
-    <block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
-      <call_once fun="NavSetWaypointHere(WP_MOB)"/>
-      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <circle radius="nav_radius" wp="MOB"/>
-    </block>
-    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
-      <call_once fun="nav_line_setup()"/>
-      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
-    </block>
-    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
-      <survey_rectangle grid="35" wp1="S1" wp2="S2"/>
-    </block>
-    <block name="Line S4-5" strip_button="Line (S 4-5)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
-      <call_once fun="nav_line_setup()"/>
-      <call fun="nav_line_run(WP_S4, WP_S5, nav_radius)"/>
-    </block>
-    <block name="Steps roll -10, +10">
-      <while cond="TRUE">
-        <attitude alt="1410" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="1410" roll="-10.0" until="stage_time > 6" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps roll -20, +20">
-      <while cond="TRUE">
-        <attitude alt="1410" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="1410" roll="-20.0" until="stage_time > 3" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps pitch -10, +10">
-      <while cond="TRUE">
-        <attitude alt="1410" pitch="40" roll="0.0" vmode="alt"/>
-        <set value="1" var="autopilot.kill_throttle"/>
-      </while>
-      <set value="0" var="autopilot.kill_throttle"/>
-    </block>
-    <block name="Survey S3-S4" strip_button="Survey (wp S3-S4)">
-      <survey_rectangle grid="150" wp1="S3" wp2="S4"/>
-    </block>
-    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
-      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
-      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block name="land">
-      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
-    </block>
-    <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/modules/enose.xml b/conf/modules/enose.xml
deleted file mode 100644
index 550fab9e35..0000000000
--- a/conf/modules/enose.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="enose" dir="enose">
-  <doc>
-    <description>Chemical Enose sensor</description>
-  </doc>
-  <header>
-    <file name="enose.h"/>
-    <file name="chemo_detect.h"/>
-  </header>
-  <settings>
-    <dl_settings NAME="control">
-      <dl_settings name="enose">
-        <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[0]" module="enose/enose" shortname="val0" handler="DecreaseVal0"/>
-        <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[1]" module="enose/enose" shortname="val1" handler="DecreaseVal1"/>
-        <dl_setting MAX="5000" MIN="0" STEP="1" VAR="enose_val[2]" module="enose/enose" shortname="val2" handler="DecreaseVal2"/>
-      </dl_settings>
-    </dl_settings>
-  </settings>
-  <init fun="enose_init()"/>
-  <init fun="chemo_init()"/>
-  <periodic fun="enose_periodic()" freq="4." delay="4" autorun="TRUE"/>
-  <periodic fun="chemo_periodic()" freq="4." delay="4" autorun="TRUE"/>
-  <makefile target="ap">
-    <file name="enose.c"/>
-    <file name="chemo_detect.c"/>
-  </makefile>
-  <makefile target="sim">
-    <!--file name="$(SRC_ARCH)/sim_enose.c"/-->
-    <file_arch name="sim_enose.c"/>
-    <file name="chemo_detect.c"/>
-  </makefile>
-</module>
-
diff --git a/conf/modules/pbn.xml b/conf/modules/pbn.xml
deleted file mode 100644
index fe3d070fb9..0000000000
--- a/conf/modules/pbn.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="pbn" dir="sensors">
-  <doc>
-    <description>
-      Pressure Board Navarro.
-
-      by Matthieu Navarro (2010)
-
-      combine differential and absolute pressure sensor (ETS raw sensors)
-      controlled by a dspic
-      return scaled values over I2C
-    </description>
-    <define name="PBN_AIRSPEED_SCALE" value="(1./0.54)" description="quadratic scale factor to convert differential pressure to airspeed"/>
-    <define name="PBN_ALTITUDE_SCALE" value="0.32" description="linear scale factor for altitude"/>
-    <define name="PBN_PRESSURE_OFFSET" value="101325.0" description="pressure offset"/>
-    <define name="USE_AIRSPEED_PBN" value="TRUE|FALSE" description="set airspeed in state interface"/>
-  </doc>
-  <settings>
-    <dl_settings>
-      <dl_settings NAME="pbn">
-        <dl_setting MAX="30" MIN="0" STEP="1" module="sensors/pressure_board_navarro" VAR="pbn.airspeed_filter"/>
-      </dl_settings>
-    </dl_settings>
-  </settings>
-
-  <header>
-    <file name="pressure_board_navarro.h"/>
-  </header>
-  <init fun="pbn_init()"/>
-  <periodic fun="pbn_periodic()" freq="10"/>
-  <event fun="PbnEvent()"/>
-
-  <makefile>
-    <file name="pressure_board_navarro.c"/>
-  </makefile>
-
-</module>
-
diff --git a/sw/airborne/arch/sim/modules/enose/sim_enose.c b/sw/airborne/arch/sim/modules/enose/sim_enose.c
deleted file mode 100644
index 89fd32dc32..0000000000
--- a/sw/airborne/arch/sim/modules/enose/sim_enose.c
+++ /dev/null
@@ -1,29 +0,0 @@
-#include "enose/enose.h"
-
-uint8_t enose_status;
-uint8_t  enose_heat[ENOSE_NB_SENSOR];
-uint16_t enose_val[ENOSE_NB_SENSOR];
-uint16_t enose_PID_val;
-
-uint16_t nominal_val[ENOSE_NB_SENSOR] = {1500, 1500, 4000};
-uint16_t min_val[ENOSE_NB_SENSOR] = {1100, 1200, 2500};
-
-void enose_init(void)
-{
-  int i;
-  for (i = 0; i < ENOSE_NB_SENSOR; i++) {
-    enose_val[i] = nominal_val[i];
-  }
-}
-void enose_set_heat(uint8_t no_sensor, uint8_t value) { }
-void enose_periodic(void)
-{
-  int i;
-  for (i = 0; i < ENOSE_NB_SENSOR; i++) {
-    if (enose_val[i] < min_val[i]) {
-      enose_val[i] = min_val[i];
-    }
-    int d = nominal_val[i] - enose_val[i];
-    enose_val[i] += d / 10.;
-  }
-}
diff --git a/sw/airborne/boards/pc_sim.h b/sw/airborne/boards/pc_sim.h
index 11786598a5..75b5479347 100644
--- a/sw/airborne/boards/pc_sim.h
+++ b/sw/airborne/boards/pc_sim.h
@@ -18,6 +18,9 @@
 #define USE_BARO_BOARD 0
 #endif
 #endif
+
+#include "peripherals/video_device.h"
+
 extern struct video_config_t webcam;
 
 // Simulated cameras, see modules/computer_vision/video_thread_nps.c
diff --git a/sw/airborne/modules/enose/anemotaxis.c b/sw/airborne/modules/enose/anemotaxis.c
deleted file mode 100644
index bbcab961ca..0000000000
--- a/sw/airborne/modules/enose/anemotaxis.c
+++ /dev/null
@@ -1,108 +0,0 @@
-#include "modules/enose/anemotaxis.h"
-#include "generated/airframe.h"
-#include "state.h"
-#include "std.h"
-#include "firmwares/fixedwing/nav.h"
-#include "generated/flight_plan.h"
-#include "subsystems/datalink/downlink.h"
-#include "modules/enose/chemo_detect.h"
-
-enum status { UTURN, CROSSWIND };
-static enum status status;
-static int8_t sign;
-static struct point last_plume;
-
-static void last_plume_was_here(void)
-{
-  last_plume.x = stateGetPositionEnu_f()->x;
-  last_plume.y = stateGetPositionEnu_f()->y;
-}
-
-bool nav_anemotaxis_downwind(uint8_t c, float radius)
-{
-  struct FloatVect2 *wind = stateGetHorizontalWindspeed_f();
-  float wind_dir = atan2(wind->x, wind->y);
-  waypoints[c].x = waypoints[WP_HOME].x + radius * cos(wind_dir);
-  waypoints[c].y = waypoints[WP_HOME].y + radius * sin(wind_dir);
-  return false;
-}
-
-bool nav_anemotaxis_init(uint8_t c)
-{
-  status = UTURN;
-  sign = 1;
-  struct FloatVect2 *wind = stateGetHorizontalWindspeed_f();
-  float wind_dir = atan2(wind->x, wind->y);
-  waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS * cos(wind_dir + M_PI);
-  waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS * sin(wind_dir + M_PI);
-  last_plume_was_here();
-  return false;
-}
-
-bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume)
-{
-  if (chemo_sensor) {
-    last_plume_was_here();
-    waypoints[plume].x = stateGetPositionEnu_f()->x;
-    waypoints[plume].y = stateGetPositionEnu_f()->y;
-    //    DownlinkSendWpNr(plume);
-  }
-
-  struct FloatVect2 *wind = stateGetHorizontalWindspeed_f();
-  float wind_dir = atan2(wind->x, wind->y) + M_PI;
-
-  /** Not null even if wind_east=wind_north=0 */
-  float upwind_x = cos(wind_dir);
-  float upwind_y = sin(wind_dir);
-
-  switch (status) {
-    case UTURN:
-      NavCircleWaypoint(c, DEFAULT_CIRCLE_RADIUS * sign);
-      if (NavQdrCloseTo(DegOfRad(M_PI_2 - wind_dir))) {
-        float crosswind_x = - upwind_y;
-        float crosswind_y = upwind_x;
-        waypoints[c1].x = waypoints[c].x + DEFAULT_CIRCLE_RADIUS * upwind_x;
-        waypoints[c1].y = waypoints[c].y + DEFAULT_CIRCLE_RADIUS * upwind_y;
-
-        float width = Max(2 * ScalarProduct(upwind_x, upwind_y, stateGetPositionEnu_f()->x - last_plume.x,
-                                            stateGetPositionEnu_f()->y - last_plume.y), DEFAULT_CIRCLE_RADIUS);
-
-        waypoints[c2].x = waypoints[c1].x - width * crosswind_x * sign;
-        waypoints[c2].y = waypoints[c1].y - width * crosswind_y * sign;
-
-        //      DownlinkSendWpNr(c1);
-        //      DownlinkSendWpNr(c2);
-
-        status = CROSSWIND;
-        nav_init_stage();
-      }
-      break;
-
-    case CROSSWIND:
-      NavSegment(c1, c2);
-      if (NavApproaching(c2, CARROT)) {
-        waypoints[c].x = waypoints[c2].x + DEFAULT_CIRCLE_RADIUS * upwind_x;
-        waypoints[c].y = waypoints[c2].y + DEFAULT_CIRCLE_RADIUS * upwind_y;
-
-        // DownlinkSendWpNr(c);
-
-        sign = -sign;
-        status = UTURN;
-        nav_init_stage();
-      }
-
-      if (chemo_sensor) {
-        waypoints[c].x = stateGetPositionEnu_f()->x + DEFAULT_CIRCLE_RADIUS * upwind_x;
-        waypoints[c].y = stateGetPositionEnu_f()->y + DEFAULT_CIRCLE_RADIUS * upwind_y;
-
-        // DownlinkSendWpNr(c);
-
-        sign = -sign;
-        status = UTURN;
-        nav_init_stage();
-      }
-      break;
-  }
-  chemo_sensor = 0;
-  return true;
-}
diff --git a/sw/airborne/modules/enose/anemotaxis.h b/sw/airborne/modules/enose/anemotaxis.h
deleted file mode 100644
index 19b55962ad..0000000000
--- a/sw/airborne/modules/enose/anemotaxis.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef ANEMOTAXIS_H
-#define ANEMOTAXIS_H
-
-#include "std.h"
-
-extern bool nav_anemotaxis_downwind(uint8_t c, float radius);
-extern bool nav_anemotaxis_init(uint8_t c);
-extern bool nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume);
-
-#endif /** ANEMOTAXIS_H */
diff --git a/sw/airborne/modules/enose/chemo_detect.c b/sw/airborne/modules/enose/chemo_detect.c
deleted file mode 100644
index 5cd83b3329..0000000000
--- a/sw/airborne/modules/enose/chemo_detect.c
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "chemo_detect.h"
-#include "enose.h"
-
-#define DETECT_PERIOD 8 /* *4Hz */
-#define THRESHOLD 150
-
-uint16_t chemo_sensor;
-
-void chemo_init(void)
-{
-  chemo_sensor = 0;
-}
-
-void chemo_periodic(void)
-{
-#ifdef ENOSE
-  static uint16_t vals[ENOSE_NB_SENSOR][DETECT_PERIOD];
-  static int idx;
-
-  /* Detection on the first sensor */
-  int dval = enose_val[0] - vals[0][idx];
-  if (dval < -THRESHOLD) {
-    chemo_sensor = -dval;
-  } else {
-    chemo_sensor = 0;
-  }
-
-  int i;
-  for (i = 0; i < ENOSE_NB_SENSOR; i++) {
-    vals[i][idx] = enose_val[i];
-  }
-
-  idx++;
-  if (idx > DETECT_PERIOD) {
-    idx = 0;
-  }
-#endif /* ENOSE */
-}
diff --git a/sw/airborne/modules/enose/chemo_detect.h b/sw/airborne/modules/enose/chemo_detect.h
deleted file mode 100644
index 02451941c4..0000000000
--- a/sw/airborne/modules/enose/chemo_detect.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#ifndef CHEMO_DETECT_H
-#define CHEMO_DETECT_H
-
-#include "std.h"
-
-extern uint16_t chemo_sensor;
-#define MAX_CHEMO 400
-
-void chemo_init(void);
-void chemo_periodic(void);
-
-#endif /*  CHEMO_DETECT_H */
diff --git a/sw/airborne/modules/enose/chemotaxis.c b/sw/airborne/modules/enose/chemotaxis.c
deleted file mode 100644
index 4e2a0b9f85..0000000000
--- a/sw/airborne/modules/enose/chemotaxis.c
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "modules/enose/chemotaxis.h"
-#include "generated/airframe.h"
-#include "state.h"
-#include "std.h"
-#include "firmwares/fixedwing/nav.h"
-#include "generated/flight_plan.h"
-#include "subsystems/datalink/downlink.h"
-#include "modules/enose/chemo_detect.h"
-
-#define MAX_RADIUS 250
-#define ALPHA 0.5
-
-static uint8_t last_plume_value;
-
-static float radius;
-static int8_t sign;
-
-bool nav_chemotaxis_init(uint8_t c, uint8_t plume)
-{
-  radius = MAX_RADIUS;
-  last_plume_value = 0;
-  sign = 1;
-  waypoints[plume].x = waypoints[c].x;
-  waypoints[plume].y = waypoints[c].y;
-  return false;
-}
-
-bool nav_chemotaxis(uint8_t c, uint8_t plume)
-{
-
-  if (chemo_sensor > last_plume_value) {
-    /* Move the circle in this direction */
-    float x = stateGetPositionEnu_f()->x - waypoints[plume].x;
-    float y = stateGetPositionEnu_f()->y - waypoints[plume].y;
-    waypoints[c].x = waypoints[plume].x + ALPHA * x;
-    waypoints[c].y = waypoints[plume].y + ALPHA * y;
-    //    DownlinkSendWpNr(c);
-    /* Turn in the right direction */
-    float dir_x = cos(M_PI_2 - stateGetHorizontalSpeedDir_f());
-    float dir_y = sin(M_PI_2 - stateGetHorizontalSpeedDir_f());
-    float pvect = dir_x * y - dir_y * x;
-    sign = (pvect > 0 ? -1 : 1);
-    /* Reduce the radius */
-    radius = sign * (DEFAULT_CIRCLE_RADIUS + (MAX_CHEMO - chemo_sensor) / (float)MAX_CHEMO *
-                     (MAX_RADIUS - DEFAULT_CIRCLE_RADIUS));
-
-
-    /* Store this plume */
-    waypoints[plume].x = stateGetPositionEnu_f()->x;
-    waypoints[plume].y = stateGetPositionEnu_f()->y;
-    // DownlinkSendWpNr(plume);
-    last_plume_value = chemo_sensor;
-  }
-
-  NavCircleWaypoint(c, radius);
-  return true;
-}
diff --git a/sw/airborne/modules/enose/chemotaxis.h b/sw/airborne/modules/enose/chemotaxis.h
deleted file mode 100644
index 629017098f..0000000000
--- a/sw/airborne/modules/enose/chemotaxis.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef CHEMOTAXIS_H
-#define CHEMOTAXIS_H
-
-#include "std.h"
-
-extern bool nav_chemotaxis_init(uint8_t c, uint8_t plume);
-extern bool nav_chemotaxis(uint8_t c, uint8_t plume);
-
-#endif /** CHEMOTAXIS_H */
diff --git a/sw/airborne/modules/enose/enose.c b/sw/airborne/modules/enose/enose.c
deleted file mode 100644
index bb7fa9d614..0000000000
--- a/sw/airborne/modules/enose/enose.c
+++ /dev/null
@@ -1,92 +0,0 @@
-#include <string.h>
-
-#include "modules/enose/enose.h"
-
-#include "mcu_periph/i2c.h"
-#include "mcu_periph/adc.h"
-#include BOARD_CONFIG
-
-
-uint8_t enose_status;
-uint8_t  enose_heat[ENOSE_NB_SENSOR];
-uint16_t enose_val[ENOSE_NB_SENSOR];
-uint16_t enose_PID_val;
-
-#define ENOSE_SLAVE_ADDR 0xAE
-#define ENOSE_PWM_ADDR   0x06
-#define ENOSE_DATA_ADDR  0x00
-#define ENOSE_HEAT_INIT 237
-
-static uint8_t enose_conf_requested;
-static volatile bool enose_i2c_done;
-static struct adc_buf buf_PID;
-
-
-void enose_init(void)
-{
-  uint8_t i;
-  for (i = 0; i < ENOSE_NB_SENSOR; i++) {
-    enose_heat[i] = ENOSE_HEAT_INIT;
-    enose_val[i] = 0;
-  }
-  enose_status = ENOSE_IDLE;
-  enose_conf_requested = true;
-  enose_i2c_done = true;
-
-#ifdef ADC_CHANNEL_PID
-  adc_buf_channel(ADC_CHANNEL_PID, &buf_PID, ADC_CHANNEL_PID_NB_SAMPLES);
-#endif
-}
-
-
-void enose_set_heat(uint8_t no_sensor, uint8_t value)
-{
-  enose_heat[no_sensor] = value;
-  enose_conf_requested = true;
-}
-
-
-#include "mcu_periph/uart.h"
-#include "pprzlink/messages.h"
-#include "subsystems/datalink/downlink.h"
-
-void enose_periodic(void)
-{
-  enose_PID_val = buf_PID.sum / buf_PID.av_nb_sample;
-
-  if (enose_i2c_done) {
-    if (enose_conf_requested) {
-      const uint8_t msg[] = { ENOSE_PWM_ADDR, enose_heat[0], enose_heat[1], enose_heat[2] };
-      memcpy((void *)i2c0_buf, msg, sizeof(msg));
-      i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
-      enose_i2c_done = false;
-      enose_conf_requested = false;
-    } else if (enose_status == ENOSE_IDLE) {
-      enose_status = ENOSE_MEASURING_WR;
-      const uint8_t msg[] = { ENOSE_DATA_ADDR };
-      memcpy((void *)i2c0_buf, msg, sizeof(msg));
-      i2c0_transmit(ENOSE_SLAVE_ADDR, sizeof(msg), &enose_i2c_done);
-      enose_i2c_done = false;
-    } else if (enose_status == ENOSE_MEASURING_WR) {
-      enose_status = ENOSE_MEASURING_RD;
-      i2c0_receive(ENOSE_SLAVE_ADDR, 6, &enose_i2c_done);
-      enose_i2c_done = false;
-    } else if (enose_status == ENOSE_MEASURING_RD) {
-      uint16_t val = (i2c0_buf[0] << 8) | i2c0_buf[1];
-      if (val < 5000) {
-        enose_val[0] = val;
-      }
-      val = (i2c0_buf[2] << 8) | i2c0_buf[3];
-      if (val < 5000) {
-        enose_val[1] = val;
-      }
-      val = (i2c0_buf[4] << 8) | i2c0_buf[5];
-      if (val < 5000) {
-        enose_val[2] = val;
-      }
-      enose_status = ENOSE_IDLE;
-    }
-  }
-  DOWNLINK_SEND_ENOSE_STATUS(DefaultChannel, DefaultDevice, &enose_val[0], &enose_val[1], &enose_val[2], &enose_PID_val,
-                             3, enose_heat);
-}
diff --git a/sw/airborne/modules/enose/enose.h b/sw/airborne/modules/enose/enose.h
deleted file mode 100644
index fa5b16cba3..0000000000
--- a/sw/airborne/modules/enose/enose.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef ENOSE_H
-#define ENOSE_H
-
-#include "std.h"
-
-#define ENOSE_NB_SENSOR 3
-
-extern uint8_t enose_heat[ENOSE_NB_SENSOR];
-extern uint16_t enose_val[ENOSE_NB_SENSOR];
-extern uint16_t enose_PID_val;
-
-#define ENOSE_IDLE         0
-#define ENOSE_SETTINGS     1
-#define ENOSE_MEASURING_WR 2
-#define ENOSE_MEASURING_RD 3
-
-
-extern uint8_t enose_status;
-
-extern void enose_init(void);
-
-extern void enose_set_heat(uint8_t no_sensor, uint8_t value);
-extern void enose_periodic(void);
-
-#define enose_SetHeat0(val) {enose_set_heat(0, val);}
-#define enose_SetHeat1(val) {enose_set_heat(1, val);}
-#define enose_SetHeat2(val) {enose_set_heat(2, val);}
-
-#define enose_DecreaseVal0(_x) { enose_val[0] -= _x; }
-#define enose_DecreaseVal1(_x) { enose_val[1] -= _x; }
-#define enose_DecreaseVal2(_x) { enose_val[2] -= _x; }
-
-
-#endif /* ENOSE_H */
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
deleted file mode 100644
index 26e8a8eaa9..0000000000
--- a/sw/airborne/modules/sensors/pressure_board_navarro.c
+++ /dev/null
@@ -1,161 +0,0 @@
-/*
- * Copyright (C) 2010 ENAC
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** @file modules/sensors/pressure_board_navarro.c
- * Pressure Board Navarro
- */
-
-
-#include "pressure_board_navarro.h"
-#include "subsystems/abi.h"
-
-#ifndef USE_AIRSPEED_PBN
-#if USE_AIRSPEED
-#define USE_AIRSPEED_PBN TRUE
-PRINT_CONFIG_MSG("USE_AIRSPEED_PBN automatically set to TRUE")
-#endif
-#endif
-
-#if USE_AIRSPEED_PBN
-#include "state.h"
-#endif
-
-/** Default I2C device on tiny is i2c0
- */
-#ifndef PBN_I2C_DEV
-#define PBN_I2C_DEV i2c0
-#endif
-
-/** Sensor I2C slave address */
-#define PBN_I2C_ADDR 0x28
-
-/** Number of values to compute an offset at startup */
-#define OFFSET_NBSAMPLES_AVRG 100
-
-/** Number of loops before starting to store data */
-#define PBN_START_DELAY 30
-
-/** Weight for offset IIR filter */
-#define PBN_OFFSET_FILTER 7
-
-/** Quadratic scale factor for airspeed */
-#ifndef PBN_AIRSPEED_SCALE
-#define PBN_AIRSPEED_SCALE (1./0.54)
-#endif
-
-/** Linear scale factor for altitude */
-#ifndef PBN_ALTITUDE_SCALE
-#define PBN_ALTITUDE_SCALE 0.32
-#endif
-
-#ifndef PBN_PRESSURE_OFFSET
-#define PBN_PRESSURE_OFFSET 101325.0
-#endif
-
-
-// Global variables
-struct PBNState pbn;
-struct i2c_transaction pbn_trans;
-
-static uint16_t offset_cnt;
-static uint16_t startup_delay;
-
-void pbn_init(void)
-{
-  startup_delay = PBN_START_DELAY;
-  pbn.altitude_offset = 0;
-  pbn.airspeed_offset = 0;
-  pbn.airspeed_adc = 0;
-  pbn.altitude_adc = 0;
-  pbn.data_valid = true;
-  offset_cnt = OFFSET_NBSAMPLES_AVRG;
-  pbn.airspeed = 0.;
-  pbn.altitude = 0.;
-  pbn.airspeed_filter = PBN_OFFSET_FILTER;
-}
-
-
-void pbn_periodic(void)
-{
-
-  if (startup_delay > 0) {
-    --startup_delay;
-    return;
-  }
-
-  // Initiate next read
-  pbn_trans.buf[0] = 0;
-  i2c_transceive(&PBN_I2C_DEV, &pbn_trans, PBN_I2C_ADDR, 1, 4);
-
-}
-
-void pbn_read_event(void)
-{
-
-  pbn_trans.status = I2CTransDone;
-
-  // Get raw values from buffer
-  pbn.airspeed_adc = ((uint16_t)(pbn_trans.buf[0]) << 8) | (uint16_t)(pbn_trans.buf[1]);
-  pbn.altitude_adc = ((uint16_t)(pbn_trans.buf[2]) << 8) | (uint16_t)(pbn_trans.buf[3]);
-
-  // Consider 0 as a wrong value
-  if (pbn.airspeed_adc == 0 || pbn.altitude_adc == 0) {
-    pbn.data_valid = false;
-  } else {
-    pbn.data_valid = true;
-
-    if (offset_cnt > 0) {
-      // IIR filter to compute an initial offset
-#ifndef PBN_AIRSPEED_OFFSET
-      pbn.airspeed_offset = (PBN_OFFSET_FILTER * pbn.airspeed_offset + pbn.airspeed_adc) /
-                            (PBN_OFFSET_FILTER + 1);
-#else
-      pbn.airspeed_offset = PBN_AIRSPEED_OFFSET;
-#endif
-#ifndef PBN_ALTITUDE_OFFSET
-      pbn.altitude_offset = (PBN_OFFSET_FILTER * pbn.altitude_offset + pbn.altitude_adc) /
-                            (PBN_OFFSET_FILTER + 1);
-#else
-      pbn.altitude_offset = PBN_ALTITUDE_OFFSET;
-#endif
-
-      // decrease init counter
-      --offset_cnt;
-    } else {
-      // Compute pressure
-      float pressure = PBN_ALTITUDE_SCALE * (float) pbn.altitude_adc + PBN_PRESSURE_OFFSET;
-      AbiSendMsgBARO_ABS(BARO_PBN_SENDER_ID, pressure);
-      // Compute airspeed and altitude
-      //pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
-      uint16_t diff = Max(pbn.airspeed_adc - pbn.airspeed_offset, 0);
-      float tmp_airspeed = sqrtf((float)diff * PBN_AIRSPEED_SCALE);
-      pbn.airspeed = (pbn.airspeed_filter * pbn.airspeed + tmp_airspeed) /
-                     (pbn.airspeed_filter + 1.);
-#if USE_AIRSPEED_PBN
-      stateSetAirspeed_f(pbn.airspeed);
-#endif
-
-      pbn.altitude = PBN_ALTITUDE_SCALE * (float)(pbn.altitude_adc - pbn.altitude_offset);
-    }
-
-  }
-}
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h
deleted file mode 100644
index efa352dbfd..0000000000
--- a/sw/airborne/modules/sensors/pressure_board_navarro.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * Copyright (C) 2010 ENAC
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** @file modules/sensors/pressure_board_navarro.h
- *
- * Pressure Board Navarro (2010)
- *
- * by Matthieu Navarro
- *
- * combine differential and absolute pressure sensor (ETS raw sensors)
- * controlled by a dspic
- * return scaled values over I2C
- *
- */
-
-#ifndef PRESSURE_BOARD_NAVARRO_H
-#define PRESSURE_BOARD_NAVARRO_H
-
-#include "std.h"
-#include "mcu_periph/i2c.h"
-
-struct PBNState {
-  uint16_t altitude_adc;
-  uint16_t airspeed_adc;
-  uint16_t altitude_offset;
-  uint16_t airspeed_offset;
-  float altitude;
-  float airspeed;
-  float airspeed_filter;
-  bool data_valid;
-};
-
-extern struct PBNState pbn;
-
-extern struct i2c_transaction pbn_trans;
-
-extern void pbn_init(void);
-extern void pbn_periodic(void);
-extern void pbn_read_event(void);
-
-#define PbnEvent() { if (pbn_trans.status == I2CTransSuccess) pbn_read_event(); }
-
-#endif // PRESSURE_BOARD_NAVARRO_H
diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
index 64cbbb070f..b677490d4b 100644
--- a/sw/airborne/subsystems/abi_sender_ids.h
+++ b/sw/airborne/subsystems/abi_sender_ids.h
@@ -68,10 +68,6 @@
 #define BARO_SCP_SENDER_ID 17
 #endif
 
-#ifndef BARO_PBN_SENDER_ID
-#define BARO_PBN_SENDER_ID 18
-#endif
-
 #ifndef BARO_SIM_SENDER_ID
 #define BARO_SIM_SENDER_ID 19
 #endif