diff --git a/conf/airframes/HooperFly/conf_hooperfly.xml b/conf/HOOPERFLY/hooperfly_conf.xml
similarity index 65%
rename from conf/airframes/HooperFly/conf_hooperfly.xml
rename to conf/HOOPERFLY/hooperfly_conf.xml
index 3978f959bc..c838a21f70 100644
--- a/conf/airframes/HooperFly/conf_hooperfly.xml
+++ b/conf/HOOPERFLY/hooperfly_conf.xml
@@ -1,68 +1,68 @@
 <conf>
-  <aircraft
-   name="Teensy_Fly_Quad_Elle0"
-   ac_id="217"
-   airframe="airframes/HooperFly/teensyfly_quad_elle0.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
-   gui_color="purple"
-  />
-  <aircraft
-   name="Teensy_Fly_Quad"
-   ac_id="218"
-   airframe="airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="Teensy_Fly_Hexa"
-   ac_id="219"
-   airframe="airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="Racer_PEX_Quad"
-   ac_id="220"
-   airframe="airframes/HooperFly/racerpex_quad_lisa_mx_20.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="Racer_PEX_Hexa"
    ac_id="221"
-   airframe="airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml"
+   airframe="airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
    gui_color="green"
   />
   <aircraft
    name="Racer_PEX_Octo"
    ac_id="222"
-   airframe="airframes/HooperFly/racerpex_octo_lisa_mx_20.xml"
+   airframe="airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
    gui_color="yellow"
   />
+  <aircraft
+   name="Racer_PEX_Quad"
+   ac_id="220"
+   airframe="airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="Teensy_Fly_Hexa"
+   ac_id="219"
+   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Teensy_Fly_Quad"
+   ac_id="218"
+   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="Teensy_Fly_Quad_Elle0"
+   ac_id="217"
+   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   gui_color="purple"
+  />
 </conf>
diff --git a/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
similarity index 99%
rename from conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
rename to conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
index 5f95e710bb..a34853de1a 100644
--- a/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
@@ -230,7 +230,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HooperFly/racerpex_hexa&quot;"/>
+    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_racerpex_hexa&quot;"/>
     <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
diff --git a/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
similarity index 99%
rename from conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
rename to conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
index 665a0bf648..a858975d3b 100644
--- a/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
@@ -224,7 +224,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;fl1_motor&quot;, &quot;fr2_motor&quot;, &quot;fr3_motor&quot;, &quot;br4_motor&quot;, &quot;br5_motor&quot;, &quot;bl6_motor&quot;, &quot;bl7_motor&quot;, &quot;fl8_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_octo&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;HOOPERFLY/hooperfly_racerpex_octo&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
diff --git a/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
similarity index 99%
rename from conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
rename to conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
index c0d41f25b9..32fd9f8c2f 100644
--- a/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
@@ -226,7 +226,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HooperFly/racerpex_quad&quot;"/>
+    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_racerpex_quad&quot;"/>
     <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
diff --git a/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
similarity index 99%
rename from conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
rename to conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
index 18795bd7f6..ce7c24d279 100644
--- a/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
@@ -230,7 +230,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HooperFly/teensyfly_hexa&quot;"/>
+    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_hexa&quot;"/>
     <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
diff --git a/conf/airframes/HooperFly/teensyfly_quad_elle0.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
similarity index 99%
rename from conf/airframes/HooperFly/teensyfly_quad_elle0.xml
rename to conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
index fb240318c6..dd53082c93 100644
--- a/conf/airframes/HooperFly/teensyfly_quad_elle0.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
@@ -225,7 +225,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HooperFly/teensyfly_quad&quot;"/>
+    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_quad&quot;"/>
     <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
diff --git a/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
similarity index 99%
rename from conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
rename to conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
index 409feb07b8..d2d6d22a09 100644
--- a/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
@@ -226,7 +226,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HooperFly/teensyfly_quad&quot;"/>
+    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_quad&quot;"/>
     <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
diff --git a/conf/flight_plans/HooperFly/rotorcraft_multiflight.xml b/conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
similarity index 100%
rename from conf/flight_plans/HooperFly/rotorcraft_multiflight.xml
rename to conf/flight_plans/HOOPERFLY/hooperfly_rotorcraft_multiflight.xml
diff --git a/conf/simulator/jsbsim/aircraft/HooperFly/racerpex_hexa.xml b/conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_hexa.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/HooperFly/racerpex_hexa.xml
rename to conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_hexa.xml
diff --git a/conf/simulator/jsbsim/aircraft/HooperFly/racerpex_octo.xml b/conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_octo.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/HooperFly/racerpex_octo.xml
rename to conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_octo.xml
diff --git a/conf/simulator/jsbsim/aircraft/HooperFly/racerpex_quad.xml b/conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_quad.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/HooperFly/racerpex_quad.xml
rename to conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_racerpex_quad.xml
diff --git a/conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_hexa.xml b/conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_teensyfly_hexa.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_hexa.xml
rename to conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_teensyfly_hexa.xml
diff --git a/conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_quad.xml b/conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_teensyfly_quad.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_quad.xml
rename to conf/simulator/jsbsim/aircraft/HOOPERFLY/hooperfly_teensyfly_quad.xml
diff --git a/data/pictures/gcs_icons/cv_blob.png b/data/pictures/gcs_icons/cv_blob.png
old mode 100755
new mode 100644
diff --git a/data/pictures/gcs_icons/cv_marker.png b/data/pictures/gcs_icons/cv_marker.png
old mode 100755
new mode 100644
diff --git a/data/pictures/gcs_icons/cv_window.png b/data/pictures/gcs_icons/cv_window.png
old mode 100755
new mode 100644
diff --git a/data/pictures/gcs_icons/dcstart.png b/data/pictures/gcs_icons/dcstart.png
old mode 100755
new mode 100644
diff --git a/data/pictures/gcs_icons/dcstop.png b/data/pictures/gcs_icons/dcstop.png
old mode 100755
new mode 100644