diff --git a/conf/airframes/flixr/conf.xml b/conf/airframes/flixr/conf.xml
index 07e0ee6266..032f47af7e 100644
--- a/conf/airframes/flixr/conf.xml
+++ b/conf/airframes/flixr/conf.xml
@@ -22,15 +22,15 @@
    gui_color="blue"
   />
   <aircraft
-   name="cc3d"
-   ac_id="21"
+   name="demo_cc3d"
+   ac_id="2"
    airframe="airframes/untested/demo_cc3d.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/demo.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/test_actuators_pwm.xml"
-   gui_color="blue"
    settings_modules=""
+   gui_color="blue"
   />
   <aircraft
    name="discovery"
@@ -76,6 +76,17 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="quad_cc3d"
+   ac_id="3"
+   airframe="airframes/untested/quad_cc3d.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
   <aircraft
    name="test_bbb"
    ac_id="1"
diff --git a/conf/airframes/untested/quad_cc3d.xml b/conf/airframes/untested/quad_cc3d.xml
new file mode 100644
index 0000000000..9594b00f43
--- /dev/null
+++ b/conf/airframes/untested/quad_cc3d.xml
@@ -0,0 +1,216 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is a quadrotor frame with the OpenPilot CC3D board:
+    * Autopilot:   OpenPilot CC3D         https://www.openpilot.org/product/coptercontrol/
+-->
+
+<airframe name="QuadCC3D">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="cc3d">
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm"           type="jsbsim"/>
+    </target>
+
+    <subsystem name="radio_control" type="spektrum">
+      <define name="RADIO_MODE" value="RADIO_AUX1"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+    </subsystem>
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+    </subsystem>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="imu"           type="mpu6000"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat">
+      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
+    </subsystem>
+    <subsystem name="ins"/>
+
+    <!-- CC3D board does not have a mag -->
+    <configure name="USE_MAGNETOMETER" value="FALSE"/>
+    <!-- compress trig tables so it fits in board -->
+    <define name="PPRZ_TRIG_INT_COMPR_FLASH"/>
+    <define name="PPRZ_TRIG_INT_COMPR_LOW"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" board="cc3d"/>
+  </firmware>
+
+  <firmware name="test_progs">
+    <target name="test_sys_time_timer" board="cc3d"/>
+    <target name="test_sys_time_usleep" board="cc3d"/>
+    <target name="test_telemetry" board="cc3d"/>
+    <target name="test_imu" board="cc3d">
+      <subsystem name="imu" type="mpu6000"/>
+    </target>
+    <target name="test_ahrs" board="cc3d">
+      <subsystem name="imu" type="mpu6000"/>
+      <subsystem name="ahrs" type="int_cmpl_quat"/>
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+    </target>
+    <target name="test_actuators_pwm" board="cc3d"/>
+    <target name="test_math_trig_compressed" board="cc3d"/>
+  </firmware>
+
+  <modules main_freq="512">
+  </modules>
+
+  <servos driver="Pwm">
+    <servo name="FL"   no="0" min="1000" neutral="1100" max="2000"/>
+    <servo name="FR"   no="1" min="1000" neutral="1100" max="2000"/>
+    <servo name="BR"   no="2" min="1000" neutral="1100" max="2000"/>
+    <servo name="BL"   no="3" min="1000" neutral="1100" max="2000"/>
+  </servos>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
+    <define name="TYPE" value="QUAD_X"/>
+  </section>
+
+  <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_motors_on,FALSE,values)"/>
+    <set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="MAG_X_NEUTRAL" value="22"/>
+    <define name="MAG_Y_NEUTRAL" value="-314"/>
+    <define name="MAG_Z_NEUTRAL" value="13"/>
+    <define name="MAG_X_SENS" value="3.68160078446" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.6093630842" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.48306842466" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="180." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="60." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="60." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="400" 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="400" 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="250" unit="deg/s"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="1000"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="200"/>
+
+    <define name="THETA_PGAIN"  value="1000"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="200"/>
+
+    <define name="PSI_PGAIN"  value="500"/>
+    <define name="PSI_DGAIN"  value="300"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="300"/>
+    <define name="THETA_DDGAIN" value="300"/>
+    <define name="PSI_DDGAIN"   value="300"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP"    value="150"/>
+    <define name="HOVER_KD"    value="80"/>
+    <define name="HOVER_KI"    value="20"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="APPROX_FORCE_BY_THRUST" value="TRUE"/>
+    <define name="MAX_BANK" value="30" unit="deg"/>
+    <define name="USE_SPEED_REF" value="TRUE"/>
+    <define name="PGAIN" value="50"/>
+    <define name="DGAIN" value="100"/>
+    <define name="AGAIN" value="70"/>
+    <define name="IGAIN" value="20"/>
+  </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"/>
+    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
+    <define name="JS_AXIS_MODE" value="4"/>
+  </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_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <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>