diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index eec8ef6c03..a3c11c3f18 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -1,41 +1,8 @@
 <conf>
-  <aircraft
-   name="APOGEE"
-   ac_id="3"
-   airframe="airframes/ENAC/fixed-wing/apogee.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/fixedwing_flight_recorder.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   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/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
-   gui_color="#fdeb90060000"
-  />
-  <aircraft
-   name="CRAZYFLIE"
-   ac_id="5"
-   airframe="airframes/ENAC/quadrotor/crazyflie_2.1.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/ENAC/crazyflie_multi_ranger_test.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="CYFOAM"
    ac_id="6"
-   airframe="airframes/ENAC/cyfoam.xml"
+   airframe="airframes/ENAC/hybrid/cyfoam.xml"
    radio="radios/T10CG_SBUS.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -44,71 +11,16 @@
    gui_color="#ffff7f7f0000"
   />
   <aircraft
-   name="JP"
+   name="ZAGI"
    ac_id="12"
-   airframe="airframes/ENAC/fixed-wing/jp.xml"
+   airframe="airframes/ENAC/fixed-wing/zagi_test.xml"
    radio="radios/R617FS_5ch_neg.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml [settings/nps.xml]"
-   settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/gps.xml modules/gps_ublox.xml [modules/gps_ubx_ucenter.xml] modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_adaptive_fw.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml [modules/gps_ubx_ucenter.xml] modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_adaptive_fw.xml"
    gui_color="#ffff7d7d0000"
   />
-  <aircraft
-   name="LISAMX"
-   ac_id="10"
-   airframe="airframes/examples/quadrotor_lisa_mx.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/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="MATEK"
-   ac_id="7"
-   airframe="airframes/ENAC/fixed-wing/matek_f765_wing.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="NUCLEO"
-   ac_id="4"
-   airframe="airframes/ENAC/nucleo144_test.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="PX4FMUv5"
-   ac_id="8"
-   airframe="airframes/tudelft/mentor.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="TAWAKI"
-   ac_id="1"
-   airframe="airframes/ENAC/fixed-wing/tawaki.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/fixedwing_flight_recorder.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="RoBoBee"
    ac_id="2"
@@ -142,17 +54,6 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
    gui_color="#c6d33e3ef958"
   />
-  <aircraft
-   name="matek"
-   ac_id="9"
-   airframe="airframes/examples/matek_h743_slim.xml"
-   radio="radios/FrSky_X-Lite.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml"
-   gui_color="red"
-  />
   <aircraft
    name="CobraV2"
    ac_id="11"
@@ -164,4 +65,37 @@
    settings_modules="modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
    gui_color="#55005500ff00"
   />
+  <aircraft
+   name="MAYA"
+   ac_id="1"
+   airframe="airframes/ENAC/quadrotor/maya_outdoor.xml"
+   radio="radios/FrSky_X-Lite.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/competitions/IMAV2023_dynamic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
+   gui_color="#c6d33e3ef958"
+  />
+  <aircraft
+   name="FALCON_V2"
+   ac_id="3"
+   airframe="airframes/ENAC/hybrid/falcon_v2.xml"
+   radio="radios/T10CG_SBUS.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_sdp3x.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
+   gui_color="#ffff7f7f0000"
+  />
+  <aircraft
+   name="PANACHE_1"
+   ac_id="4"
+   airframe="airframes/ENAC/fixed-wing/panache_1.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/ahrs_float_dcm.xml modules/air_data.xml modules/e_identification_fr.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="#ffff7d7d0000"
+  />
 </conf>
diff --git a/conf/airframes/ENAC/fixed-wing/crrcsim.xml b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
index 3c3db39a7f..73f3db098b 100644
--- a/conf/airframes/ENAC/fixed-wing/crrcsim.xml
+++ b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
@@ -1,13 +1,11 @@
 <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
 
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     UBX GPS
-     Airspeed sensor
-     Digital camera
--->
-
 <airframe name="CRRCSIM demo">
 
+  <description>
+    Demo for the CRRCSIM simulator with NPS
+  </description>
+
   <firmware name="fixedwing">
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
diff --git a/conf/airframes/ENAC/fixed-wing/panache_1.xml b/conf/airframes/ENAC/fixed-wing/panache_1.xml
new file mode 100644
index 0000000000..2690fd6178
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/panache_1.xml
@@ -0,0 +1,199 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="Panache_1">
+
+  <description>
+    Talon GT Rebel
+    Project Panache
+    AP: Tawaki
+    GPS: Ublox
+    Modem: XBee
+  </description>
+
+  <firmware name="fixedwing">
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
+
+    <target name="ap" board="tawaki_1.1">
+      <module name="radio_control" type="sbus"/>
+      <define name="USE_PWM5"/>
+      <define name="USE_PWM_TIM4"/>
+    </target>
+    <target name="nps" board="pc">
+      <module name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+
+      <!-- to use real panache board in simulation, remove target="ap" from extra_dl.xml -->
+      <module name="uart"/>
+      <define name="UART6_DEV" value="/dev/ttyUSB0"/>
+    </target>
+    <module name="telemetry" type="xbee_api"/> 
+    <module name="board" type="tawaki"/>
+    <module name="ahrs" type="float_dcm"/> <!--Attitude and heading reference system-->
+    <module name="ins" type="alt_float"/><!--Inertial navigation system-->
+    <module name="air_data"/>
+    <module name="gps" type="ublox">
+      <configure name="GPS_BAUD" value="B115200"/>
+    </module>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
+
+    <module name="e_identification_fr">
+      <configure name="E_ID_PORT" value="UART3"/>
+      <configure name="E_ID_BAUD" value="B115200"/>
+    </module>
+
+    <module name="flight_recorder"/>
+
+    <!--  panache_sensor depends on flight_recorder and extra_dl >-->
+    <!--module name="panache_sensor">
+      <configure name="PANACHE_PORT" value="uart3"/>
+      <configure name="PANACHE_BAUD" value="B230400"/>
+    </module-->
+
+  </firmware>
+
+  <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>
+
+  <servos>
+    <servo name="TAIL_RIGHT" no="1" min="1000" neutral="1400" max="1800"/>
+    <servo name="TAIL_LEFT" no="2" min="1950" neutral="1550" max="1150"/>
+    <servo name="AILERON_RIGHT" no="3" min="1960" neutral="1660" max="1260"/> 
+    <servo name="AILERON_LEFT" no="4" min="1780" neutral="1380" max="1080"/>
+    <servo name="MOTOR" no="5" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <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_RATE"   value="0.85"/>
+    <define name="ELEVATOR_RATE"  value="0.85"/>
+    <define name="RUDDER_RATE"    value="0.75"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR"          value="@THROTTLE"/>
+    <set servo="AILERON_LEFT"   value="@ROLL * AILERON_RATE"/>
+    <set servo="AILERON_RIGHT"  value="@ROLL * AILERON_RATE"/>
+    <set servo="TAIL_LEFT"      value="- @PITCH * ELEVATOR_RATE - @YAW * RUDDER_RATE"/>
+    <set servo="TAIL_RIGHT"     value="- @PITCH * ELEVATOR_RATE + @YAW * RUDDER_RATE"/>
+  </command_laws>
+
+  <section name="GVF" prefix="GVF_">
+    <define name="LINE_KE" value="2.5"/>
+    <define name="ELLIPSE_KE" value="0.8"/>
+    <define name="ELLIPSE_KN" value="0.6"/>
+  </section>
+
+  <section name="GVF_PARAMETRIC" prefix="GVF_PARAMETRIC_">
+    <define name="3D_LISSAJOUS_KX" value="0.001"/>
+    <define name="3D_LISSAJOUS_KY" value="0.001"/>
+    <define name="3D_LISSAJOUS_KZ" value="0.001"/>
+  </section>
+
+  <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_">
+    <define name="ACCEL_X_NEUTRAL" value="-89"/>
+    <define name="ACCEL_Y_NEUTRAL" value="40"/>
+    <define name="ACCEL_Z_NEUTRAL" value="42"/>
+    <define name="ACCEL_X_SENS" value="2.5489897051228363" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.4490240616062073" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.4604910680255285" 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="180" unit="deg"/>
+  </section>
+
+  <include href="conf/mag/toulouse_muret.xml"/>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="12.6" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="16.8"/>
+    <define name="BAT_NB_CELLS" value="4"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="18." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.06"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+    <!-- 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="0.6"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.003"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.005"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.09"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.024"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.013"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
+    <define name="PITCH_TRIM" value="-0.4" unit="deg"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.4"/>
+    <define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
+    <define name="PITCH_PGAIN" value="10210"/>
+    <define name="PITCH_IGAIN" value="322"/>
+    <define name="PITCH_DGAIN" value="1485"/>
+
+    <define name="ROLL_RATE_GAIN" value="1000"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="40" unit="deg"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11770"/>
+  </section>
+
+  <section name="CATAPULT" prefix="NAV_CATAPULT_">
+    <define name="ACCELERATION_THRESHOLD" value="1.2" description="acceleration threshold in multiples of g" unit="g"/>
+    <define name="ACCELERATION_DETECTION" value="2" description="number acceleration measurments above threshold for launch detection"/>
+    <define name="MOTOR_DELAY" value="0.5" description="delay until motor is turned on in seconds" unit="s"/>
+    <define name="HEADING_DELAY" value="3.0" description="delay until heading is unlocked in seconds" unit="s"/>
+    <define name="INITIAL_PITCH" value="15." description="inital pitch in radians (default 10deg)" unit="deg"/>
+    <define name="INITIAL_THROTTLE" value="1.0" description="initial throttle (0.0 to 1.0)" unit="%"/>
+    <define name="CLIMB_DISTANCE" value="200" description="distance of the climb waypoint in front of the catapult" unit="m"/>
+    <define name="TIMEOUT" value="30." description="timeout to disarm the high freq module" unit="s"/>
+  </section>
+
+
+  <section name="NAV_LANDING" prefix="NAV_LANDING_">
+    <define name="AF_HEIGHT" value="25"/>
+    <define name="FLARE_HEIGHT" value="8"/>
+  </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="10." unit="deg"/>
+    <define name="DEFAULT_PITCH" value="4." unit="deg"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_LAUNCHSPEED" value="15"/>
+    <define name="JSBSIM_MODEL" value="easystar" type="string"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/zagi_test.xml
similarity index 99%
rename from conf/airframes/ENAC/fixed-wing/jp.xml
rename to conf/airframes/ENAC/fixed-wing/zagi_test.xml
index c05349021a..19a8abf4a1 100644
--- a/conf/airframes/ENAC/fixed-wing/jp.xml
+++ b/conf/airframes/ENAC/fixed-wing/zagi_test.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
 
-<airframe name="JP">
+<airframe name="Zagi test">
 
   <firmware name="fixedwing">
 
diff --git a/conf/airframes/ENAC/hoops_gen_ap.xml b/conf/airframes/ENAC/hoops_gen_ap.xml
deleted file mode 100644
index 329a250178..0000000000
--- a/conf/airframes/ENAC/hoops_gen_ap.xml
+++ /dev/null
@@ -1,277 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   ELLE0 1.2 with STM32F4    http://wiki.paparazziuav.org/wiki/ELLE0
-     * IMU:         MPU9250 & MS5611          http://wiki.paparazziuav.org/wiki/ELLE0#IMU
-     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
-     * (GPS:         Ublox                    http://wiki.paparazziuav.org/wiki/Subsystem/gps)
-     * RC:          one (two) Spektrum sats   http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="Hooper Gen AP">
-
-  <firmware name="rotorcraft">
-    <autopilot name="rotorcraft_autopilot.xml"/>
-
-    <configure name="AHRS_ALIGNER_LED" value="2"/>
-    <define name="IMU_MPU9250_READ_MAG" value="0"/>
-    <define name="LOW_NOISE_THRESHOLD" value="3500"/>
-    <define name="LOW_NOISE_TIME" value="10"/>
-
-    <target name="ap" board="elle0_1.2">
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_MODE" value="RADIO_FLAP"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="elle0"/>
-    <module name="mag"           type="hmc58xx">
-      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
-      <define name="HMC58XX_CHAN_X" value="1"/>
-      <define name="HMC58XX_CHAN_Y" value="0"/>
-    </module>
-    <module name="gps"           type="ublox">
-      <configure name="GPS_BAUD" value="B115200"/>
-    </module>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           />
-
-    <!--module name="geo_mag"/-->
-    <module name="air_data"/>
-    <module name="stabilization" type="rate"/>
-
-    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
-    <module name="bat_checker">
-      <define name="BAT_CHECKER_GPIO" value="GPIOA,GPIO0"/>
-      <define name="USE_PWM5" value="0"/>
-    </module>
-  </firmware>
-
-  <servos driver="Pwm">
-    <servo name="FL" no="0" min="1000" neutral="1200" max="2000"/>
-    <servo name="FR" no="1" min="1000" neutral="1200" max="2000"/>
-    <servo name="BR" no="2" min="1000" neutral="1200" max="2000"/>
-    <servo name="BL" no="3" min="1000" neutral="1200" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <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>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="ACCEL_X_NEUTRAL" value="-55"/>
-    <define name="ACCEL_Y_NEUTRAL" value="3"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-141"/>
-    <define name="ACCEL_X_SENS" value="2.44645099697" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.44618333167" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.43722535075" integer="16"/>
-
-
-    <!-- MPU MAG -->
-    <!--define name="MAG_X_NEUTRAL" value="-326"/>
-    <define name="MAG_Y_NEUTRAL" value="-82"/>
-    <define name="MAG_Z_NEUTRAL" value="-448"/>
-    <define name="MAG_X_SENS" value="8.93784052264" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.76983337164" integer="16"/>
-    <define name="MAG_Z_SENS" value="8.15871475442" integer="16"/-->
-
-    <!-- HMC MAG -->
-    <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="-86"/>
-    <define name="MAG_Y_NEUTRAL" value="41"/>
-    <define name="MAG_Z_NEUTRAL" value="-32"/>
-    <define name="MAG_X_SENS" value="3.73940141026" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.81423665322" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.15369264623" integer="16"/>
-
-    <!--define name= "MAG_X_CURRENT_COEF" value="0.0350248861409"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="-0.0118884242797"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="0.0176235525201"/-->
-
-    <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="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module if loaded -->
-    <!-- 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_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" value="300" unit="deg/s"/>
-    <define name="SP_MAX_Q" value="300" unit="deg/s"/>
-    <define name="SP_MAX_R" value="240" unit="deg/s"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="1000"/>
-    <define name="GAIN_Q" value="1000"/>
-    <define name="GAIN_R" value="800"/>
-
-    <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="45." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="200." 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="250." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="500"/>
-    <define name="PHI_DGAIN"  value="260"/>
-    <define name="PHI_IGAIN"  value="100"/>
-
-    <define name="THETA_PGAIN"  value="500"/>
-    <define name="THETA_DGAIN"  value="260"/>
-    <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="300"/>
-    <define name="THETA_DDGAIN" value="300"/>
-    <define name="PSI_DDGAIN"   value="300"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.05"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0022"/>
-    <define name="G2_R" value="0.20"/>
-
-    <!--unit: Hz-->
-    <define name="FILT_CUTOFF_P" value="20.0"/>
-    <define name="FILT_CUTOFF_Q" value="20.0"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="170.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="14.3"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_FREQ_P" value="31.7"/>
-    <define name="ACT_FREQ_Q" value="31.7"/>
-    <define name="ACT_FREQ_R" value="31.7"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </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="MAX_BANK" value="20" 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="HOOPERFLY/hooperfly_teensyfly_quad" 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"/> <!-- for compilation -->
-    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/> <!-- for compilation -->
-    <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="9.8" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000" unit="mA"/>
-    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
-  </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"/>
-    <define name="AC_ICON"             value="quadrotor_x"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/cyfoam.xml b/conf/airframes/ENAC/hybrid/cyfoam.xml
similarity index 79%
rename from conf/airframes/ENAC/cyfoam.xml
rename to conf/airframes/ENAC/hybrid/cyfoam.xml
index f942842470..d8897cd6cc 100644
--- a/conf/airframes/ENAC/cyfoam.xml
+++ b/conf/airframes/ENAC/hybrid/cyfoam.xml
@@ -1,10 +1,13 @@
-<!--Foam Cyclone Airframe
-  Chimera AP
-  Xbee API
-  Ublox M8N
-  SBUS Futaba -->
 
-<airframe name="foam cylone">
+<airframe name="Cylone">
+
+  <description>
+    Foam Cyclone Airframe
+    Chimera AP
+    Xbee API
+    Ublox M8N
+    SBUS Futaba
+  </description>
 
   <firmware name="rotorcraft">
     <target name="ap" board="chimera_1.0">
@@ -15,16 +18,7 @@
         <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
       </module>
 
-      <module name="eff_scheduling_cyfoam">
-        <define name="SQUARED_ROLL_EFF" value="0.0018"/>
-        <define name="PITCH_EFF_AT_60" value="4.0"/>
-        <define name="YAW_EFF_AT_60" value="8.0"/>
-        <!--function of the form: A + B*airspeed^2-->
-        <define name="CE_PITCH_A" value="2.4169"/>
-        <define name="CE_PITCH_B" value="0.0307"/>
-        <define name="CE_YAW_A" value="5.631"/>
-        <define name="CE_YAW_B" value="0.0515"/>
-      </module>
+      <module name="eff_scheduling_cyfoam"/>
 
       <!--Switch advanced INDI scheduling functions on or off-->
       <define name="INDI_FUNCTIONS_RC_CHANNEL" value="6"/>
@@ -34,10 +28,6 @@
       <module name="fdm" type="jsbsim"/>
       <module name="udp"/>
       <module name="radio_control" type="datalink"/>
-      <module name="logger_file">
-        <define name="LOGGER_FILE_PATH" value="/home/ewoud/Documents"/>
-      </module>
-
       <!--Switch advanced INDI scheduling functions on or off-->
       <!--Take the mode channel for simulation-->
       <define name="INDI_FUNCTIONS_RC_CHANNEL" value="4"/>
@@ -88,24 +78,7 @@
       <define name="WLS_N_U" value="4"/>
       <define name="WLS_N_V" value="4"/>
     </module>
-    <module name="guidance"      type="indi">
-      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
-      <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
-      <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
-      <define name="GUIDANCE_INDI_POS_GAINZ" value="0.5"/>
-      <define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.8"/>
-      <define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
-      <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
-      <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
-      <define name="GUIDANCE_INDI_MIN_THROTTLE" value="4000"/>
-      <define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
-      <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
-      <!--Flap effectiveness on lift-->
-      <define name="FE_LIFT_A_PITCH" value="0.00018"/>
-      <define name="FE_LIFT_B_PITCH" value="0.00072"/>
-      <define name="FE_LIFT_A_AS" value="0.0008"/>
-      <define name="FE_LIFT_B_AS" value="0.00009"/>
-    </module>
+    <module name="guidance"      type="indi"/>
 
     <!--<module name="ahrs"          type="int_cmpl_quat">-->
       <!--<configure name="USE_MAGNETOMETER" value="TRUE"/>-->
@@ -114,21 +87,16 @@
       <!--[><define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/><]-->
       <!--[><define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="TRUE"/><]-->
       <!--</module>-->
-
     <!--<module name="ins"/>-->
     <module name="ins" type="float_invariant">
       <define name="INS_PROPAGATE_FREQUENCY" value="500"/>
       <define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
     </module>
 
-    <!--<module name="gps" type="ubx_ucenter"/>-->
-    <module name="tlsf"/>
-    <module name="pprzlog">
+    <module name="logger" type="sd_chibios">
       <define name="SDLOG_START_DELAY" value="10"/>
     </module>
-    <module name="logger" type="sd_chibios"/>
     <!--<module name="flight_recorder"/>-->
-    <!--<module name="logger_spi_link"/>-->
 
     <!--Use an airspeed sensor and get the measured airspeed in the messages-->
     <module name="airspeed" type="ms45xx_i2c">
@@ -136,15 +104,13 @@
       <define name="MS45XX_PRESSURE_SCALE" value="1.546"/> <!-- 2.4 / 1.6327 * 1.0521 -->
     </module>
 
-    <!--<module name="pwm_meas"/>-->
-    <!--<module name="AOA_pwm">-->
-      <!--<define name="AOA_PWM_CHANNEL" value="PWM_INPUT1"/>-->
-      <!--</module>-->
-
-    <module name="pwm_meas">
+    <!--
+    <module name="AOA_pwm">
+      <define name="AOA_PWM_CHANNEL" value="PWM_INPUT1"/>
       <define name="USE_PWM_INPUT1" value="PWM_PULSE_TYPE_ACTIVE_LOW"/>
       <define name="USE_PWM_INPUT2" value="PWM_PULSE_TYPE_ACTIVE_LOW"/>
     </module>
+    -->
 
   </firmware>
 
@@ -153,7 +119,6 @@
     <servo name="ELEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
     <servo name="RM" no="2" min="1000" neutral="1100" max="2000"/>
     <servo name="LM" no="3" min="1000" neutral="1100" max="2000"/>
-    <!--<servo name="SERVO_TEST" no="4" min="1000" neutral="1500" max="2000"/>-->
   </servos>
 
   <commands>
@@ -173,8 +138,6 @@
     <set servo="ELEVON_RIGHT"    value="autopilot.motors_on ? actuators_pprz[1] : 0"/>
     <set servo="RM"              value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
     <set servo="LM"              value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
-    <!--<set servo="RM"              value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
-    <!--<set servo="LM"              value="autopilot_motors_on ? -MAX_PPRZ : -MAX_PPRZ"/>-->
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -257,18 +220,39 @@
     <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
+  <section name="GUIDANCE_INDI">
+    <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+    <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
+    <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
+    <define name="GUIDANCE_INDI_POS_GAINZ" value="0.5"/>
+    <define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.8"/>
+    <define name="GUIDANCE_INDI_LIFTD_ASQ" value="0.20"/>
+    <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
+    <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
+    <define name="GUIDANCE_INDI_MIN_THROTTLE" value="4000"/>
+    <define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1500"/>
+    <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
+    <!--Flap effectiveness on lift-->
+    <define name="FE_LIFT_A_PITCH" value="0.00018"/>
+    <define name="FE_LIFT_B_PITCH" value="0.00072"/>
+    <define name="FE_LIFT_A_AS" value="0.0008"/>
+    <define name="FE_LIFT_B_AS" value="0.00009"/>
+    <!-- Efficiency scheduling -->
+    <define name="SQUARED_ROLL_EFF" value="0.0018"/>
+    <define name="PITCH_EFF_AT_60" value="4.0"/>
+    <define name="YAW_EFF_AT_60" value="8.0"/>
+    <!--function of the form: A + B*airspeed^2-->
+    <define name="CE_PITCH_A" value="2.4169"/>
+    <define name="CE_PITCH_B" value="0.0307"/>
+    <define name="CE_YAW_A" value="5.631"/>
+    <define name="CE_YAW_B" value="0.0515"/>
+  </section>
+
   <section name="NAV">
     <define name="NAV_CLIMB_VSPEED" value="1.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-0.8"/>
   </section>
 
-  <!--<section name="AHRS" prefix="AHRS_">-->
-    <!--<define name="H_X" value="0.5138"/>-->
-    <!--<define name="H_Y" value="0.00019"/>-->
-    <!--<define name="H_Z" value="0.8578"/>-->
-    <!--<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>-->
-    <!--</section>-->
-
   <section name="INS" prefix="INS_">
     <define name="H_X" value="0.5138"/>
     <define name="H_Y" value="0.00019"/>
diff --git a/conf/airframes/ENAC/hybrid/falcon_v1.xml b/conf/airframes/ENAC/hybrid/falcon_v1.xml
new file mode 100644
index 0000000000..4a20e6d4cb
--- /dev/null
+++ b/conf/airframes/ENAC/hybrid/falcon_v1.xml
@@ -0,0 +1,349 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="FALCON_V1">
+
+  <description>
+    Falcon Airframe H-Configuration (no flaps)
+    Tawaki v1.0 Chibios
+    Xbee API
+    Ublox F9P
+    SBUS Futaba
+  </description>
+
+  <firmware name="rotorcraft">
+    <configure name="PERIODIC_FREQUENCY" value="500"/>
+
+    <target name="ap" board="tawaki_1.1">
+      <module name="radio_control" type="sbus">
+        <!-- Put the mode on channel AUX1-->
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      </module>
+      <!--Switch advanced INDI scheduling functions on or off-->
+      <define name="INDI_FUNCTIONS_RC_CHANNEL" value="6"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="datalink"/>
+      <!--Switch advanced INDI scheduling functions on or off-->
+      <!--Take the mode channel for simulation-->
+      <define name="INDI_FUNCTIONS_RC_CHANNEL" value="4"/>
+
+    </target>
+
+    <module name="eff_scheduling_generic"/>
+
+    <module name="current_sensor">
+      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
+    </module>
+
+    <module name="sys_mon"/>
+
+    <module name="telemetry" type="xbee_api"/>
+
+    <module name="flight_recorder"/>
+    <!--module name="logger" type="control_effectiveness">
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_COMMANDS" value="FALSE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_POS" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_SPEED" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED" value="TRUE"/>
+    </module-->
+
+    <module name="actuators" type="dshot">
+      <!-- <define name="DSHOT_SPEED" value="300"/> -->
+      <!--define name="DSHOT_TIM4_TELEMETRY_NUM" value="DSHOT_TLM_RX"/>
+      <define name="STM32_SERIAL_USE_UART4" value="TRUE"/-->
+    </module>
+
+    <module name="airspeed" type="sdp3x">
+      <define name="SDP3X_i2C_DEV" value="i2c2"/>
+      <define name="SDP3X_PRESSURE_SCALE" value="8.0"/>
+      <define name="SDP3X_PRESSURE_OFFSET" value="0.0"/>
+      <define name="USE_AIRSPEED_SDP3X" value="TRUE"/>
+    </module>
+
+    <module name="board" type="tawaki">
+      <configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
+      <define name="IMU_MPU_CHAN_X" value="2"/>      
+      <define name="IMU_MPU_CHAN_Z" value="0"/> 
+      <define name="IMU_MPU_Z_SIGN" value="-1"/>
+      <!--Set the frequency to 2000 hz with 256 Hz internal low pass-->
+      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
+      <define name="IMU_MPU_SMPLRT_DIV" value="3"/>
+      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
+      <define name="LIS3MDL_CHAN_X" value="2" />
+      <define name="LIS3MDL_CHAN_Z" value="0" />
+      <define name="LIS3MDL_CHAN_Y_SIGN" value="-" />
+    </module>
+
+    <module name="air_data"/>
+    <module name="gps"           type="ublox">
+      <configure name="GPS_BAUD" value="B115200"/>
+      <configure name="UBX_GPS_PORT" value="UART7"/>
+      <define name="GPS_FIX_TIMEOUT" value="0.5"/>
+    </module>
+
+    <module name="ins" type="ekf2"/>
+
+    <module name="stabilization" type="indi"/>
+    <module name="guidance" type="indi_hybrid_tailsitter"/>
+    <module name="nav" type="hybrid"/>
+
+    <module name="tag_tracking">
+      <configure name="JEVOIS_UART" value="UART3" description="UART on which Jevois camera is connected"/>
+    </module>
+
+  </firmware>
+
+  <servos driver="DShot">
+    <servo name="UR" no="3" min="0" neutral="100" max="2000"/>
+    <servo name="BR" no="4" min="0" neutral="100" max="2000"/>
+    <servo name="BL" no="1" min="0" neutral="100" max="2000"/>
+    <servo name="UL" no="2" min="0" neutral="100" 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>
+    <set servo="UR" value="autopilot.motors_on ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="BR" value="autopilot.motors_on ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BL" value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="UL" value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
+
+    <!--     <define name="MAG_X_CURRENT_COEF" value="0."/>
+    <define name="MAG_Y_CURRENT_COEF" value="0."/>
+    <define name="MAG_Z_CURRENT_COEF" value="0."/> -->
+
+
+    <!--define name= "MAG_X_CURRENT_COEF" value="-0.511272562535"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="0.244268225323"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="1.59518542807"/-->
+    <define name="MAG_X_NEUTRAL" value="-1057"/>
+    <define name="MAG_Y_NEUTRAL" value="-5436"/>
+    <define name="MAG_Z_NEUTRAL" value="-7865"/>
+    <define name="MAG_X_SENS" value="0.6407900424399927" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.6504650411481829" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.6138129561725305" 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="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="1"/>
+    <define name="GYRO_R_SIGN" value="1"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="70"/>
+    <define name="ACCEL_Y_NEUTRAL" value="5"/>
+    <define name="ACCEL_Z_NEUTRAL" value="48"/>
+    <define name="ACCEL_X_SENS" value="2.459511813085781" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.404502491913208" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.4486570636573215" 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="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
+    <!-- <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/> -->
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MilliAmpereOfAdc(_adc)" value="_adc*100."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="17.0" unit="V"/>
+    <define name="BAT_NB_CELLS" value="4"/>
+  </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_R" value="250"/>
+    <define name="DEADBAND_A" value="250"/>
+    <define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
+  </section>
+
+  <section name="EFF_SCHEDULING" prefix="FWD_">
+    <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
+    <define name="G1_ROLL"  value="{ -9.0, -9.0,  9.0,  9.0}"/>
+    <define name="G1_PITCH" value="{ -9.0,  9.0,  9.0, -9.0}"/>
+    <define name="G1_YAW"   value="{  -7.0,   7.0,  -7.0,   7.0}"/>
+    <define name="G1_THRUST" value="{ -0.6,  -0.6,  -0.6,  -0.6}"/>
+
+    <!--<define name="G1_ROLL"  value="{ -10.0, -10.0,  10.0,  10.0}"/>
+    <define name="G1_PITCH" value="{ -10.0,  10.0,  10.0, -10.0}"/>
+    <define name="G1_YAW"   value="{  -1.5,   1.5,  -1.5,   1.5}"/>
+    <define name="G1_THRUST" value="{ -0.6,  -0.6,  -0.6,  -0.6}"/>-->
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <!--  UR BR BL UL-->
+    <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
+    <define name="G1_ROLL"  value="{ -20.0,     -20.0,    20.0,    20.0}"/>
+    <define name="G1_PITCH" value="{ -19.5,    19.5,   19.5,  -19.5}"/>
+    <define name="G1_YAW"   value="{  -7.0,     7.0,   -7.0,    7.0}"/>
+    <define name="G1_THRUST" value="{ -0.85,  -0.85,  -0.85,  -0.85}"/>
+
+    <!-- Big Wings -->
+    <!-- <define name="G1_ROLL"  value="{ -4.0,     -4.0,    4.0,    4.0}"/>
+    <define name="G1_PITCH" value="{ -16.5,    16.5,   16.5,  -16.5}"/>
+    <define name="G1_YAW"   value="{  -1.0,     1.0,   -1.0,    1.0}"/>
+    <define name="G1_THRUST" value="{ -0.6,    -0.6,   -0.6,   -0.6}"/> -->
+
+
+    <!--<define name="G1_ROLL"  value="{ -15.0, -15.0,  15.0,  15.0}"/>
+    <define name="G1_PITCH" value="{ -15.0,  15.0,  15.0, -15.0}"/>
+    <define name="G1_YAW"   value="{  -2.5,   2.5,  -2.5,   2.5}"/>
+    <define name="G1_THRUST" value="{ -1.0,  -1.0,  -1.0,  -1.0}"/>-->
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2" value="{0, 0, 0, 0}"/>
+
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="100"/>
+    <define name="REF_ERR_Q" value="80"/>
+    <define name="REF_ERR_R" value="70"/>
+    <define name="REF_RATE_P" value="20."/>
+    <define name="REF_RATE_Q" value="18.0"/>
+    <define name="REF_RATE_R" value="11.0"/> 
+
+    <!-- old falcon numbers : define name="REF_ERR_P" value="100"/>
+    <define name="REF_ERR_Q" value="63"/>
+    <define name="REF_ERR_R" value="50"/>
+    <define name="REF_RATE_P" value="20."/>
+    <define name="REF_RATE_Q" value="10.0"/>
+    <define name="REF_RATE_R" value="5.0"/--> 
+
+    <!--<define name="REF_ERR_P" value="90.0"/>
+    <define name="REF_ERR_Q" value="130.0"/>
+    <define name="REF_ERR_R" value="130.0"/>
+    <define name="REF_RATE_P" value="8.0"/>
+    <define name="REF_RATE_Q" value="10.0"/>
+    <define name="REF_RATE_R" value="10.0"/> -->
+
+    <!--Maxium yaw rate, to avoid instability-->
+    <define name="MAX_R" value="60.0" unit="deg/s"/>
+
+    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
+    <define name="FILT_CUTOFF" value="5.0"/>
+
+    <!-- first order actuator dynamics -->
+    <define name="ACT_FREQ" value="{12.66, 12.66, 12.66, 12.66}"/>
+    <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600}"/>
+    <define name="ACT_IS_SERVO" value="{0, 0, 0, 0}"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+  </section>
+
+  <section name="GUIDANCE_INDI">
+    <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+    <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
+    <define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
+    <define name="GUIDANCE_INDI_POS_GAINZ" value="1.6"/>
+    <define name="GUIDANCE_INDI_SPEED_GAINZ" value="2.0"/>
+    <define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
+    <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
+    <define name="GUIDANCE_H_REF_MAX_SPEED" value="16.0"/> <!--not used-->
+    <define name="GUIDANCE_INDI_MIN_THROTTLE" value="2000"/>
+    <define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1000"/>
+    <define name="GUIDANCE_INDI_MIN_PITCH" value="-120."/>
+    <define name="GUIDANCE_INDI_MAX_PITCH" value="25."/>
+    <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
+    <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation -->
+    <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="9.0"/>
+    <define name="GUIDANCE_INDI_PITCH_OFFSET_GAIN" value="0.0"/>
+    <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
+    <define name="GUIDANCE_INDI_LINE_GAIN" value="0.7"/>
+    <!--Flap effectiveness on lift-->
+    <define name="FE_LIFT_A_PITCH" value="0.00018"/>
+    <define name="FE_LIFT_B_PITCH" value="0.00072"/>
+    <define name="FE_LIFT_A_AS" value="0.0008"/>
+    <define name="FE_LIFT_B_AS" value="0.00009"/>
+  </section>
+
+  <!-- Gains for vertical navigation -->
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="174"/>
+    <define name="HOVER_KD" value="92"/>
+    <define name="HOVER_KI" value="72"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_CLIMB_VSPEED" value="1.5"/>
+    <define name="NAV_DESCEND_VSPEED" value="-0.8"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
+  </section>
+
+  <include href="conf/mag/germany_aachen.xml"/>
+
+  <!-- Gains for horizontal navigation-->
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="50" unit="deg"/>
+    <define name="PGAIN" value="100"/> <!-- 100 for CYFOAM-->
+    <define name="DGAIN" value="100"/> <!-- 100 for CYFOAM--> 
+    <define name="IGAIN" value="10"/>  <!-- 0 for CYFOAM-->
+  </section>
+
+  <section name="MISC">
+    <!--The Quadshot uses (when TRUE) a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
+    <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
+    <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
+    <define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+    <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
+
+    <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
+    <define name="USE_AIRSPEED" value="TRUE"/>
+
+    <define name="FWD_SIDESLIP_GAIN" value="0.20"/> <!-- most flight done with 0.3 -->
+
+    <define name="EFF_SCHED_USE_FUNCTION" value="TRUE"/>
+
+    <define name="ARRIVED_AT_WAYPOINT" value="4.0"/> <!-- For outdoor -->
+    <define name="DEFAULT_CIRCLE_RADIUS" value="60"/> <!-- For outdoor -->
+    <define name="CARROT" value="5.0"/>
+  </section>
+
+  <section name="TAG_TRACKING" prefix="TAG_TRACKING_">
+    <define name="BODY_TO_CAM_PSI" value="0."/>
+  </section>
+
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="UR,BR,BL,UL" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="falcon" type="string"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
+  </section>
+  
+  <section name="GCS">
+    <define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
+    <define name="ALT_SHIFT_PLUS" value="1"/>
+    <define name="ALT_SHIFT_MINUS" value="-1"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/ENAC/hybrid/falcon_v2.xml b/conf/airframes/ENAC/hybrid/falcon_v2.xml
new file mode 100644
index 0000000000..fe9553643d
--- /dev/null
+++ b/conf/airframes/ENAC/hybrid/falcon_v2.xml
@@ -0,0 +1,344 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="FALCON_V2">
+
+  <description>
+    Falcon Airframe H-Configuration with flaps
+    Tawaki v1.0 Chibios
+    Xbee API
+    Ublox F9P
+    SBUS Futaba
+  </description>
+
+  <firmware name="rotorcraft">
+    <configure name="PERIODIC_FREQUENCY" value="500"/>
+    <configure name="INDI_NUM_ACT" value="6"/>
+
+    <target name="ap" board="tawaki_1.1">
+      <module name="radio_control" type="sbus">
+        <!-- Put the mode on channel AUX1-->
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      </module>
+      <!--Switch advanced INDI scheduling functions on or off-->
+      <define name="INDI_FUNCTIONS_RC_CHANNEL" value="6"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="datalink"/>
+      <!--Take the mode channel for simulation-->
+      <define name="INDI_FUNCTIONS_RC_CHANNEL" value="4"/>
+    </target>
+
+    <module name="eff_scheduling_falcon">
+      <define name="EFF_PITCH_A" value="0.35"/>
+      <define name="EFF_YAW_A" value="0.045"/>
+    </module>
+
+    <module name="current_sensor">
+      <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
+    </module>
+
+    <module name="telemetry" type="xbee_api"/>
+    <module name="sys_mon"/>
+    <module name="flight_recorder"/>
+    <!--module name="logger" type="control_effectiveness">
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_COMMANDS" value="FALSE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_POS" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_SPEED" value="TRUE"/>
+      <define name="LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED" value="TRUE"/>
+    </module-->
+
+    <module name="actuators" type="pwm"/>
+    <module name="actuators" type="dshot">
+      <!-- <define name="DSHOT_SPEED" value="300"/> -->
+      <!--define name="DSHOT_TIM4_TELEMETRY_NUM" value="DSHOT_TLM_RX"/-->
+      <!--define name="STM32_SERIAL_USE_UART4" value="TRUE"/-->
+      <!--define name="USE_UART4" value="TRUE"/-->
+    </module>
+
+    <!--Use an airspeed sensor and get the measured airspeed in the messages-->
+    <module name="airspeed" type="sdp3x">
+      <define name="SDP3X_i2C_DEV" value="i2c2"/>
+      <define name="SDP3X_PRESSURE_SCALE" value="7.0"/>
+      <define name="SDP3X_PRESSURE_OFFSET" value="0.0"/>
+      <define name="USE_AIRSPEED_SDP3X" value="TRUE"/>
+    </module>
+
+    <!--module name="board" type="tawaki">
+      <configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
+    </module-->
+
+    <module name="baro" type="bmp3">
+      <configure name="BMP3_I2C_DEV" value="i2c4"/>
+      <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
+    </module>
+
+    <module name="imu" type="mpu6000"> 
+      <!-- <define name="APOGEE_USE_MPU9150" value="TRUE"/> -->
+      <configure name="IMU_MPU_SPI_DEV" value="spi4"/>
+      <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>
+      <define name="IMU_MPU_CHAN_X" value="2"/>      
+      <define name="IMU_MPU_CHAN_Y" value="1"/>
+      <define name="IMU_MPU_CHAN_Z" value="0"/> 
+      <define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
+      <define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_16G"/>
+      <!--Set the frequency to 2000 hz with 256 Hz internal low pass-->
+      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
+      <define name="IMU_MPU_SMPLRT_DIV" value="3"/>
+      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
+    </module>
+
+    <module name="mag" type="lis3mdl">
+      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c4"/>
+      <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
+      <define name="LIS3MDL_CHAN_X" value="2" />
+      <define name="LIS3MDL_CHAN_Z" value="0" />
+      <define name="LIS3MDL_CHAN_X_SIGN" value="+" />
+      <define name="LIS3MDL_CHAN_Y_SIGN" value="-" />
+      <define name="LIS3MDL_CHAN_Z_SIGN" value="+" />
+    </module>
+
+    <module name="air_data">
+      <define name="USE_AIRSPEED_AIR_DATA" value="TRUE"/>
+    </module>
+
+    <module name="stabilization" type="indi"/>
+    <module name="guidance" type="indi_hybrid_tailsitter"/>
+    <module name="nav" type="hybrid"/>
+
+    <module name="ins" type="ekf2"/>
+
+    <module name="gps"           type="ublox">
+      <configure name="GPS_BAUD" value="B115200"/>
+      <configure name="GPS_PORT" value="UART7"/>
+      <define name="GPS_FIX_TIMEOUT" value="0.5"/>
+    </module>
+
+  </firmware>
+
+  <servos driver="DShot">
+    <servo name="UR" no="3" min="0" neutral="100" max="2000"/>
+    <servo name="BR" no="4" min="0" neutral="100" max="2000"/>
+    <servo name="BL" no="1" min="0" neutral="100" max="2000"/>
+    <servo name="UL" no="2" min="0" neutral="100" max="2000"/>
+  </servos>
+
+  <servos driver="Pwm">
+    <servo name="ELEVON_RIGHT" no="1" min="1270" neutral="1570" max="1870"/> <!--positive up-->
+    <servo name="ELEVON_LEFT"  no="2" min="1170" neutral="1470" max="1770"/> <!--positive down-->
+  </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>
+    <set servo="UR" value="autopilot.motors_on ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="BR" value="autopilot.motors_on ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BL" value="autopilot.motors_on ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="UL" value="autopilot.motors_on ? actuators_pprz[3] : -MAX_PPRZ"/>
+    <set servo="ELEVON_RIGHT" value="autopilot.motors_on ? actuators_pprz[4] : 0"/>
+    <set servo="ELEVON_LEFT" value="autopilot.motors_on ? actuators_pprz[5] : 0"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
+    <define name= "MAG_X_CURRENT_COEF" value="319.383625919"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="-32.4484676944"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="-1421.95651899"/>
+
+    <define name="MAG_X_NEUTRAL" value="-33"/>
+    <define name="MAG_Y_NEUTRAL" value="1485"/>
+    <define name="MAG_Z_NEUTRAL" value="1184"/>
+    <define name="MAG_X_SENS" value="0.6709952296917457" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.6497329786931962" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.6842444448328998" 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="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="-20"/>
+    <define name="ACCEL_Y_NEUTRAL" value="-106"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-28"/>
+    <define name="ACCEL_X_SENS" value="4.907307048714179" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.561138191178077" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.895601825888152" 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="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
+    <!-- <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/> -->
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MilliAmpereOfAdc(_adc)" value="_adc*1."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="12.4" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="17.0" unit="V"/>
+    <define name="BAT_NB_CELLS" value="4"/>
+  </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"/>
+    <define name="DEADBAND_A" value="250"/>
+    <define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
+  </section>
+
+  <section name="EFF_SCHEDULING" prefix="FWD_">
+    <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
+    <define name="G1_ROLL"   value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
+    <define name="G1_PITCH"  value="{ -20.0,  20.0,   20.0, -20.0,  15.0, -15.0}"/> <!-- 12 , -12 -->
+    <define name="G1_YAW"    value="{  -3.0,   3.0,   -3.0,   3.0, -10.0, -10.0}"/> <!-- -20  -20 -->
+    <define name="G1_THRUST" value="{  -0.6,  -0.6,   -0.6,  -0.6,   0.0,   0.0}"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <!--  UR BR BL UL-->
+    <!-- control effectiveness, scaled by INDI_G_SCALING (1000)-->
+    <define name="G1_ROLL"   value="{  -9.0,  -9.0,    9.0,   9.0,   0.0,   0.0}"/>
+    <define name="G1_PITCH"  value="{ -19.5,  19.5,   19.5, -19.5,   0.0,   0.0}"/>
+    <define name="G1_YAW"    value="{  -3.0,   3.0,   -3.0,   3.0,   0.0,   0.0}"/>
+    <define name="G1_THRUST" value="{ -0.85,  -0.85,  -0.85, -0.85,  0.0,   0.0}"/>
+
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2" value="{0, 0, 0, 0, 0, 0}"/>
+
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="100"/>
+    <define name="REF_ERR_Q" value="80"/>
+    <define name="REF_ERR_R" value="70"/>
+    <define name="REF_RATE_P" value="20."/>
+    <define name="REF_RATE_Q" value="18.0"/>
+    <define name="REF_RATE_R" value="11.0"/> 
+
+    <!--Maxium yaw rate, to avoid instability-->
+    <define name="MAX_R" value="60.0" unit="deg/s"/>
+
+    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
+    <define name="FILT_CUTOFF" value="5.0"/>
+
+    <!-- first order actuator dynamics -->
+    <define name="ACT_FREQ" value="{12.66, 12.66, 12.66, 12.66, 25.6, 25.6}"/>
+    <define name="ACT_RATE_LIMIT" value="{9600, 9600, 9600, 9600, 170, 170}"/>
+    <define name="ACT_IS_SERVO" value="{0, 0, 0, 0, 1, 1}"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+  </section>
+
+  <section name="GUIDANCE_INDI">
+    <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
+    <define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
+    <define name="GUIDANCE_INDI_SPEED_GAIN" value="0.8"/>
+    <define name="GUIDANCE_INDI_POS_GAINZ" value="0.6"/>
+    <define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.5"/>
+    <define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
+    <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="0.6"/>
+    <define name="GUIDANCE_H_REF_MAX_SPEED" value="16.0"/> <!--not used-->
+    <define name="GUIDANCE_INDI_MIN_THROTTLE" value="2000"/>
+    <define name="GUIDANCE_INDI_MIN_THROTTLE_FWD" value="1000"/>
+    <define name="GUIDANCE_INDI_MIN_PITCH" value="-80."/>
+    <define name="GUIDANCE_INDI_MAX_PITCH" value="25."/>
+    <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
+    <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation -->
+    <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="18.0"/>
+    <define name="GUIDANCE_INDI_PITCH_OFFSET_GAIN" value="0.06"/>
+    <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
+    <define name="GUIDANCE_INDI_LINE_GAIN" value="0.7"/>
+    <!--Flap effectiveness on lift-->
+    <define name="FE_LIFT_A_PITCH" value="0.00018"/>
+    <define name="FE_LIFT_B_PITCH" value="0.00072"/>
+    <define name="FE_LIFT_A_AS" value="0.0008"/>
+    <define name="FE_LIFT_B_AS" value="0.00009"/>
+  </section>
+
+  <!-- Gains for vertical navigation -->
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="HOVER_KP" value="174"/>
+    <define name="HOVER_KD" value="92"/>
+    <define name="HOVER_KI" value="72"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_CLIMB_VSPEED" value="1.5"/>
+    <define name="NAV_DESCEND_VSPEED" value="-1.5"/>
+    <define name="NAV_TAKEOFF_HEIGHT" value="10."/>
+    <define name="NAV_LANDING_AF_HEIGHT" value="20."/>
+    <define name="NAV_LANDING_FLARE_HEIGHT" value="10."/>
+    <define name="NAV_LANDING_DESCEND_SPEED" value="-1.0"/>
+    <define name="SURVEY_HYBRID_MAX_SWEEP_BACK" value="1"/>
+    <define name="MISSION_ALT_PROXIMITY" value="4."/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
+  </section>
+
+  <include href="conf/mag/toulouse_muret.xml"/>
+
+  <!-- Gains for horizontal navigation-->
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="50" unit="deg"/>
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="10"/>
+  </section>
+
+  <section name="MISC">
+    <!--The Quadshot uses (when TRUE) a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
+    <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
+    <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
+    <define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
+    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
+    <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
+
+    <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
+    <define name="USE_AIRSPEED" value="TRUE"/>
+
+    <define name="FWD_SIDESLIP_GAIN" value="0.20"/> <!-- most flight done with 0.3 -->
+
+    <define name="EFF_SCHED_USE_FUNCTION" value="TRUE"/>
+
+    <define name="ARRIVED_AT_WAYPOINT" value="4.0"/> <!-- For outdoor -->
+    <define name="DEFAULT_CIRCLE_RADIUS" value="60"/> <!-- For outdoor -->
+    <define name="CARROT" value="3.0"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="UR,BR,BL,UL,ele_right,ele_left" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="falcon" type="string"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
+  </section>
+  
+  <section name="GCS">
+    <define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
+    <define name="ALT_SHIFT_PLUS" value="1"/>
+    <define name="ALT_SHIFT_MINUS" value="-1"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_101.xml b/conf/airframes/ENAC/quadrotor/ard2_101.xml
deleted file mode 100644
index e898f3d937..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_101.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-
-<airframe>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2036"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2063"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2050"/>
-    <define name="ACCEL_X_SENS" value="19.8215198025" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="19.3612647775" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="19.6308115492" integer="16"/>
-
-    <!-- Magneto calibration -->
-    <!--define name="MAG_X_NEUTRAL" value="56"/>
-    <define name="MAG_Y_NEUTRAL" value="17"/>
-    <define name="MAG_Z_NEUTRAL" value="-64"/>
-    <define name="MAG_X_SENS" value="17.4978698304" integer="16"/>
-    <define name="MAG_Y_SENS" value="17.7032280166" integer="16"/>
-    <define name="MAG_Z_SENS" value="17.8657801029" integer="16"/-->
-
-    <define name="MAG_X_NEUTRAL" value="21"/>
-    <define name="MAG_Y_NEUTRAL" value="-4"/>
-    <define name="MAG_Z_NEUTRAL" value="-1"/>
-    <define name="MAG_X_SENS" value="16.510274159" integer="16"/>
-    <define name="MAG_Y_SENS" value="16.5086412339" integer="16"/>
-    <define name="MAG_Z_SENS" value="17.4503678708" 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/ard2_103.xml b/conf/airframes/ENAC/quadrotor/ard2_103.xml
deleted file mode 100644
index 9ab4c43387..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_103.xml
+++ /dev/null
@@ -1,36 +0,0 @@
-
-<airframe>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2046"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2050"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2053"/>
-    <define name="ACCEL_X_SENS" value="19.6123236866" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="19.6657552603" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="19.7736759183" integer="16"/>
-
-    <!-- Magneto calibration -->
-    <!--define name="MAG_X_NEUTRAL" value="23"/>
-    <define name="MAG_Y_NEUTRAL" value="-13"/>
-    <define name="MAG_Z_NEUTRAL" value="-8"/>
-    <define name="MAG_X_SENS" value="15.5472944024" integer="16"/>
-    <define name="MAG_Y_SENS" value="15.5179439561" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.8234333541" integer="16"/-->
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="24"/>
-    <define name="MAG_Y_NEUTRAL" value="-20"/>
-    <define name="MAG_Z_NEUTRAL" value="-9"/>
-    <define name="MAG_X_SENS" value="15.3774561292" integer="16"/>
-    <define name="MAG_Y_SENS" value="15.5082167794" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.5687991924" 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/ard2_104.xml b/conf/airframes/ENAC/quadrotor/ard2_104.xml
deleted file mode 100644
index 35798f50a1..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_104.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-
-<airframe>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2061"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2087"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2062"/>
-    <define name="ACCEL_X_SENS" value="19.8086810127" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="19.6883612768" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="19.3409944706" integer="16"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="46"/>
-    <define name="MAG_Y_NEUTRAL" value="-50"/>
-    <define name="MAG_Z_NEUTRAL" value="-28"/>
-    <define name="MAG_X_SENS" value="16.1913174133" integer="16"/>
-    <define name="MAG_Y_SENS" value="15.2287916857" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.5815975397" 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/ard2_base_control.xml b/conf/airframes/ENAC/quadrotor/ard2_base_control.xml
deleted file mode 100644
index 28d356200e..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_base_control.xml
+++ /dev/null
@@ -1,140 +0,0 @@
-<!-- shared control loops gain -->
-
-<airframe>
-
-  <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>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="-200"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
-
-    <!-- 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="INS_BASE" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="4.0"/>
-    <define name="SONAR_MIN_RANGE" value="0.01"/>
-  </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="200" 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="900" 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="900" 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="600" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="40." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="1100"/>
-    <define name="PHI_DGAIN" value="420"/>
-    <define name="PHI_IGAIN" value="120"/>
-
-    <define name="THETA_PGAIN" value="1100"/>
-    <define name="THETA_DGAIN" value="420"/>
-    <define name="THETA_IGAIN" value="120"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="400"/>
-    <define name="PSI_IGAIN" value="30"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="70"/>
-    <define name="THETA_DDGAIN" value="70"/>
-    <define name="PSI_DDGAIN" value="50"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
-    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
-    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
-    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
-    <define name="MAX_SUM_ERR" value="2000000"/>
-    <define name="REF_MIN_ZDD"  value="-0.8*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="200"/>
-    <define name="HOVER_KD" value="100"/>
-    <define name="HOVER_KI" value="30"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.65"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.5"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="REF_MAX_SPEED" value="3." unit="m/s"/>
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="40"/>
-    <define name="DGAIN" value="60"/>
-    <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_ardrone2" 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/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
deleted file mode 100644
index 7bdf1e887d..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="ardrone2_digit">
-
-  <firmware name="rotorcraft">
-    <define name="DEBUG_VFF_EXTENDED"/>
-    <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <target name="ap" board="ardrone2">
-      <define name="USE_SONAR"/>
-      <define name="USE_BARO_MEDIAN_FILTER"/>
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <module name="radio_control" type="datalink"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="transparent_udp"/>
-    <!-- Subsystem section -->
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <!--module name="gps" type="ubx_ucenter"/-->
-    <module name="stabilization" type="int_quat"/>
-    <!-- AHRS + INS for indoor or outdoor -->
-    <!--module name="ahrs" type="int_cmpl_euler"/>
-    <module name="ins" type="extended"/-->
-    <!-- INS for outdoor only -->
-    <module name="ins" type="float_invariant"/>
-
-    <module name="agl_dist">
-      <define name="USE_SONAR"/>
-    </module>
-   <module name="video_thread"/>
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
-      <configure name="VIEWVIDEO_USE_NETCAT" value="FALSE"/>
-    </module>
-    <module name="rotorcraft_cam"/>
-    <module name="bat_voltage_ardrone2"/>
-  </firmware>
-
-  <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
-  <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
-
-  <!-- local magnetic field -->
-  <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- 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_">
-    <!-- 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="0.387766"/>
-    <define name="H_Y" value="0.00648212"/>
-    <define name="H_Z" value="0.921725"/ -->
-    <!-- trust more the baro over the gps alt -->
-    <define name="INV_NXZ" value="0.3"/>
-    <define name="INV_NH" value="2.0"/>
-  </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/ard2_base_vision.xml b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
deleted file mode 100644
index 036d12aea1..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
+++ /dev/null
@@ -1,86 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="ardrone2_vision">
-
-  <firmware name="rotorcraft">
-    <define name="DEBUG_VFF_EXTENDED"/>
-    <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <target name="ap" board="ardrone2">
-      <define name="USE_SONAR"/>
-      <define name="USE_BARO_MEDIAN_FILTER"/>
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <module name="radio_control" type="datalink"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="transparent_udp"/>
-	<!-- Subsystem section -->
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <!--module name="gps" type="ubx_ucenter"/-->
-    <module name="stabilization" type="int_quat"/>
-    <!-- AHRS + INS for indoor or outdoor -->
-    <!--module name="ahrs" type="int_cmpl_euler"/>
-    <module name="ins" type="extended"/-->
-    <!-- INS for outdoor only -->
-    <module name="ins" type="float_invariant"/>
-
-    <module name="agl_dist">
-      <define name="USE_SONAR"/>
-    </module>
-    <module name="video_thread"/>
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
-      <define name="VIDEO_SOCK_OUT_OFFSET" value="$(AC_ID)"/>
-      <define name="VIDEO_DOWNSIZE_FACTOR" value="2"/>
-      <define name="VIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIDEO_FPS" value="1"/>
-    </module>
-    <module name="rotorcraft_cam"/>
-  </firmware>
-
-  <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
-  <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
-
-  <!-- local magnetic field -->
-  <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-    <!-- Delft -->
-    <!--define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/ -->
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <!-- Toulouse -->
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
-    <!-- Delft -->
-    <!--define name="H_X" value="0.387766"/>
-    <define name="H_Y" value="0.00648212"/>
-    <define name="H_Z" value="0.921725"/ -->
-    <!-- trust more the baro over the gps alt -->
-    <define name="INV_NXZ" value="0.3"/>
-    <define name="INV_NH" value="2.0"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
-    <define name="ALT_SHIFT_PLUS" value="1"/>
-    <define name="ALT_SHIFT_MINUS" value="-1"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic.xml b/conf/airframes/ENAC/quadrotor/ard2_basic.xml
deleted file mode 100644
index 349013ff0e..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_basic.xml
+++ /dev/null
@@ -1,76 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="ardrone2_basic">
-
-  <firmware name="rotorcraft">
-    <define name="DEBUG_VFF_EXTENDED"/>
-    <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <target name="ap" board="ardrone2">
-      <define name="USE_SONAR"/>
-      <define name="USE_BARO_MEDIAN_FILTER"/>
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <module name="radio_control" type="datalink"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="transparent_udp"/>
-	<!-- Subsystem section -->
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <!--module name="gps" type="piksi"/-->
-    <module name="gps" type="ublox"/>
-    <!--module name="gps" type="ubx_ucenter"/-->
-    <module name="stabilization" type="int_quat"/>
-    <!-- AHRS + INS for indoor or outdoor -->
-    <module name="ahrs" type="float_invariant"/>
-    <module name="ins" type="extended"/>
-    <!-- INS for outdoor only -->
-    <!--module name="ins" type="float_invariant"/-->
-
-    <module name="bat_voltage_ardrone2"/>
-  </firmware>
-
-  <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
-  <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
-
-  <!-- local magnetic field -->
-  <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- Toulouse -->
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
-    <!-- Delft -->
-    <!--define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/ -->
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-    <!-- Delft -->
-    <!--define name="H_X" value="0.387766"/>
-    <define name="H_Y" value="0.00648212"/>
-    <define name="H_Z" value="0.921725"/ -->
-    <!-- trust more the baro over the gps alt -->
-    <define name="INV_NXZ" value="0.3"/>
-    <define name="INV_NH" value="2.0"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
-    <define name="ALT_SHIFT_PLUS" value="1"/>
-    <define name="ALT_SHIFT_MINUS" value="-1"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml b/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
deleted file mode 100644
index 6d652d3079..0000000000
--- a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
+++ /dev/null
@@ -1,78 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="ardrone2_basic">
-
-  <firmware name="rotorcraft">
-    <define name="DEBUG_VFF_EXTENDED"/>
-    <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <configure name="MODEM_HOST" value="192.168.1.1"/>
-    <configure name="MODEM_BROADCAST" value="FALSE"/>
-
-    <target name="ap" board="ardrone2">
-      <define name="USE_SONAR"/>
-      <define name="USE_BARO_MEDIAN_FILTER"/>
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <module name="radio_control" type="datalink"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="transparent_udp"/>
-	<!-- Subsystem section -->
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="stabilization" type="int_quat"/>
-    <!-- AHRS + INS for indoor or outdoor -->
-    <!--module name="ahrs" type="int_cmpl_euler"/>
-    <module name="ins" type="extended"/-->
-    <!-- INS for outdoor only -->
-    <module name="ins" type="float_invariant"/>
-
-    <module name="bat_voltage_ardrone2"/>
-  </firmware>
-
-  <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
-  <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
-
-  <!-- local magnetic field -->
-  <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- 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_">
-    <!-- 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="0.387766"/>
-    <define name="H_Y" value="0.00648212"/>
-    <define name="H_Z" value="0.921725"/ -->
-    <!-- trust more the baro over the gps alt -->
-    <define name="INV_NXZ" value="0.3"/>
-    <define name="INV_NH" value="2.0"/>
-  </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/cobraV2.xml b/conf/airframes/ENAC/quadrotor/cobraV2.xml
index 4fcbacf61b..a2445f72cc 100644
--- a/conf/airframes/ENAC/quadrotor/cobraV2.xml
+++ b/conf/airframes/ENAC/quadrotor/cobraV2.xml
@@ -23,12 +23,11 @@
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="radio_control" type="ppm"/>
+      <define name="TAWAKIV2_IMU_ROT" value=""/>
+      <define name="TAWAKIV2_MAG_ROT" value=""/>
     </target>
 
     <module name="telemetry" type="xbee_api"/>
-    <!--module name="telemetry" type="transparent">
-      <configure name="MODEM_PORT" value="usb_serial"/>
-    </module-->
 
     <module name="actuators" type="dshot"/>
     <module name="actuators" type="pwm"/>
@@ -191,7 +190,6 @@
     <define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
     <define name="NAV_CLIMB_VSPEED" value="0.8"/>
     <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
-    <define name="NAV_CARROT_DIST" value="18"/>
   </section>
 
   <section name="BAT">
@@ -220,6 +218,7 @@
   <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="COMMANDS_NB" value="4"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/drop1.xml b/conf/airframes/ENAC/quadrotor/drop1.xml
deleted file mode 100644
index 6134884cf1..0000000000
--- a/conf/airframes/ENAC/quadrotor/drop1.xml
+++ /dev/null
@@ -1,272 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="Quadricopter DROP_1">
-
-  <description>
-    * Autopilot:   Tawaki
-    * Actuators:   4 in 4 Holybro BLHELI ESC
-    * Telemetry:   XBee
-    * GPS:         datalink
-    * RC:          Futaba
-  </description>
-
-  <firmware name="rotorcraft">
-    <configure name="PERIODIC_FREQUENCY" value="500"/>
-    <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
-
-    <target name="ap" board="tawaki_1.0">
-      <module name="radio_control" type="sbus"/>
-      <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="xbee_api"/>
-    <module name="sys_mon"/>
-
-    <module name="motor_mixing"/>
-
-    <module name="actuators" type="dshot">
-      <define name="DSHOT_SPEED" value="300"/>
-    </module>
-
-    <module name="board" type="tawaki">
-      <configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
-      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_98HZ"/>
-      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_44HZ"/>
-      <define name="IMU_MPU_SMPLRT_DIV" value="1"/>
-      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
-    </module>
-
-    <module name="gps" type="ublox">
-      <configure name="GPS_BAUD" value="B115200"/>
-      <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
-    </module>
-
-    <module name="stabilization" type="int_quat"/>
-
-    <module name="ins"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-
-    <module name="air_data"/>
-
-    <module name="jevois">
-      <configure name="JEVOIS_UART" value="UART3"/>
-      <define name="JEVOIS_SEND_VISUAL_DETECTION"/>
-    </module>
-    <!--module name="cv" type="target_localization">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="20"/>
-    </module-->
-    <module name="tag_tracking"/>
-
-    <module name="actuators" type="pwm"/>
-    <module name="switch" type="servo"/>
-
-    <!--module name="filter" type="1euro_imu">
-      <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
-      <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
-    </module-->
-
-  </firmware>
-
-  <servos driver="DShot">
-    <servo name="FRONT" no="2" min="0" neutral="100" max="2000"/>
-    <servo name="RIGHT" no="1" min="0" neutral="100" max="2000"/>
-    <servo name="BACK" no="3" min="0" neutral="100" max="2000"/>
-    <servo name="LEFT" no="4" min="0" neutral="100" max="2000"/>
-  </servos>
-
-  <servos driver="Pwm">
-    <servo name="SWITCH" no="1" min="1000" neutral="1000" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!--define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="-400"/>
-    <define name="TRIM_YAW" value="-500"/-->
-    <define name="TYPE" value="QUAD_PLUS"/>
-    <!--define name="REVERSE" value="TRUE"/-->
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[MOTOR_FRONT]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[MOTOR_RIGHT]"/>
-    <set servo="BACK" value="motor_mixing.commands[MOTOR_BACK]"/>
-    <set servo="LEFT" value="motor_mixing.commands[MOTOR_LEFT]"/>
-  </command_laws>
-
-
-  <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"/>
-
-    <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="-66"/>
-    <define name="ACCEL_Y_NEUTRAL" value="134"/>
-    <define name="ACCEL_Z_NEUTRAL" value="12"/>
-    <define name="ACCEL_X_SENS" value="2.45208261737" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.64210954935" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.45501830376" 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="61"/>
-    <define name="MAG_Y_NEUTRAL" value="-643"/>
-    <define name="MAG_Z_NEUTRAL" value="-308"/>
-    <define name="MAG_X_SENS" value="0.677847523102" integer="16"/>
-    <define name="MAG_Y_SENS" value="0.69808834351" integer="16"/>
-    <define name="MAG_Z_SENS" value="0.692571212902" integer="16"/>
-
-    <!--define name= "MAG_X_CURRENT_COEF" value="118.702992289"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="135.416707118"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-301.422405936"/-->
-
-    <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>
-
-  <include href="conf/mag/toulouse_muret.xml"/>
-
-  <section name="INS" prefix="INS_">
-    <define name="INV_NXZ" value="0.25"/>
-    <define name="INV_NH" value="2.0"/>
-    <define name="INV_MVZ" value="8."/>
-  </section>
-
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
-
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-
-  </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="300"/>
-    <define name="PHI_DGAIN" value="300"/>
-    <define name="PHI_IGAIN" value="45"/>
-
-    <define name="THETA_PGAIN" value="300"/>
-    <define name="THETA_DGAIN" value="300"/>
-    <define name="THETA_IGAIN" value="45"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="600"/>
-    <define name="PSI_IGAIN" value="30"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="80"/>
-    <define name="THETA_DDGAIN" value="80"/>
-    <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="-0.4*9.81"/>
-   <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
-   <define name="REF_MIN_ZD" value="-1.5"/>
-   <define name="REF_MAX_ZD" value=" 1."/>
-   <define name="HOVER_KP" value="48"/>
-   <define name="HOVER_KD" value="80"/>
-   <define name="HOVER_KI" value="11"/>
-   <define name="NOMINAL_HOVER_THROTTLE" value="0.45"/>
-   <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-   <define name="ADAPT_NOISE_FACTOR" value="1."/>
-   <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.35"/>
-  </section>
-
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="MAX_BANK" value="20" unit="deg"/>
-   <define name="PGAIN" value="41"/>
-   <define name="DGAIN" value="108"/>
-   <define name="IGAIN" value="20"/>
-   <define name="NGAIN" value="0"/>
-   <!-- feedforward -->
-   <define name="AGAIN" value="0"/>
-   <define name="REF_MAX_SPEED" value="2.5"/>
-   <define name="REF_MAX_ACCEL" value="2.5"/>
-  </section>
-
-  <section name="NAV">
-    <define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
-    <define name="RECTANGLE_SURVEY_HEADING_WE" value="180."/>
-    <define name="NAV_CLIMB_VSPEED" value="1.0"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.8" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="1000" unit="mA"/>
-    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.0"/>
-  </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="SWITCH_SERVO" prefix="SWITCH_SERVO_">
-    <define name="ON_VALUE" value="1000"/>
-    <define name="OFF_VALUE" value="2000"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_quad_wind" type="string"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/maya_indoor.xml b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
new file mode 100644
index 0000000000..e0a9e2df6d
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
@@ -0,0 +1,218 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="Maya">
+
+  <description>
+    * Autopilot:   Tawaki
+    * Actuators:   4 in 1  
+    * Telemetry:   XBee
+    * GPS:         datalink
+    * RC:          SBUS
+  </description>
+
+  <firmware name="rotorcraft">
+    <configure name="PERIODIC_FREQUENCY" value="500"/>
+    <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
+
+    <target name="ap" board="tawaki_1.1">
+      <module name="radio_control" type="sbus"/>
+      <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+    </target>
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
+    </target>
+
+    <module name="telemetry" type="xbee_api"/>
+
+    <module name="actuators" type="dshot"/>
+    <module name="actuators" type="pwm"/>
+    <module name="switch" type="servo"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_SWITCH_MAX"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_SWITCH_MIN"/>
+
+    <module name="board" type="tawaki">
+      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
+      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
+      <define name="IMU_MPU_SMPLRT_DIV" value="0"/>
+    </module>
+
+    <module name="gps" type="optitrack"/>
+
+    <module name="stabilization" type="indi"/>
+    <module name="guidance" type="indi"/>
+
+    <module name="ins" type="ekf2">
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
+    </module>
+    <!-- <module name="preflight_checks"/> -->
+
+    <!--module name="filter" type="1euro_imu">
+      <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
+      <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
+    </module-->
+
+    <module name="motor_mixing"/>
+
+    <module name="tag_tracking">
+      <configure name="JEVOIS_UART" value="UART3"/>
+    </module>
+
+    <module name="flight_recorder"/>
+  </firmware>
+
+  <servos driver="Pwm">
+    <servo name="SWITCH" no="1" min="800" neutral="800" max="1500"/>
+  </servos>
+
+  <servos driver="DShot">
+    <servo name="FR" no="1" min="0" neutral="100" max="2000"/>
+    <servo name="BR" no="2" min="0" neutral="100" max="2000"/>
+    <servo name="BL" no="3" min="0" neutral="100" max="2000"/>
+    <servo name="FL" no="4" min="0" neutral="100" max="2000"/>
+  </servos>
+
+
+  <commands>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TYPE" value="QUAD_X"/>
+    <define name="REVERSE" value="TRUE"/>
+  </section>
+
+  <command_laws>
+    <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_CALIB" value="{{.abi_id=9, .calibrated={.neutral=true, .scale=true},.neutral={18,45,-22}, .scale={{47720,3841,3732},{18911,1570,1517}}}}"/>
+
+    <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="180." unit="deg"/>
+  </section>
+
+  <include href="conf/mag/toulouse_muret.xml"/>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoint limits for attitude stabilization rc flight -->
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="60" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <define name="NUM_ACT" value="4"/>
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="120"/>
+    <define name="REF_ERR_Q" value="130"/>
+    <define name="REF_ERR_R" value="120"/>
+    <define name="REF_RATE_P" value="15"/>
+    <define name="REF_RATE_Q" value="15"/>
+    <define name="REF_RATE_R" value="10"/>
+    <define name="MAX_R" value="60" unit="deg/s"/>
+
+    <!-- second order filter parameters -->
+    <define name="FILT_CUTOFF" value="4.0"/>
+    <define name="FILT_CUTOFF_R" value="4.0"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+
+    <!-- Full INDI -->
+    <!-- control effectiveness -->
+    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
+    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
+    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
+    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2"        value="{80, -80, 80, -80.0 }"/>
+    <!-- first order actuator dynamics -->
+    <define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
+    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
+    <!--Priority for each axis (roll, pitch, yaw and thrust)-->
+    <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="REF_MIN_ZDD" value="-0.4*9.81"/>
+    <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
+    <define name="REF_MIN_ZD" value="-2."/>
+    <define name="REF_MAX_ZD" value=" 2."/>
+    <define name="HOVER_KP" value="90"/>
+    <define name="HOVER_KD" value="110"/>
+    <define name="HOVER_KI" value="10"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+    <define name="ADAPT_NOISE_FACTOR" value="1."/>
+    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="30" unit="deg"/>
+    <define name="PGAIN" value="41"/>
+    <define name="DGAIN" value="108"/>
+    <define name="IGAIN" value="20"/>
+    <define name="NGAIN" value="0"/>
+    <!-- feedforward -->
+    <define name="AGAIN" value="0"/>
+    <define name="REF_MAX_SPEED" value="0.5"/>
+    <define name="REF_MAX_ACCEL" value="2."/>
+  </section>
+
+  <section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
+    <define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
+    <define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
+    <define name="RC_DEBUG" value="FALSE"/>
+    <define name="SPEED_GAINZ" value="2.5"/>
+  </section>
+
+  <section name="NAV">
+    <define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
+    <define name="NAV_CLIMB_VSPEED" value="0.8"/>
+    <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </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"/>
+    <define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
+  </section>
+
+  <section name="TAG_TRACKING" prefix="TAG_TRACKING_">
+    <define name="BODY_TO_CAM_PSI" value="M_PI_2"/>
+    <define name="CAM_POS_X" value="0.15"/>
+  </section>
+
+  <section name="GCS">
+    <define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
+    <define name="ALT_SHIFT_PLUS" value="1"/>
+    <define name="ALT_SHIFT_MINUS" value="-0.5"/>
+  </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="COMMANDS_NB" value="4"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/maya_outdoor.xml b/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
new file mode 100644
index 0000000000..15953dc67a
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
@@ -0,0 +1,250 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="Maya">
+
+  <description>
+    * Autopilot:   Tawaki
+    * Actuators:   4 in 1  
+    * Telemetry:   XBee
+    * GPS:         datalink
+    * RC:          SBUS
+  </description>
+
+  <firmware name="rotorcraft">
+    <configure name="PERIODIC_FREQUENCY" value="500"/>
+    <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
+
+    <target name="ap" board="tawaki_1.1">
+      <module name="radio_control" type="sbus"/>
+      <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+    </target>
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
+    </target>
+
+    <module name="telemetry" type="xbee_api"/>
+
+    <module name="actuators" type="dshot"/>
+    <module name="actuators" type="pwm"/>
+    <module name="switch" type="servo"/>
+
+    <module name="board" type="tawaki">
+      <!-- <define name="USE_DSHOT_TIM1" value="TRUE"/> -->
+      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
+      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
+      <define name="IMU_MPU_SMPLRT_DIV" value="0"/>
+      <!--
+      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
+      <define name="IMU_MPU_CHAN_X" value="1">
+      <define name="IMU_MPU_CHAN_Y" value="0">
+      <define name="IMU_MPU_Y_SIGN" value="-1"/>
+      <define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
+      <define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
+      -->
+    </module>
+
+    <module name="gps" type="ublox">
+      <configure name="GPS_BAUD" value="B115200"/>
+      <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
+      <define name="GPS_FIX_TIMEOUT" value="0.5"/>
+    </module>
+
+    <module name="stabilization" type="indi"/>
+    <module name="guidance" type="indi"/>
+
+    <module name="ins"/>
+    <module name="ahrs" type="int_cmpl_quat"/>
+    <module name="air_data"/>
+
+    <!--module name="filter" type="1euro_imu">
+      <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
+      <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
+    </module-->
+
+    <module name="motor_mixing"/>
+
+    <module name="tag_tracking">
+      <configure name="JEVOIS_UART" value="UART3"/>
+    </module>
+
+    <module name="flight_recorder"/>
+  </firmware>
+
+  <servos driver="Pwm">
+    <servo name="SWITCH" no="1" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <servos driver="DShot">
+    <servo name="FR" no="1" min="0" neutral="100" max="2000"/>
+    <servo name="BR" no="2" min="0" neutral="100" max="2000"/>
+    <servo name="BL" no="3" min="0" neutral="100" max="2000"/>
+    <servo name="FL" no="4" min="0" neutral="100" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TYPE" value="QUAD_X"/>
+    <define name="REVERSE" value="TRUE"/>
+  </section>
+
+  <command_laws>
+    <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
+    <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
+    <set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
+    <set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
+  </command_laws>
+
+  <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"/>
+
+    <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="29"/>
+    <define name="ACCEL_Y_NEUTRAL" value="45"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-10"/>
+    <define name="ACCEL_X_SENS" value="2.521769701216655" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.443739538927253" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.4586009011109544" 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="1538"/>
+    <define name="MAG_Y_NEUTRAL" value="1854"/>
+    <define name="MAG_Z_NEUTRAL" value="1256"/>
+    <define name="MAG_X_SENS" value="0.6549725141157784" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.6258400814886659" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.6507406574649046" 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>
+
+  <include href="conf/mag/toulouse_muret.xml"/>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoint limits for attitude stabilization rc flight -->
+    <define name="SP_MAX_PHI" value="45" unit="deg"/>
+    <define name="SP_MAX_THETA" value="45" unit="deg"/>
+    <define name="SP_MAX_R" value="60" unit="deg/s"/>
+    <define name="DEADBAND_A" value="0"/>
+    <define name="DEADBAND_E" value="0"/>
+    <define name="DEADBAND_R" value="50"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
+    <define name="NUM_ACT" value="4"/>
+    <!-- reference acceleration for attitude control -->
+    <define name="REF_ERR_P" value="120"/>
+    <define name="REF_ERR_Q" value="130"/>
+    <define name="REF_ERR_R" value="90"/>
+    <define name="REF_RATE_P" value="8.9"/>
+    <define name="REF_RATE_Q" value="8.0"/>
+    <define name="REF_RATE_R" value="5.0"/>
+    <define name="MAX_R" value="60" unit="deg/s"/>
+
+    <!-- second order filter parameters -->
+    <define name="FILT_CUTOFF" value="4.0"/>
+    <define name="FILT_CUTOFF_R" value="4.0"/>
+
+    <!-- Adaptive Learning Rate -->
+    <define name="USE_ADAPTIVE" value="FALSE"/>
+    <define name="ADAPTIVE_MU" value="0.0001"/>
+
+    <!-- Full INDI -->
+    <!-- control effectiveness -->
+    <define name="G1_ROLL"   value="{  -20.0,  -20.0,  20.0,  20.0 }"/>
+    <define name="G1_PITCH"  value="{   20.0,  -20.0, -20.0,  20.0 }"/>
+    <define name="G1_YAW"    value="{   3,    -3,    3,   -3 }"/>
+    <define name="G1_THRUST" value="{  -1., -1., -1., -1.}"/>
+    <!--Counter torque effect of spinning up a rotor-->
+    <define name="G2"        value="{80, -80, 80, -80.0 }"/>
+    <!-- first order actuator dynamics -->
+    <define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
+    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
+    <!--Priority for each axis (roll, pitch, yaw and thrust)-->
+    <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="REF_MIN_ZDD" value="-0.4*9.81"/>
+    <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
+    <define name="REF_MIN_ZD" value="-2."/>
+    <define name="REF_MAX_ZD" value=" 2."/>
+    <define name="HOVER_KP" value="90"/>
+    <define name="HOVER_KD" value="110"/>
+    <define name="HOVER_KI" value="10"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+    <define name="ADAPT_NOISE_FACTOR" value="1."/>
+    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="30" unit="deg"/>
+    <define name="PGAIN" value="41"/>
+    <define name="DGAIN" value="108"/>
+    <define name="IGAIN" value="20"/>
+    <define name="NGAIN" value="0"/>
+    <!-- feedforward -->
+    <define name="AGAIN" value="0"/>
+    <define name="REF_MAX_SPEED" value="4."/>
+    <define name="REF_MAX_ACCEL" value="2."/>
+  </section>
+
+  <section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
+    <define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
+    <define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
+    <define name="RC_DEBUG" value="FALSE"/>
+    <define name="SPEED_GAINZ" value="2.5"/>
+  </section>
+
+  <section name="NAV">
+    <define name="ARRIVED_AT_WAYPOINT" value="2."/>
+    <define name="NAV_CLIMB_VSPEED" value="1.5"/>
+    <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
+    <define name="NAV_CARROT_DIST" value="18"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </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="TAG_TRACKING" prefix="TAG_TRACKING_">
+    <define name="BODY_TO_CAM_PSI" value="M_PI_2"/>
+    <define name="CAM_POS_X" value="0.15"/>
+  </section>
+
+  <section name="GCS">
+    <define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
+    <define name="ALT_SHIFT_PLUS" value="1"/>
+    <define name="ALT_SHIFT_MINUS" value="-0.5"/>
+  </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="COMMANDS_NB" value="4"/>
+  </section>
+
+</airframe>
+
diff --git a/conf/airframes/ENAC/rover.xml b/conf/airframes/ENAC/rover/rover_2_wheels.xml
similarity index 96%
rename from conf/airframes/ENAC/rover.xml
rename to conf/airframes/ENAC/rover/rover_2_wheels.xml
index 39d8671b0b..b9a2b5f03e 100644
--- a/conf/airframes/ENAC/rover.xml
+++ b/conf/airframes/ENAC/rover/rover_2_wheels.xml
@@ -1,9 +1,13 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="Rover Demo">
+<airframe name="Rover">
+
+  <description>
+    Basic rover with 2 wheels and a MD25 controller
+  </description>
 
   <firmware name="rover">
-    <autopilot name="rover.xml"/>
+    <autopilot name="rover"/>
 
     <configure name="AHRS_ALIGNER_LED" value="2"/>
     <define name="IMU_MPU9250_READ_MAG" value="0"/>
@@ -26,7 +30,6 @@
 
     <!--module name="stabilization" type="int_quat"/-->
 
-    <!-- Option 1) Ins(Accel + Gyro + Mag + Baro) + no GPS --> 
     <module name="ins"  type="gps_passthrough"/>
     <define name="INS_GP_USE_GPS_ACCEL" value="TRUE"/>
     <module name="ahrs" type="int_cmpl_quat"/>
diff --git a/conf/airframes/ENAC/rover_ostrich.xml b/conf/airframes/ENAC/rover/rover_ostrich.xml
similarity index 86%
rename from conf/airframes/ENAC/rover_ostrich.xml
rename to conf/airframes/ENAC/rover/rover_ostrich.xml
index 23ea1addbf..d0452c3f21 100644
--- a/conf/airframes/ENAC/rover_ostrich.xml
+++ b/conf/airframes/ENAC/rover/rover_ostrich.xml
@@ -1,9 +1,13 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="Rover Demo">
+<airframe name="Ostrich">
+
+  <description>
+    Holonomic rover platform Ostrich
+  </description>
 
   <firmware name="rover">
-    <autopilot name="rover_holonomic.xml"/>
+    <autopilot name="rover_holonomic"/>
 
     <configure name="AHRS_ALIGNER_LED" value="2"/>
     <define name="IMU_MPU9250_READ_MAG" value="0"/>
@@ -13,9 +17,7 @@
     <target name="ap" board="chimera_1.0">
     </target>
 
-    <module name="radio_control" type="datalink">
-      <!--define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/-->
-    </module>
+    <module name="radio_control" type="datalink"/>
 
     <module name="actuators"     type="ostrich">
       <configure name="ACTUATORS_OSTRICH_PORT" value="uart1"/>
@@ -33,7 +35,6 @@
 
     <!--module name="stabilization" type="int_quat"/-->
 
-    <!-- Option 1) Ins(Accel + Gyro + Mag + Baro) + no GPS --> 
     <module name="ins"  type="gps_passthrough"/>
     <define name="INS_GP_USE_GPS_ACCEL" value="TRUE"/>
     <module name="ahrs" type="int_cmpl_quat"/>
@@ -79,21 +80,9 @@
   </command_laws>
 
   <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"/>
-
-    <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="-1"/>
-    <define name="ACCEL_Z_SIGN" value="-1"/-->
-    
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="180." unit="deg"/>
     <define name="BODY_TO_IMU_PSI"   value="-8." unit="deg"/>
-    <!--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="-8." unit="deg"/-->
   </section>
 
   <section name="AHRS" prefix="AHRS_">
diff --git a/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml b/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml
deleted file mode 100644
index 9d0cbb8701..0000000000
--- a/conf/airframes/matek_f405_wing/Easyglider_matek_f405_wing.xml
+++ /dev/null
@@ -1,395 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="Easyglider Matek">
-  <description>
-    Easyglider from Multiplex
-    BOARD = Matek f405 Wing
-    IMU = MPU6000
-    BARO = BMP280
-    Radio modem:   OPENLRSNG
-    Radio control: OPENLRSNG
-    GPS:           Ublox
-    On Board OSD
-    On board current sensor
-  </description>
-
-  <firmware name="fixedwing">
-    <target name="ap" board="matek_f405_wing_v1"/>
-    <target name="sim" board="pc"/>
-
-    <define name="AGR_CLIMB"/>
-    <define name="WIND_INFO"/>
-    <define name="WIND_INFO_RET"/>
-    <define name="STRONG_WIND"/>
-    <define name="USE_ADC_1"/>
-    <define name="USE_ADC_2"/>
-    <define name="USE_ADC_3"/>
-    <define name="USE_ADC_4"/>
-    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-    <define name="USE_AHRS_GPS_ACCELERATIONS"/>
-
-    <module name="telemetry" type="transparent">
-      <configure  name="MODEM_BAUD" value="B19200"/>
-      <configure  name="MODEM_PORT" value="UART6 "/>
-    </module>
-    <module name="gps"  type="ublox" >
-      <configure name="GPS_BAUD" value="B38400"/>
-      <configure name="GPS_PORT" value="UART1"/>
-      <configure name="GPS_LED" value="2"/>
-    </module>
-    <module name="control" />
-    <module name="radio_control" type="ppm">
-      <define name="RADIO_CONTROL_PPM_PIN" value="UART2_RX"/>
-    </module>
-    <module name="navigation"/>
-    <module name="imu" type="mpu6000" />
-    <module name="ahrs" type="float_dcm"/>
-    <module name="ins" type="alt_float">
-      <configure name="USE_MAGNETOMETER" value="true"/>
-      <define name="AHRS_USE_GPS_HEADING" value="true"/>
-      <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
-    </module>
-    <module name="spi" type="master"/>
-    <module name="gps_ubx_ucenter"/>
-    <module name="nav_line"/>
-
-    <module name="baro_bmp280_i2c">
-      <!-- <define name="BMP280_SYNC_SEND"/> -->
-      <configure name="BMP280_I2C_DEV" value="i2c1" />
-      <configure name="BMP280_SLAVE_ADDR" value="BMP280_I2C_ADDR" />
-    </module>
-    <module name="osd_max7456">
-      <configure name="MAX7456_SPI_DEV" value="spi2" />
-      <configure name="MAX7456_SLAVE_IDX" value="SPI_SLAVE1" />
-      <define name="USE_MATEK_TYPE_OSD_CHIP" value="true" />
-      <define name="USE_PAL_FOR_OSD_VIDEO" value="true" />
-      <define name="BARO_ALTITUDE_VAR" value="baro_alt" />
-    </module>
-    <module name="mag" type="hmc58xx">
-      <!-- If you mag somehow does not work, Enable this line or increase the delay if it still does not work -->
-      <!--<define name="HMC58XX_STARTUP_DELAY" value="1.4"/>--> 
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
-<!--  temporary for debugging external magneto and setup orientation sign and Body to Magneto angles-->
-<!--  <define name="MODULE_HMC58XX_SYNC_SEND" value="true"/> -->
-<!--  When all calibration is done and everything works, set the below definition to true -->
-      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="true"/>
-      <define name="HMC58XX_CHAN_X" value="0"/>
-      <define name="HMC58XX_CHAN_Y" value="1"/>
-      <define name="HMC58XX_CHAN_Z" value="2"/>
-      <define name="HMC58XX_CHAN_X_SIGN" value="+"/>
-      <define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
-      <define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
-    </module>
-    <module name="uav_recovery">
-      <define name="USE_PARACHUTE" value="true"/>
-      <define name="PARACHUTE_SERVO_CHANNEL" value="PARACHUTE" />
-      <define name="AIRBORNE_WIND_CORRECTION" value="1.0" />
-      <define name="PARACHUTE_WIND_CORRECTION" value="0.5" />
-      <define name="PARACHUTE_DESCENT_RATE" value="3.0" />
-      <define name="PARACHUTE_LINE_LENGTH" value="2.0" />
-      <define name="FIXED_WIND_DIRECTION_FOR_TESTING" value="330.0" />
-      <define name="FIXED_WIND_SPEED_FOR_TESTING" value="10.0" />
-    </module>
-
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="matek_f405_wing_v1" />
-    <target name="usb_tunnel" board="matek_f405_wing_v1">
-      <configure name="TUNNEL_PORT" value="UART3"/>
-    </target>
-  </firmware>
-
-  <servos>
-    <servo name="MOTOR" no="0" min="1100" neutral="1100" max="2000"/>
-    <servo name="PARACHUTE" no="1" min="950" neutral="950" max="2050"/>
-    <servo name="AILERON_L" no="2" min="1000" neutral="1500" max="2000"/>
-    <servo name="ELEVATOR" no="3" min="1000" neutral="1500" max="2000"/>
-    <servo name="RUDDER" no="4" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_R" no="5" min="1100" neutral="1100" max="2000"/>
-    <servo name="CAM_PAN" no="6" min="943" neutral="1520" max="2056"/>
-    <servo name="CAM_TILT" no="7" min="996" neutral="1221" max="2004"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="2000"/>
-    <axis name="FLAPS" failsafe_value="0"/>
-    <axis name="CAM_PAN" failsafe_value="0"/>
-    <axis name="CAM_TILT" failsafe_value="0"/>
-    <axis name="PARACHUTE" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="YAW" value="@YAW"/>
-    <set command="FLAPS" value="@AUX1"/> 
-    <set command="PARACHUTE" value="@AUX3"/> 
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.66"/>
-    <define name="COMBI_SWITCH" value="0.5"/>
-  </section>
-
-  <command_laws>
-    <let var="roll" value="@ROLL"/>
-    <let var="flaps" value="@FLAPS"/>
-
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="PARACHUTE" value="@PARACHUTE"/>
-    <set servo="AILERON_L" value="$roll + $flaps"/>
-    <set servo="AILERON_R" value="$roll - $flaps"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER"  value="@YAW + @ROLL*COMBI_SWITCH"/>
-    <set servo="CAM_PAN" value="@CAM_PAN"/>
-    <set servo="CAM_TILT" value="@CAM_TILT"/>
-  </command_laws>
-
-  <!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
-  <auto_rc_commands>
-  <!--
-  <set command="YAW" value="@YAW"/>
-  -->
-  </auto_rc_commands>
-
-  <ap_only_commands>
-    <copy command="CAM_PAN"/>
-    <copy command="CAM_TILT"/>
-  </ap_only_commands>
-
-<!--
-   Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
-   Magnetic field intensity (North-East-vertical) / total field strength
-   H_x = INTENSITY_x / Total Magnetic Field
-   Total Magnetic Field = (intensityEAST^2+intensityNORTH^2+intensityVERTICAL^2) 
-   Calculated for LAGONISI ATTIKI 23 October 2020
--->
-  <section name="AHRS" prefix="AHRS_" >
-    <define name="MAG_DECLINATION"  value="5.3" unit="deg" />
-    <define name="H_X" value="(25243.2/47047.8)" />
-    <define name="H_Y" value="(2232.5/47047.8)" />
-    <define name="H_Z" value="(39639.5/47047.8) " />
-  </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 = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
-    <define name="GYRO_P_SENS" value="4.947"  integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.947"  integer="16"/>
-    <define name="GYRO_R_SENS" value="4.947"  integer="16"/>
-    <define name="GYRO_P_Q" value="0."/>
-    <define name="GYRO_P_R" value="0"/>
-    <define name="GYRO_Q_P" value="0."/>
-    <define name="GYRO_Q_R" value="0."/>
-    <define name="GYRO_R_P" value="0."/>
-    <define name="GYRO_R_Q" value="0."/>
-
-    <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="-1"/>
-    <define name="ACCEL_Z_SIGN" value="-1"/>
-    <!-- Found with calibrate.py script -->
-    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
-    <define name="ACCEL_X_NEUTRAL" value="63"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-55"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-363"/>
-    <define name="ACCEL_X_SENS" value="4.92325848105" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="4.91672766019" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="4.85646198137" integer="16"/>
-
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
-    <define name="MAG_Z_SIGN" value="1"/>
-    <!-- Found with calibrate.py script -->
-    <define name="MAG_X_NEUTRAL" value="127"/>
-    <define name="MAG_Y_NEUTRAL" value="-72"/>
-    <define name="MAG_Z_NEUTRAL" value="-24"/>
-    <define name="MAG_X_SENS" value="5.62922068812" integer="16"/>
-    <define name="MAG_Y_SENS" value="5.80146852641" integer="16"/>
-    <define name="MAG_Z_SENS" value="6.19489790035" 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="-90." unit="deg"/> <!-- YAW -->
-  </section>
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
-  </section>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="50" unit="deg"/>
-    <define name="MAX_PITCH" value="40" unit="deg"/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-                    <!-- OUTER LOOP PARAMETERS  -->
-<!-- The below definition affect the throttle percentage shown on the GCS. -->
-    <define name="POWER_CTL_BAT_NOMINAL" value="12.6" unit="volt"/>
-    <!-- outer loop ALTITUDE proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.08" unit="(m/s)/m"/>
-    <!-- outer loop ALTITUDE LIMIT (saturation) -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
-    <!-- outer loop AIRSPEED proportional gain -->
-    <define name="AIRSPEED_PGAIN" value="0.2"/>
-
-                   <!-- INNER LOOP PARAMETERS -->
-    <!-- The below definitions are used almost always -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.60" unit="%"/>
-    <define name="THROTTLE_SLEW_LIMITER" value="0.6" unit="s"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
-    <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_NOMINAL_CRUISE_PITCH" value="0.0" unit="rad"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.008" unit="%/(m/s)"/> 
-    <define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.001"/>
-
-    <!-- Climb loop (pitch) -->
-    <!-- magnitude of elevator movement on altitude change -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15" unit="rad/(m/s)"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.04"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-
-    <!-- Loiter and Dash trimming -->
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
-    <define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.8"/>
-    <define name="COURSE_DGAIN" value="0.8"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="PITCH_MAX_SETPOINT" value="20" unit="deg"/>
-    <define name="PITCH_MIN_SETPOINT" value="-20" unit="deg"/>
-    <define name="PITCH_PGAIN" value="8000."/>
-    <define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
-    <define name="ROLL_SLEW" value="0.1"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="8000"/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>
-    <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_DGAIN" value="6."/>
-    <define name="PITCH_IGAIN" value="100."/>
-  </section>
-
-  <section name="BAT">
-    <!-- FOR USE WITH A CURRENT SENSOR  -->
-    <define name="BAT_CAPACITY" value="5000" unit="mah"/>
-    <define name="LOITER_BAT_CURRENT" value="10" unit="Amps"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="7.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="CLIMB_AIRSPEED" value="15." unit="m/s"/>
-    <define name="GLIDE_AIRSPEED" value="14." unit="m/s"/>
-    <define name="RACE_AIRSPEED" value="25." unit="m/s"/>
-    <define name="STALL_AIRSPEED" value="10." unit="m/s"/>
-    <define name="AIRSPEED_SETPOINT_SLEW" value="1" unit="s"/>
-    <define name="NOMINAL_AIRSPEED" value="16" unit="m/s"/>
-    <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="26." unit="m/s"/>
-    <define name="CARROT" value="3." unit="s"/>
-    <define name="GLIDE_RATIO" value="7."/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-    <define name="NO_XBEE_API_INIT"  value="true"/>
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
-
-    <!-- MIN_CIRCLE_RADIUS used and needed for spiral navigation function and panic autolanding turns-->
-    <define name="MIN_CIRCLE_RADIUS" value="40."/>
-
-    <!--UNLOCKED_HOME_MODE if set to true means that HOME mode does not get stuck.
-    If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
-    <define name="UNLOCKED_HOME_MODE" value="true"/>
-
-    <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
-    or  fly a long range mission you define the wanted mode behaviour here.
-    If you do not define it, it defaults to flying to the flightplan HOME -->
-	<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="40"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="10"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="1.0"/> <!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="RadOfDeg(20)"/> <!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/> <!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/> <!-- 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="NAV">
-    <define name="NAV_PITCH" value="0."/>
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
-    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
-  </section>
-
-  <section name="GLS_APPROACH" prefix="APP_">
-    <define name="ANGLE" value="5"/>
-    <define name="INTERCEPT_AF_TOD" value="10"/>
-    <define name="TARGET_SPEED" value="13"/>
-  </section>
--->
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0.8" unit="%"/>
-    <define name="DEFAULT_ROLL" value="10" unit="deg"/>
-    <define name="DEFAULT_PITCH" value="10" unit="deg"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-  </section>
-
-  <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="PPRZ"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
-
-  <section name="GCS">
-    <define name="AC_ICON" value="flyingwing"/>
-    <define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
-    <define name="ALT_SHIFT_PLUS" value="10"/>
-    <define name="ALT_SHIFT_MINUS" value="-10"/>
-    <define name="SPEECH_NAME" value="Easyglider"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="WEIGHT" value ="1."/>
-    <define name="YAW_RESPONSE_FACTOR" value =".9"/>
-    <define name="PITCH_RESPONSE_FACTOR" value ="1.5"/>
-    <define name="ROLL_RESPONSE_FACTOR" value ="20."/>
-  </section>
-
-</airframe>
-
diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/test_boards/apogee.xml
similarity index 93%
rename from conf/airframes/ENAC/fixed-wing/apogee.xml
rename to conf/airframes/test_boards/apogee.xml
index c019a7eeef..1e3182221c 100644
--- a/conf/airframes/ENAC/fixed-wing/apogee.xml
+++ b/conf/airframes/test_boards/apogee.xml
@@ -1,11 +1,11 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!--
-     Apogee test board
--->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Apogee">
 
+  <description>
+    Apogee test board
+  </description>
+
   <firmware name="fixedwing">
     <configure name="RTOS_DEBUG" value="0"/>
 
@@ -19,8 +19,6 @@
 
     <!-- Communication -->
     <module name="telemetry" type="xbee_api"/>
-    <module name="tlsf"/>
-    <module name="pprzlog"/>
     <module name="logger" type="sd_chibios"/>
     <module name="flight_recorder"/>
 
@@ -38,16 +36,6 @@
     </module>
 
     <module name="sys_mon"/>
-
-    <!--module name="spi_master"/-->
-    <!-- <module name="mcp355x"> -->
-    <!--   <define name="USE_SPI1"/> -->
-    <!-- </module> -->
-    <!--module name="extra_dl">
-      <configure name="EXTRA_DL_PORT" value="UART6"/>
-      <configure name="EXTRA_DL_BAUD" value="B57600"/>
-    </module>
-    <module name="meteo_france_DAQ"/-->
   </firmware>
 
   <firmware name="test_chibios">
@@ -56,7 +44,7 @@
     <target name="test_sys_gpio"        board="apogee_1.0_chibios"/>
   </firmware>
 
-<!-- commands section -->
+  <!-- commands section -->
   <servos>
     <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
     <servo name="AILEVON_LEFT" no="1" min="1900" neutral="1543" max="1100"/>
diff --git a/conf/airframes/ENAC/fixed-wing/chimera.xml b/conf/airframes/test_boards/chimera.xml
similarity index 83%
rename from conf/airframes/ENAC/fixed-wing/chimera.xml
rename to conf/airframes/test_boards/chimera.xml
index cfb9bd0124..2c912f25e3 100644
--- a/conf/airframes/ENAC/fixed-wing/chimera.xml
+++ b/conf/airframes/test_boards/chimera.xml
@@ -1,17 +1,13 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!--
-Chimera test board
-Mako (http://www.readymaderc.com)
-Apogee 1.0
-XBEE modem
-UBX GPS / HMC58XX mag (drotek)
--->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Chimera">
 
+  <description>
+    Chimera test board
+  </description>
+
   <firmware name="fixedwing">
-    <configure name="RTOS_DEBUG" value="1"/>
+    <configure name="RTOS_DEBUG" value="0"/>
 
     <target name="ap" board="chimera_1.0">
       <module name="radio_control" type="sbus"/>
@@ -39,37 +35,7 @@ UBX GPS / HMC58XX mag (drotek)
     </module>
 
     <module name="sys_mon"/>
-
-    <!--module name="pwm_meas"/-->
-    <!--module name="spi_master"/-->
-
-    <!--module name="meteo_stick">
-      <configure name="MS_SPI_DEV" value="SPI1"/>
-      <configure name="MS_PRESSURE_SLAVE_IDX" value="0"/>
-      <configure name="MS_DIFF_PRESSURE_SLAVE_IDX" value="3"/>
-      <configure name="MS_TEMPERATURE_SLAVE_IDX" value="2"/>
-      <configure name="MS_EEPROM_SLAVE_IDX" value="1"/>
-      <configure name="MS_HUMIDITY_PWM_INPUT" value="PWM_INPUT1"/>
-      <define name="USE_MS_TEMPERATURE" value="FALSE"/>
-    </module-->
-
-    <!--module name="AOA_pwm">  
-      <configure name="AOA_PWM_CHANNEL" value="PWM_INPUT2"/>
-    </module-->
-
-    <module name="tlsf"/>
-    <module name="pprzlog"/>
-    <module name="logger" type="sd_chibios"/>
     <module name="flight_recorder"/>
-
-    <!-- <module name="mcp355x"> -->
-    <!--   <define name="USE_SPI1"/> -->
-    <!-- </module> -->
-    <!--module name="extra_dl">
-      <configure name="EXTRA_DL_PORT" value="UART6"/>
-      <configure name="EXTRA_DL_BAUD" value="B57600"/>
-    </module>
-    <module name="meteo_france_DAQ"/-->
   </firmware>
 
   <firmware name="test_chibios">
@@ -78,12 +44,7 @@ UBX GPS / HMC58XX mag (drotek)
     <target name="test_sys_gpio" board="chimera_1.0"/>
   </firmware>
 
-  <section name="METEO_STICK">
-    <define name="LOG_MS" value="TRUE"/>
-    <define name="SEND_MS" value="TRUE"/>
-  </section>
-
-<!-- commands section -->
+  <!-- commands section -->
   <servos>
     <servo name="MOTOR" no="0" min="1000" neutral="1000" max="1800"/>
     <servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
diff --git a/conf/airframes/test_boards/conf_test_boards.xml b/conf/airframes/test_boards/conf_test_boards.xml
new file mode 100644
index 0000000000..bdad13869f
--- /dev/null
+++ b/conf/airframes/test_boards/conf_test_boards.xml
@@ -0,0 +1,90 @@
+<conf>
+  <aircraft
+   name="APOGEE"
+   ac_id="3"
+   airframe="airframes/test_boards/apogee.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/fixedwing_flight_recorder.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_attitude_fw.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="CHIMERA"
+   ac_id="23"
+   airframe="airframes/test_boards/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/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="#fdeb90060000"
+  />
+  <aircraft
+   name="CRAZYFLIE"
+   ac_id="5"
+   airframe="airframes/test_boards/crazyflie_2.1.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/ENAC/crazyflie_multi_ranger_test.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="MATEK_F765"
+   ac_id="7"
+   airframe="airframes/test_boards/matek_f765_wing.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="NUCLEO"
+   ac_id="4"
+   airframe="airframes/test_boards/nucleo144.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="TAWAKI"
+   ac_id="1"
+   airframe="airframes/test_boards/tawaki.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/fixedwing_flight_recorder.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="MATEK_H743"
+   ac_id="9"
+   airframe="airframes/test_boards/matek_h743_slim.xml"
+   radio="radios/FrSky_X-Lite.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="DISCO"
+   ac_id="2"
+   airframe="airframes/test_boards/disco.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   gui_color="blue"
+  />
+</conf>
diff --git a/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml b/conf/airframes/test_boards/crazyflie_2.1.xml
similarity index 99%
rename from conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
rename to conf/airframes/test_boards/crazyflie_2.1.xml
index 66e7e4eb7c..758a70d45d 100644
--- a/conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml
+++ b/conf/airframes/test_boards/crazyflie_2.1.xml
@@ -1,9 +1,11 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Crazyflie 2.1 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Crazyflie2">
 
+  <description>
+    Crazyflie 2.1
+  </description>
+
   <firmware name="rotorcraft">
     <configure name="PERIODIC_FREQUENCY" value="1000"/>
     <configure name="RTOS_DEBUG" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/disco.xml b/conf/airframes/test_boards/disco.xml
similarity index 98%
rename from conf/airframes/ENAC/fixed-wing/disco.xml
rename to conf/airframes/test_boards/disco.xml
index 822f677a9e..4790127891 100644
--- a/conf/airframes/ENAC/fixed-wing/disco.xml
+++ b/conf/airframes/test_boards/disco.xml
@@ -1,11 +1,11 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!--
-     Parrot Disco
--->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Disco">
 
+  <description>
+    Parrot Disco
+  </description>
+
   <firmware name="fixedwing">
     <configure name="USE_MAGNETOMETER" value="TRUE"/>
 
diff --git a/conf/airframes/ENAC/quadrotor/kakute_f7.xml b/conf/airframes/test_boards/kakute_f7.xml
similarity index 97%
rename from conf/airframes/ENAC/quadrotor/kakute_f7.xml
rename to conf/airframes/test_boards/kakute_f7.xml
index 4d481fa73e..9e02c05bc4 100644
--- a/conf/airframes/ENAC/quadrotor/kakute_f7.xml
+++ b/conf/airframes/test_boards/kakute_f7.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 
 <airframe name="Kakute_F7">
@@ -186,10 +186,6 @@
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
     <!-- control effectiveness -->
-    <!--define name="G1_P" value="0.018284"/>
-    <define name="G1_Q" value="0.017385"/>
-    <define name="G1_R" value="0.0024217"/>
-    <define name="G2_R" value="-0.30628"/-->
     <define name="G1_P" value="0.025483"/>
     <define name="G1_Q" value="0.022144"/>
     <define name="G1_R" value="0.0023438"/>
diff --git a/conf/airframes/matek_f405_wing/Easyglider_matek_f405_autoload.xml b/conf/airframes/test_boards/matek_f405_wing.xml
similarity index 100%
rename from conf/airframes/matek_f405_wing/Easyglider_matek_f405_autoload.xml
rename to conf/airframes/test_boards/matek_f405_wing.xml
diff --git a/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml b/conf/airframes/test_boards/matek_f765_wing.xml
similarity index 96%
rename from conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml
rename to conf/airframes/test_boards/matek_f765_wing.xml
index 2918a15917..61c369220d 100644
--- a/conf/airframes/ENAC/fixed-wing/matek_f765_wing.xml
+++ b/conf/airframes/test_boards/matek_f765_wing.xml
@@ -1,10 +1,9 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Matek F765-WING Test File">
 
   <firmware name="fixedwing">
     <configure name="RTOS_DEBUG" value="0"/>
-    <!--configure name="CH_OPT" value="0 -g -ggdb3"/-->
 
     <target name="ap" board="matek_f765_wing">
       <configure name="PERIODIC_FREQUENCY" value="100"/>
@@ -35,11 +34,6 @@
     <module name="control" type="new"/>
     <module name="navigation"/>
 
-    <!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
-    <!--module name="tlsf"/>
-    <module name="pprzlog"/>
-    <module name="logger" type="sd_chibios"/>
-    <module name="flight_recorder"/-->
   </firmware>
 
   <!-- commands section -->
diff --git a/conf/airframes/examples/matek_h743_slim.xml b/conf/airframes/test_boards/matek_h743_slim.xml
similarity index 98%
rename from conf/airframes/examples/matek_h743_slim.xml
rename to conf/airframes/test_boards/matek_h743_slim.xml
index d8d5f14f85..7fffa31d8b 100644
--- a/conf/airframes/examples/matek_h743_slim.xml
+++ b/conf/airframes/test_boards/matek_h743_slim.xml
@@ -189,10 +189,6 @@
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
     <!-- control effectiveness -->
-    <!--define name="G1_P" value="0.018284"/>
-    <define name="G1_Q" value="0.017385"/>
-    <define name="G1_R" value="0.0024217"/>
-    <define name="G2_R" value="-0.30628"/-->
     <define name="G1_P" value="0.025483"/>
     <define name="G1_Q" value="0.022144"/>
     <define name="G1_R" value="0.0023438"/>
diff --git a/conf/airframes/ENAC/nucleo144_test.xml b/conf/airframes/test_boards/nucleo144.xml
similarity index 100%
rename from conf/airframes/ENAC/nucleo144_test.xml
rename to conf/airframes/test_boards/nucleo144.xml
diff --git a/conf/airframes/ENAC/fixed-wing/tawaki.xml b/conf/airframes/test_boards/tawaki.xml
similarity index 97%
rename from conf/airframes/ENAC/fixed-wing/tawaki.xml
rename to conf/airframes/test_boards/tawaki.xml
index 4a4312f01e..f74a63858e 100644
--- a/conf/airframes/ENAC/fixed-wing/tawaki.xml
+++ b/conf/airframes/test_boards/tawaki.xml
@@ -1,10 +1,8 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="Tawaki Test File">
 
   <firmware name="fixedwing">
-    <!--configure name="RTOS_DEBUG" value="1"/-->
-    <!--configure name="CH_OPT" value="0 -g -ggdb3"/-->
     <define name="SERVO_HZ" type="60"/>
 
     <target name="ap" board="tawaki_1.0">
@@ -56,7 +54,6 @@
       <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
     </module>
 
-    <!--configure name="SDLOG_USE_RTC" value="FALSE"/-->
     <module name="flight_recorder"/>
   </firmware>
 
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 58d9fea926..68508b3545 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -46,7 +46,7 @@
   <aircraft
    name="apogee_chibios"
    ac_id="30"
-   airframe="airframes/ENAC/fixed-wing/apogee.xml"
+   airframe="airframes/test_boards/apogee.xml"
    radio="radios/T10CG_SBUS.xml"
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml
index 1be672db80..03f4fba17e 100644
--- a/conf/conf_tests_coverity.xml
+++ b/conf/conf_tests_coverity.xml
@@ -167,7 +167,7 @@
   <aircraft
    name="apogee_chibios"
    ac_id="30"
-   airframe="airframes/ENAC/fixed-wing/apogee.xml"
+   airframe="airframes/test_boards/apogee.xml"
    radio="radios/T10CG_SBUS.xml"
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
diff --git a/conf/mag/germany_aachen.xml b/conf/mag/germany_aachen.xml
new file mode 100644
index 0000000000..1e6ae954b2
--- /dev/null
+++ b/conf/mag/germany_aachen.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE airframe SYSTEM "../airframes/airframe.dtd">
+
+<airframe>
+  <description>
+    Germany / Aachen
+    50.9097° N, 6.22823° W
+    Date 	Declination (+ E|-W) 	Inclination (+D|-U) 	Horizontal Intensity 	North Comp (+N|-S) 	East Comp (+E|-W) 	Vertical Comp (+D|-U) 	Total Field
+    2023-08-17 	-1.3339° 	65.7508° 	19,995.7 nT 	19,990.2 nT 	-465.5 nT 	44,390.4 nT 	48,686.0 nT 
+  </description>
+  <section name="MAG_MODEL" prefix="INS_">
+    <define name="H_X" value="0.410594"/>
+    <define name="H_Y" value="-0.00956127"/>
+    <define name="H_Z" value="0.911769"/>
+  </section>
+</airframe>
+