diff --git a/conf/airframes/mm/fixed-wing/trojan.xml b/conf/airframes/mm/fixed-wing/trojan.xml
new file mode 100644
index 0000000000..bad7f72dea
--- /dev/null
+++ b/conf/airframes/mm/fixed-wing/trojan.xml
@@ -0,0 +1,250 @@
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diff --git a/conf/radios/mc24r.xml b/conf/radios/mc24r.xml
index 0c350e7607..ed1856e6dc 100644
--- a/conf/radios/mc24r.xml
+++ b/conf/radios/mc24r.xml
@@ -47,7 +47,7 @@
-
+
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c
index 3290d7e0f9..6168b68b89 100644
--- a/sw/airborne/modules/sensors/imu_aspirin2.c
+++ b/sw/airborne/modules/sensors/imu_aspirin2.c
@@ -26,7 +26,7 @@
// Downlink
#include "mcu_periph/uart.h"
#include "messages.h"
-#include "downlink.h"
+#include "subsystems/datalink/downlink.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
@@ -195,9 +195,9 @@ void imu_periodic( void )
void aspirin2_subsystem_downlink_raw( void )
{
- DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
- DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
- DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z);
+ DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
+ DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
+ DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,DefaultDevice,&imu.mag_unscaled.x,&imu.mag_unscaled.y,&imu.mag_unscaled.z);
}
void aspirin2_subsystem_event( void )