diff --git a/conf/airframes/microjet7.xml b/conf/airframes/microjet7.xml
index b95e61a0e1..96bcd60a08 100644
--- a/conf/airframes/microjet7.xml
+++ b/conf/airframes/microjet7.xml
@@ -55,7 +55,7 @@
-
+
@@ -67,6 +67,15 @@
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+est pi : 0.81
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@@ -98,7 +107,7 @@
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@@ -119,7 +128,7 @@
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@@ -128,9 +137,9 @@
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@@ -155,7 +164,7 @@
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@@ -227,7 +236,7 @@ ap.srcs += bomb.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP
sim.srcs += bomb.c
@@ -247,7 +256,7 @@ tunnel.ARCH = arm7tdmi
tunnel.TARGET = tunnel
tunnel.TARGETDIR = tunnel
-tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
diff --git a/conf/airframes/slayer3.xml b/conf/airframes/slayer3.xml
new file mode 100755
index 0000000000..8aa62078cd
--- /dev/null
+++ b/conf/airframes/slayer3.xml
@@ -0,0 +1,249 @@
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+est pi /4 : 0.9
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+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
+ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+
+ap.srcs += gps_ubx.c gps.c
+
+ap.CFLAGS += -DINFRARED
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+
+# Harware In The Loop
+
+#ap.CFLAGS += -DHITL
+
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB
+
+
+# a test program to setup actuators
+setup_actuators.ARCHDIR = $(ARCHI)
+setup_actuators.ARCH = arm7tdmi
+setup_actuators.TARGET = setup_actuators
+setup_actuators.TARGETDIR = setup_actuators
+
+setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+
+
+# a test program to tunnel between both uart
+tunnel.ARCHDIR = $(ARCHI)
+tunnel.ARCH = arm7tdmi
+tunnel.TARGET = tunnel
+tunnel.TARGETDIR = tunnel
+
+tunnel.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
diff --git a/conf/settings/settings.dtd b/conf/settings/settings.dtd
index d5b8bd1034..0ac44e6777 100644
--- a/conf/settings/settings.dtd
+++ b/conf/settings/settings.dtd
@@ -26,6 +26,7 @@ var CDATA #REQUIRED
min CDATA #REQUIRED
max CDATA #REQUIRED
step CDATA #IMPLIED
+shortname CDATA #IMPLIED
>
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