From 45753758766a13575ba477e0ea3fffd221c0e094 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Tue, 7 Jul 2020 15:24:44 +0200
Subject: [PATCH] [conf] cleaning some airframe files for CI builds (#2547)

mostly by moving modules from 'modules' to 'firmware' section, which
should be done in all airframe files now.
---
 .../airframes/AGGIEAIR/aggieair_iris_indi.xml |  82 +++++-----
 .../BR/quadshot_asp21_FutabaPPMonUart1.xml    |  72 +++++----
 .../ENAC/quadrotor/ard2_base_digit.xml        |   2 -
 .../ENAC/quadrotor/ard2_base_vision.xml       |   2 -
 conf/airframes/ENAC/quadrotor/ard2_basic.xml  |   2 -
 .../ENAC/quadrotor/ard2_basic_adhoc.xml       |   2 -
 conf/airframes/ENAC/quadrotor/booz2_g1.xml    |   2 -
 conf/airframes/OPENUAS/openuas_eflite_t28.xml | 147 +++++++++---------
 conf/airframes/OPENUAS/openuas_vivify.xml     |  22 ++-
 conf/airframes/tudelft/iris_indi.xml          |  38 +++--
 conf/airframes/tudelft/mentor.xml             |  85 +++++-----
 conf/airframes/tudelft/robird.xml             |  30 ++--
 12 files changed, 231 insertions(+), 255 deletions(-)

diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index 61de9ba398..f6f1a93394 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -90,6 +90,45 @@
         <define name="SERVO_HZ" value="200" />
       </module>
 
+      <!-- allow flashing FBW target through AP -->
+      <module name="px4_flash"/>
+
+      <!-- CPU utilization monitor -->
+      <module name="sys_mon"/>
+
+      <!-- optical flow camera over i2c-->
+      <module name="px4flow_i2c">
+        <configure name="USE_PX4FLOW_AGL" value="0" description="don't send AGL measurements"/>
+        <comment>compensate AGL for body rotation</comment>
+        <configure name="PX4FLOW_COMPENSATE_ROTATION" value="1"/>
+        <configure name="PX4FLOW_NOISE_STDDEV" value="10.0"/> <!-- standard deviation of the optical flow measurements-->
+      </module>
+
+      <!-- laser range finder for precise AGL measurement -->
+      <module name="lidar_lite">
+        <configure name="USE_LIDAR_LITE_AGL" value="1"/> <!-- send AGL measurements -->
+        <configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
+      </module>
+
+      <!-- laser range finder for precise AGL measurement -->
+      <module name="lidar_sf11">
+        <configure name="USE_LIDAR_SF11_AGL" value="0"/> <!-- dont send AGL measurements -->
+        <configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
+      </module>
+
+      <!-- external mag for better heading estimate -->
+      <module name="mag" type="hmc58xx">
+        <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
+        <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+        <define name="HMC58XX_CHAN_X" value="1"/>
+        <define name="HMC58XX_CHAN_Y" value="0"/>
+        <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="air_data"/>
 <!--
       <module name="tlsf"/>
       <module name="pprzlog"/>
@@ -120,50 +159,9 @@
         <configure name="INTERMCU_BAUD" value="B1500000" />
       </module>
     </target>
+
   </firmware>
 
-  <modules main_freq="PERIODIC_FREQUENCY">
-    <!-- allow flashing FBW target through AP -->
-    <module name="px4_flash"/>
-
-    <!-- CPU utilization monitor -->
-    <module name="sys_mon"/>
-
-    <!-- optical flow camera over i2c-->
-    <module name="px4flow_i2c">
-      <configure name="USE_PX4FLOW_AGL" value="0" description="don't send AGL measurements"/>
-      <comment>compensate AGL for body rotation</comment>
-      <configure name="PX4FLOW_COMPENSATE_ROTATION" value="1"/>
-      <configure name="PX4FLOW_NOISE_STDDEV" value="10.0"/> <!-- standard deviation of the optical flow measurements-->
-    </module>
-
-    <!-- laser range finder for precise AGL measurement -->
-    <module name="lidar_lite">
-      <configure name="USE_LIDAR_LITE_AGL" value="1"/> <!-- send AGL measurements -->
-      <configure name="LIDAR_LITE_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
-    </module>
-
-    <!-- laser range finder for precise AGL measurement -->
-    <module name="lidar_sf11">
-      <configure name="USE_LIDAR_SF11_AGL" value="0"/> <!-- dont send AGL measurements -->
-      <configure name="LIDAR_SF11_COMPENSATE_ROTATION" value="1" /> <!-- compensate AGL for body rotation -->
-    </module>
-
-    <!-- external mag for better heading estimate -->
-    <module name="mag" type="hmc58xx">
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
-      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
-      <define name="HMC58XX_CHAN_X" value="1"/>
-      <define name="HMC58XX_CHAN_Y" value="0"/>
-      <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="air_data"/>
-  </modules>
-
   <section name="MISC">
     <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
     <!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
diff --git a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
index dab62ea003..9376a449e4 100644
--- a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
+++ b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
@@ -306,44 +306,9 @@
     <define name="ADAPTIVE_INDI" value="FALSE"/>
   </section>
 
-  <modules main_freq="512">
-    <load name="gps_ubx_ucenter.xml"/>
-
-    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
-    <load name="led_safety_status.xml">
-          <define name="USE_LED_BODY" value="1"/>
-          <define name="SAFETY_WARNING_LED" value="BODY"/>
-    </load>
-
-    <load name="sonar_adc.xml">
-      <configure name="ADC_SONAR" value="ADC_2"/>
-<!--       <define name="USE_SONAR"/> -->
-      <define name="SENSOR_SYNC_SEND_SONAR"/>
-      <define name="SONAR_SCALE" value="0.0032"/>
-    </load>
-
-  <!--Use an airspeed sensor and get the measured airspeed in the messages-->
-<!--    <load name="airspeed_ets.xml">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
-    </load>-->
-
-    <module name="logger_spi_link"/>
-
-<!--    <load name="AOA_adc.xml">
-      <configure name="ADC_AOA" value="ADC_2"/>
-      <define name="AOA_OFFSET" value="0"/>
-      <define name="AOA_FILTER" value="0"/>
-      <define name="USE_AOA"/>
-      <define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
-    </load>-->
-
-  <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
-    <!-- <module name="gain_scheduling"/> -->
-  </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
-    <module name="radio_control" type="ppm">
+      <module name="radio_control" type="ppm">
 
         <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
 
@@ -358,7 +323,7 @@
     <configure name="FLASH_MODE"   value="SWD"/>
     <configure name="BMP_PORT" value="/dev/ttyACM0" />
 
- <!-- To use an airspeed sensor on I2C, enable I2C2-->
+    <!-- To use an airspeed sensor on I2C, enable I2C2-->
 <!--      <define name="USE_I2C2"/> -->
 
 
@@ -387,5 +352,38 @@
     </module>
 
     <module name="ins"/>
+
+    <module name="gps_ubx_ucenter"/>
+
+    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="BODY"/>
+    </module>
+
+    <module name="sonar_adc">
+      <configure name="ADC_SONAR" value="ADC_2"/>
+<!--       <define name="USE_SONAR"/> -->
+      <define name="SENSOR_SYNC_SEND_SONAR"/>
+      <define name="SONAR_SCALE" value="0.0032"/>
+    </module>
+
+        <!--Use an airspeed sensor and get the measured airspeed in the messages-->
+<!--    <module name="airspeed_ets">
+      <define name="AIRSPEED_ETS_SYNC_SEND"/>
+    </module>-->
+
+    <module name="logger_spi_link"/>
+
+<!--    <module name="AOA_adc">
+      <configure name="ADC_AOA" value="ADC_2"/>
+      <define name="AOA_OFFSET" value="0"/>
+      <define name="AOA_FILTER" value="0"/>
+      <define name="USE_AOA"/>
+      <define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
+    </module>-->
+
+    <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section. Does not work with INDI -->
+    <!-- <module name="gain_scheduling"/> -->
   </firmware>
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
index bc3cf7dd47..7bdf1e887d 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
@@ -43,8 +43,6 @@
     <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512"/>
-
   <!-- include common control -->
   <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
   <!-- include arframe calibration -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
index 980b0dfffe..036d12aea1 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
@@ -45,8 +45,6 @@
     <module name="rotorcraft_cam"/>
   </firmware>
 
-  <modules main_freq="512"/>
-
   <!-- include common control -->
   <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
   <!-- include arframe calibration -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic.xml b/conf/airframes/ENAC/quadrotor/ard2_basic.xml
index fe0138020d..349013ff0e 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_basic.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_basic.xml
@@ -35,8 +35,6 @@
     <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512"/>
-
   <!-- include common control -->
   <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
   <!-- include arframe calibration -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml b/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
index 374a1db5a0..6d652d3079 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
@@ -37,8 +37,6 @@
     <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512"/>
-
   <!-- include common control -->
   <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
   <!-- include arframe calibration -->
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index f851d5b954..ff1d0e2754 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -1,7 +1,5 @@
 <airframe name="BOOZ2_G1">
 
-  <modules main_freq="512"/>
-
   <firmware name="rotorcraft">
     <define name="DEBUG_VFF_EXTENDED"/>
     <define name="USE_INS_NAV_INIT"/>
diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
index cc00855cf9..2294a25b19 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
@@ -195,81 +195,7 @@ NOTES:
       <configure name="GPS_BAUD" value="B57600"/>
       <!-- <configure name="GPS_PORT" value="UARTx"/>--><!-- Now uses the default GPS port on pixracer -->
     </module>
-  </firmware>
 
-  <!-- Handy to toy with toying around with settings on a uBlox or a modem e.g via AT commands serial device -->
-  <!--  <firmware name="setup">
-    <target name="GPS tunnel" board="px4fmu_4.0">
-         USE UART? for GPS
-    </target>
-    <target name="Datamodem tunnel" board="px4fmu_4.0">
-        USE UART? for Si1000 based modem
-    </target>
-  </firmware> -->
-
-  <!--  To test various things for the new board -->
-
-  <firmware name="test_progs">
-  <!--
-    <target name="test_module" board="px4fmu_4.0">
-      <module name="usb_serial_stm32_example1"/>
-    </target>
-   <target name="test_sys_time_timer"      board="px4fmu_4.0">
-     <configure name="SYS_TIME_LED" value="none"/>
-     <configure name="LED_DEFINES" value="-DLED_RED=1"/>
-   </target>
-   <target name="test_sys_time_usleep"     board="px4fmu_4.0">
-     <configure name="SYS_TIME_LED" value="none"/>
-     <configure name="LED_DEFINES" value="-DLED_GREEN=2"/>
-   </target>
-   <target name="test_telemetry"           board="px4fmu_4.0">
-      <configure name="SYS_TIME_LED" value="none"/>
-      <define name="UART_TX_LED" value="3"/>
-   </target>
-   <target name="test_imu"                 board="px4fmu_4.0">
-      <module name="imu" type="mpu9250_spi">
-        <configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
-        <configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
-      </module>
-      <configure name="PERIODIC_FREQUENCY" value="120"/>
-    </target>
-    <target name="test_actuators_pwm_sin"   board="px4fmu_4.0">
-    </target>
-
-   <target name="test_baro_board"          board="px4fmu_4.0">
-      <configure name="BARO_LED" value="2"/>
-   </target>
-   -->
-   <target name="test_adc"                 board="px4fmu_4.0"/>
-   <!--
-   <target name="test_uart"                board="px4fmu_4.0">
-      <define name="USE_UART1"/>
-      <define name="UART1_BAUD" value="B57600"/>
-      <define name="USE_UART2"/>
-      <define name="UART2_BAUD" value="B57600"/>
-      <define name="USE_UART3"/>
-      <define name="UART3_BAUD" value="B57600"/>
-      <define name="USE_UART4"/>
-      <define name="UART4_BAUD" value="B57600"/>
-      <define name="USE_UART7"/>
-      <define name="UART7_BAUD" value="B57600"/>
-      <define name="USE_UART8"/> % FRSky
-      <define name="UART8_BAUD" value="B115200"/>
-   </target>
-      -->
-   <!-- FIXME <target name="test_can"                 board="px4fmu_4.0"/> -->
-   <!-- Since it is not implemented yet, idea is to just write and read a block and check data -->
-   <!-- FIXME <target name="test_sdcard"                   board="px4fmu_4.0"/>-->
-   <!-- <target name="test_icm20608g"           board="px4fmu_4.0"/> --><!-- TODO -->
-   <!-- <target name="test_hcm5983"             board="px4fmu_4.0"/> --><!-- TODO -->
-   <!--       <target name="test_actuators_pwm"       board="px4fmu_4.0">-->
-      <!--  <define name="SERVO_HZ" value="40"/> -->
-   <!-- </target>-->
-
-  </firmware>
-
-<!-- ************************* MODULES ************************* -->
-  <modules>
    <module name="auto1_commands"/><!-- NOT finished for NON intermcu to be able to set GEAR and FLAP etc. in stabiized mode for easier testflights -->
 
     <module name="baro_ms5611_spi" >
@@ -373,7 +299,78 @@ NOTES:
       <define name="MAG_TO_IMU_THETA" value="0.0" unit="deg"/>
       -->
     </module>
-  </modules>
+  </firmware>
+
+  <!-- Handy to toy with toying around with settings on a uBlox or a modem e.g via AT commands serial device -->
+  <!--  <firmware name="setup">
+    <target name="GPS tunnel" board="px4fmu_4.0">
+         USE UART? for GPS
+    </target>
+    <target name="Datamodem tunnel" board="px4fmu_4.0">
+        USE UART? for Si1000 based modem
+    </target>
+  </firmware> -->
+
+  <!--  To test various things for the new board -->
+
+  <firmware name="test_progs">
+  <!--
+    <target name="test_module" board="px4fmu_4.0">
+      <module name="usb_serial_stm32_example1"/>
+    </target>
+   <target name="test_sys_time_timer"      board="px4fmu_4.0">
+     <configure name="SYS_TIME_LED" value="none"/>
+     <configure name="LED_DEFINES" value="-DLED_RED=1"/>
+   </target>
+   <target name="test_sys_time_usleep"     board="px4fmu_4.0">
+     <configure name="SYS_TIME_LED" value="none"/>
+     <configure name="LED_DEFINES" value="-DLED_GREEN=2"/>
+   </target>
+   <target name="test_telemetry"           board="px4fmu_4.0">
+      <configure name="SYS_TIME_LED" value="none"/>
+      <define name="UART_TX_LED" value="3"/>
+   </target>
+   <target name="test_imu"                 board="px4fmu_4.0">
+      <module name="imu" type="mpu9250_spi">
+        <configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
+        <configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
+      </module>
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+    </target>
+    <target name="test_actuators_pwm_sin"   board="px4fmu_4.0">
+    </target>
+
+   <target name="test_baro_board"          board="px4fmu_4.0">
+      <configure name="BARO_LED" value="2"/>
+   </target>
+   -->
+   <target name="test_adc"                 board="px4fmu_4.0"/>
+   <!--
+   <target name="test_uart"                board="px4fmu_4.0">
+      <define name="USE_UART1"/>
+      <define name="UART1_BAUD" value="B57600"/>
+      <define name="USE_UART2"/>
+      <define name="UART2_BAUD" value="B57600"/>
+      <define name="USE_UART3"/>
+      <define name="UART3_BAUD" value="B57600"/>
+      <define name="USE_UART4"/>
+      <define name="UART4_BAUD" value="B57600"/>
+      <define name="USE_UART7"/>
+      <define name="UART7_BAUD" value="B57600"/>
+      <define name="USE_UART8"/> % FRSky
+      <define name="UART8_BAUD" value="B115200"/>
+   </target>
+      -->
+   <!-- FIXME <target name="test_can"                 board="px4fmu_4.0"/> -->
+   <!-- Since it is not implemented yet, idea is to just write and read a block and check data -->
+   <!-- FIXME <target name="test_sdcard"                   board="px4fmu_4.0"/>-->
+   <!-- <target name="test_icm20608g"           board="px4fmu_4.0"/> --><!-- TODO -->
+   <!-- <target name="test_hcm5983"             board="px4fmu_4.0"/> --><!-- TODO -->
+   <!--       <target name="test_actuators_pwm"       board="px4fmu_4.0">-->
+      <!--  <define name="SERVO_HZ" value="40"/> -->
+   <!-- </target>-->
+
+  </firmware>
 
   <!-- ************************* ACTUATORS ************************* -->
 
diff --git a/conf/airframes/OPENUAS/openuas_vivify.xml b/conf/airframes/OPENUAS/openuas_vivify.xml
index b00853ba8c..f451aa1bee 100644
--- a/conf/airframes/OPENUAS/openuas_vivify.xml
+++ b/conf/airframes/OPENUAS/openuas_vivify.xml
@@ -179,18 +179,6 @@
     <!-- **************************** set for all *******************************-->
     <define name="RADIO_CONTROL_AUTO1"/>
 
-  </firmware>
-
-  <firmware name="test_progs">
-    <target name="test_can" board="lisa_m_2.0"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="lisa_m_2.0"/>
-  </firmware>
-
-  <!-- ************************* MODULES ************************* -->
-  <modules>
     <module name="auto1_commands" />
     <!-- Baro altitude -->
     <module name="baro_ms5611_spi" >
@@ -271,7 +259,15 @@
     <module name="nav" type="line_border"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="bungee_takeoff"/>
-  </modules>
+  </firmware>
+
+  <firmware name="test_progs">
+    <target name="test_can" board="lisa_m_2.0"/>
+  </firmware>
+
+  <firmware name="setup">
+    <target name="tunnel" board="lisa_m_2.0"/>
+  </firmware>
 
   <!-- ***************************** ACTUATORS ***************************** -->
   <servos>
diff --git a/conf/airframes/tudelft/iris_indi.xml b/conf/airframes/tudelft/iris_indi.xml
index 6e6dd28583..18b029981d 100644
--- a/conf/airframes/tudelft/iris_indi.xml
+++ b/conf/airframes/tudelft/iris_indi.xml
@@ -44,6 +44,24 @@
     <module name="actuators" type="pwm"> <!-- gimbal and buzzer -->
       <define name="SERVO_HZ" value="400" />
     </module>
+    <module name="px4_flash">
+      <configure name="PX4IO_UART" value="uart6"/>
+    </module>
+    <module name="px4_gimbal" />
+    <module name="geo_mag" />
+    <module name="air_data" />
+    <module name="send_imu_mag_current" />
+    <module name="mag" type="hmc58xx">
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
+      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+      <define name="HMC58XX_CHAN_X" value="1"/>
+      <define name="HMC58XX_CHAN_Y" value="0"/>
+      <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="spektrum_soft_bind"/>-->
   </firmware>
   <firmware name="rotorcraft">
     <target name="fbw" board="px4io_2.4" />
@@ -74,26 +92,6 @@
       <configure name="INTERMCU_BAUD" value="B1500000" />
     </module>
   </firmware>
-  <modules main_freq="512">
-    <module name="px4_flash">
-      <configure name="PX4IO_UART" value="uart6"/>
-    </module>
-    <module name="px4_gimbal" />
-    <module name="geo_mag" />
-    <module name="air_data" />
-    <module name="send_imu_mag_current" />
-    <module name="mag" type="hmc58xx">
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
-      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
-      <define name="HMC58XX_CHAN_X" value="1"/>
-      <define name="HMC58XX_CHAN_Y" value="0"/>
-      <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="spektrum_soft_bind"/>-->
-  </modules>
 
   <section name="MISC">
     <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
diff --git a/conf/airframes/tudelft/mentor.xml b/conf/airframes/tudelft/mentor.xml
index 99933d8243..7c853e5314 100644
--- a/conf/airframes/tudelft/mentor.xml
+++ b/conf/airframes/tudelft/mentor.xml
@@ -6,52 +6,53 @@
   <description>Mentor</description>
 
   <firmware name="fixedwing">
-    <target name="ap" board="px4fmu_5.0_chibios">
-      <configure name="PERIODIC_FREQUENCY"  value="500"/>
-      <module name="telemetry"     type="transparent">
-        <configure name="MODEM_BAUD" value="B115200"/>
-      </module>
-      <module name="imu" type="mpu6000"/>
-      <module name="gps" type="ublox">
-        <!--configure name="GPS_PORT" value="UART1"/-->
-      </module>
-      <module name="gps"  type="ubx_ucenter"/>
-      <module name="ahrs" type="int_cmpl_quat">
-        <configure name="USE_MAGNETOMETER" value="FALSE"/>
-        <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
-      </module>
-      <module name="ins" type="alt_float"/>
-
-      <module name="mag_ist8310">
-        <define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
-        <configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
-      </module>
-      <!--module name="lidar" type="tfmini"/-->
-
-      <!--module name="airspeed" type="ms45xx_i2c">
-        <define name="USE_I2C4"/>
-        <define name="MS45XX_I2C_DEV" value="i2c4"/>
-      </module-->
-      <module name="air_data"/>
-
-      <module name="control" type="energy"/>
-      <module name="navigation"/>
-      <module name="actuators" type="pwm"/>
-      <module name="radio_control" type="sbus">
-        <configure name="SBUS_PORT" value="UART3"/>
-      </module>
-
-       <!-- Logger -->
-      <!--module name="tlsf"/>
-      <module name="pprzlog"/>
-      <module name="logger" type="sd_chibios"/>
-      <module name="flight_recorder"/-->
-    </target>
+    <target name="ap" board="px4fmu_5.0_chibios"/>
 
     <target name="nps" board="pc">
       <module name="radio_control" type="spektrum"/>
       <module name="fdm" type="jsbsim"/>
     </target>
+
+    <configure name="PERIODIC_FREQUENCY"  value="500"/>
+    <module name="telemetry"     type="transparent">
+      <configure name="MODEM_BAUD" value="B115200"/>
+    </module>
+    <module name="imu" type="mpu6000"/>
+    <module name="gps" type="ublox">
+      <!--configure name="GPS_PORT" value="UART1"/-->
+    </module>
+    <module name="gps"  type="ubx_ucenter"/>
+    <module name="ahrs" type="int_cmpl_quat">
+      <configure name="USE_MAGNETOMETER" value="FALSE"/>
+      <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
+    </module>
+    <module name="ins" type="alt_float"/>
+
+    <module name="mag_ist8310">
+      <define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
+      <configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
+    </module>
+    <!--module name="lidar" type="tfmini"/-->
+
+    <!--module name="airspeed" type="ms45xx_i2c">
+        <define name="USE_I2C4"/>
+        <define name="MS45XX_I2C_DEV" value="i2c4"/>
+    </module-->
+    <module name="air_data"/>
+
+    <module name="control" type="energy"/>
+    <module name="navigation"/>
+    <module name="actuators" type="pwm"/>
+    <module name="radio_control" type="sbus">
+      <configure name="SBUS_PORT" value="UART3"/>
+    </module>
+
+    <!-- Logger -->
+    <!--module name="tlsf"/>
+    <module name="pprzlog"/>
+    <module name="logger" type="sd_chibios"/>
+    <module name="flight_recorder"/-->
+
   </firmware>
 
   <servos>
@@ -228,4 +229,4 @@
     <define name="BYPASS_INS" value="TRUE"/>
   </section>
 
-</airframe>
\ No newline at end of file
+</airframe>
diff --git a/conf/airframes/tudelft/robird.xml b/conf/airframes/tudelft/robird.xml
index 558d3e607a..458efd390e 100644
--- a/conf/airframes/tudelft/robird.xml
+++ b/conf/airframes/tudelft/robird.xml
@@ -45,6 +45,20 @@ Flapping wing frame equiped with
       <configure name="INTERMCU_PORT" value="UART6" />
       <configure name="INTERMCU_BAUD" value="B1500000" /> <!-- This is only during first 10s start up, afterwards it is set to 230400-->
     </module>
+    <module name="px4_flash"/>
+    <module name="geo_mag" />
+    <module name="air_data" />
+    <module name="send_imu_mag_current" />
+    <module name="mag" type="hmc58xx">
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
+      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+      <define name="HMC58XX_CHAN_X" value="1"/>
+      <define name="HMC58XX_CHAN_Y" value="0"/>
+      <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>
   </firmware>
   <firmware name="rotorcraft">
     <target name="fbw" board="px4io_2.4" />
@@ -69,22 +83,6 @@ Flapping wing frame equiped with
       <configure name="INTERMCU_BAUD" value="B1500000" />
     </module>
   </firmware>
-  <modules main_freq="512">
-    <module name="px4_flash"/>
-    <module name="geo_mag" />
-    <module name="air_data" />
-    <module name="send_imu_mag_current" />
-    <module name="mag" type="hmc58xx">
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
-      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
-      <define name="HMC58XX_CHAN_X" value="1"/>
-      <define name="HMC58XX_CHAN_Y" value="0"/>
-      <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>
-  </modules>
 
   <section name="MISC">
     <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />