diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml
index 50b6c6f4c6..fd799c2475 100644
--- a/conf/airframes/FLIXR/flixr_conf.xml
+++ b/conf/airframes/FLIXR/flixr_conf.xml
@@ -18,8 +18,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/stabilization_att_int_quat.xml"
-   gui_color="blue"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
+   gui_color="blue"
   />
   <aircraft
    name="demo_cc3d"
diff --git a/conf/airframes/FLIXR/flixr_discovery.xml b/conf/airframes/FLIXR/flixr_discovery.xml
index 7fb9005880..693fb6676c 100644
--- a/conf/airframes/FLIXR/flixr_discovery.xml
+++ b/conf/airframes/FLIXR/flixr_discovery.xml
@@ -28,28 +28,33 @@
     <define name="WIND_INFO"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
-    <subsystem name="radio_control" type="ppm"/>
-    <!--subsystem name="settings" type="rc"/-->
+    <module name="telemetry" type="transparent"/>
+    <module name="radio_control" type="ppm"/>
+    <!--module name="settings" type="rc"/-->
 
     <!-- Control -->
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
 
-    <subsystem name="ahrs" type="int_cmpl_quat">
+    <module name="ahrs" type="int_cmpl_quat">
       <configure name="USE_MAGNETOMETER" value="0"/>
       <define name="AHRS_USE_GPS_HEADING" value="1"/>
-    </subsystem>
-    <subsystem name="ins" type="alt_float"/>
+    </module>
+    <module name="ins" type="alt_float"/>
 
     <!-- Sensors -->
-    <subsystem name="imu" type="b2_v1.0">
+    <module name="imu" type="b2_v1.0">
       <configure name="NO_MAG" value="1"/>
-    </subsystem>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="current_sensor">
+    </module>
+    <module name="gps" type="ublox"/>
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem>
+    </module>
+    <module name="servo_switch"/>
+    <module name="sys_mon"/>
+    <module name="adc_generic">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
+    </module>
   </firmware>
 
 
@@ -68,19 +73,6 @@
   </firmware>
 
 
-<!-- ******************* MODULES ********************************** -->
-  <modules main_freq="60">
-    <load name="servo_switch.xml"/>
-    <load name="sys_mon.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
-    </load>
-    <!--load name="airspeed_ets.xml">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
-      <define name="USE_AIRSPEED"/>
-    </load-->
-  </modules>
-
 <!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
   <servos>
     <servo name="MOTOR"         no="0" min="1100" neutral="1100" max="1900"/>
diff --git a/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml b/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
index 632f68e9b7..e2a4265b0d 100644
--- a/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
@@ -10,27 +10,29 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="jsbsim"/>
+      <module name="fdm"           type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE" value="RADIO_AUX1"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </subsystem>
-    <subsystem name="telemetry"     type="transparent"/>
+    </module>
+    <module name="telemetry"     type="transparent"/>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="mkk"/>
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="mkk"/>
 
-    <subsystem name="stabilization" type="int_quat"/>
+    <module name="stabilization" type="int_quat"/>
 
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="imu"           type="aspirin_v1.5"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat">
+    <module name="gps"           type="ublox"/>
+    <module name="imu"           type="aspirin_v1.5"/>
+    <module name="ahrs"          type="int_cmpl_quat">
       <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
-    </subsystem>
-    <subsystem name="ins_extended"/>
+    </module>
+    <module name="ins_extended"/>
+    <module name="gps_ubx_ucenter"/>
+    <module name="sys_mon"/>
 
 	<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
@@ -53,15 +55,10 @@
     <target name="test_baro_board"          board="lisa_m_1.0"/>
     <target name="test_adc"                 board="lisa_m_1.0"/>
     <target name="test_imu"                 board="lisa_m_1.0">
-      <subsystem name="imu"           type="aspirin_v1.5"/>
+      <module name="imu"           type="aspirin_v1.5"/>
     </target>
   </firmware>
 
-  <modules main_freq="512">
-    <load name="sys_mon.xml"/>
-    <load name="gps_ubx_ucenter.xml"/>
-  </modules>
-
   <commands>
     <axis name="PITCH"  failsafe_value="0"/>
     <axis name="ROLL"   failsafe_value="0"/>
diff --git a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
index ddc55ed6b4..57bc4284c1 100644
--- a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+++ b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
@@ -35,7 +35,7 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
-      <subsystem name="radio_control" type="superbitrf_rc">
+      <module name="radio_control" type="superbitrf_rc">
 	    <!-- To store the binding parameters for the superbit radio in your
              airframe file uncomment the following three lines and set the
              correct values based on the output of the superbitrf telemetry
@@ -45,19 +45,19 @@
         <!--define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/-->
         <define name="RADIO_MODE" value="RADIO_FLAP"/>
         <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      </subsystem>
+      </module>
 
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
       <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="spektrum"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
     </target>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators" type="pwm">
       <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
            With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
            If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -67,27 +67,24 @@
       <!-- Setting the PWM interval to 36KHz -->
       <define name="SERVO_HZ" value="36000"/>
       <define name="USE_SERVOS_1AND2"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry" type="superbitrf"/>
+    <module name="telemetry" type="superbitrf"/>
     <!-- Comment the previous line and uncomment the following one if you need
          to use the debug serial interface for telemetry. -->
-    <!--subsystem name="telemetry" type="transparent"/-->
-    <subsystem name="imu" type="lisa_s_v1.0">
+    <!--module name="telemetry" type="transparent"/-->
+    <module name="imu" type="lisa_s_v1.0">
       <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
-    </subsystem>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs" type="int_cmpl_quat"/>
-    <subsystem name="ins"/>
+    </module>
+    <module name="gps" type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs" type="int_cmpl_quat"/>
+    <module name="ins"/>
+    <module name="gps_ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
+    <module name="geo_mag"/>
   </firmware>
 
-  <modules main_freq="512">
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="geo_mag.xml"/>
-  </modules>
-
   <servos driver="Pwm">
     <servo name="FL" no="3" min="0" neutral="50" max="1000"/>
     <servo name="FR" no="0" min="0" neutral="50" max="1000"/>
diff --git a/conf/airframes/FLIXR/flixr_lisa_mx.xml b/conf/airframes/FLIXR/flixr_lisa_mx.xml
index e48a1fe8bf..8b43115b0f 100644
--- a/conf/airframes/FLIXR/flixr_lisa_mx.xml
+++ b/conf/airframes/FLIXR/flixr_lisa_mx.xml
@@ -21,29 +21,41 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
         <define name="RADIO_MODE" value="RADIO_AUX1"/>
         <define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="float_mlkf"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat">
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="float_mlkf"/>
+    <module name="ahrs"          type="int_cmpl_quat">
       <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="ins" type="hff"/>
+    <module name="ins" type="hff"/>
+
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter"/>
+    <module name="geo_mag"/>
+    <module name="sys_mon"/>
+    <module name="air_data">
+      <define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
+    </module>
+    <module name="mission_rotorcraft"/>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
     <!--define name="FAILSAFE_ON_BAT_CRITICAL" value="TRUE"/-->
@@ -56,7 +68,7 @@
       <configure name="TUNNEL_BAUD" value="B38400"/>
     </target>
     <target name="setup_actuators"  board="lisa_mx_2.0">
-      <subsystem name="actuators" type="pwm"/>
+      <module name="actuators" type="pwm"/>
       <define name="SERVO_HZ" value="400"/>
       <define name="USE_SERVOS_7AND8"/>
     </target>
@@ -70,18 +82,18 @@
       <configure name="BARO_LED" value="5"/>
     </target>
     <target name="test_radio_control" board="lisa_mx_2.0">
-      <subsystem name="radio_control" type="spektrum">
+      <module name="radio_control" type="spektrum">
         <define name="RADIO_MODE" value="RADIO_AUX1"/>
         <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
-      </subsystem>
+      </module>
     </target>
     <target name="test_imu" board="lisa_mx_2.0">
-      <!--subsystem name="spi_master"/-->
-      <subsystem name="imu" type="aspirin_v2.2"/>
+      <!--module name="spi_master"/-->
+      <module name="imu" type="aspirin_v2.2"/>
     </target>
     <target name="test_ahrs" board="lisa_mx_2.0">
-      <subsystem name="imu" type="aspirin_v2.2"/>
-      <subsystem name="ahrs" type="int_cmpl_quat"/>
+      <module name="imu" type="aspirin_v2.2"/>
+      <module name="ahrs" type="int_cmpl_quat"/>
     </target>
     <target name="test_module" board="lisa_mx_2.0">
     </target>
@@ -89,20 +101,6 @@
 
   <autopilot name="rotorcraft_autopilot.xml" freq="512"/>
 
-  <modules>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="sys_mon.xml"/>
-    <load name="air_data.xml">
-      <define name="AIR_DATA_TEMPERATURE_ID" value="IMU_ASPIRIN2_ID"/>
-    </load>
-    <load name="mission_rotorcraft.xml"/>
-  </modules>
-
   <servos driver="Pwm">
     <servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
     <servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/FLIXR/flixr_lisamx_dual.xml b/conf/airframes/FLIXR/flixr_lisamx_dual.xml
index dc3905f335..cd6d49e3e8 100644
--- a/conf/airframes/FLIXR/flixr_lisamx_dual.xml
+++ b/conf/airframes/FLIXR/flixr_lisamx_dual.xml
@@ -16,16 +16,16 @@
       <configure name="SEPARATE_FBW" value="1"/>
       <define name="LINK_MCU_LED" value="4"/>
       <!-- FBW -->
-      <subsystem name="actuators" type="dummy"/>
-      <subsystem name="intermcu" type="uart">
+      <module name="actuators" type="dummy"/>
+      <module name="intermcu" type="uart">
         <configure name="INTERMCU_PORT" value="UART2"/>
-      </subsystem>
+      </module>
       <!-- AP -->
-      <subsystem name="control"/>
-      <subsystem name="navigation"/>
-      <subsystem name="telemetry" type="transparent"/>
-      <subsystem name="ins" type="alt_float"/>
-      <subsystem name="gps" type="ublox"/>
+      <module name="control"/>
+      <module name="navigation"/>
+      <module name="telemetry" type="transparent"/>
+      <module name="ins" type="alt_float"/>
+      <module name="gps" type="ublox"/>
     </target>
 
     <target name="fbw" board="lisa_mx_2.0">
@@ -34,30 +34,40 @@
       <define name="LINK_MCU_LED" value="1"/>
       <!-- no usb -->
       <!-- FBW <-> AP -->
-      <subsystem name="intermcu" type="uart">
+      <module name="intermcu" type="uart">
         <configure name="INTERMCU_PORT" value="UART1"/>
-      </subsystem>
+      </module>
       <!-- SERVO'S -->
-      <subsystem name="actuators" type="pwm">
+      <module name="actuators" type="pwm">
         <define name="USE_SERVOS_7AND8"/>
-      </subsystem>
-      <!--subsystem name="fbw_datalink"/-->
-      <subsystem name="telemetry" type="transparent"/>
+      </module>
+      <!--module name="fbw_datalink"/-->
+      <module name="telemetry" type="transparent"/>
     </target>
 
     <target name="sim" board="pc">
       <!-- AP -->
-      <subsystem name="control"/>
-      <subsystem name="navigation"/>
+      <module name="control"/>
+      <module name="navigation"/>
       <!-- Communication -->
-      <subsystem name="telemetry" type="transparent"/>
-      <subsystem name="ins" type="alt_float"/>
+      <module name="telemetry" type="transparent"/>
+      <module name="ins" type="alt_float"/>
     </target>
 
-    <!-- common subsystems -->
-    <subsystem name="radio_control" type="spektrum">
+    <!-- common modules -->
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_CONTROL_NB_CHANNEL" value="8" />
-    </subsystem>
+    </module>
+
+    <!-- extra modules -->
+    <module name="light">
+      <define name="LIGHT_LED_STROBE" value="6"/>
+      <!--      <define name="LIGHT_LED_NAV" value="2"/> -->
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+    </module>
+    <module name="nav_line"/>
+    <module name="air_data"/>
 
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
@@ -68,19 +78,6 @@
     <define name="RADIO_CONTROL_AUTO1"/>
   </firmware>
 
-  <!-- ************************* MODULES ************************* -->
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="6"/>
-      <!--      <define name="LIGHT_LED_NAV" value="2"/> -->
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </load>
-    <load name="nav_line.xml"/>
-    <load name="air_data.xml"/>
-  </modules>
-
   <!-- ************************* ACTUATORS ************************* -->
 
   <servos>
diff --git a/conf/airframes/FLIXR/flixr_zmr250_elle0.xml b/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
index de569b7772..75ac1172c5 100644
--- a/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
+++ b/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
@@ -15,40 +15,37 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE" value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="elle0"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="float_mlkf">
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="elle0"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="float_mlkf">
 	    <!-- Uncomment to enable all axis update from the Magnetometer. Do
 		 it only if you have a very well calibrated and tested
 		 magnetometer otherwise your attitude will drift. -->
 	    <!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
-    </subsystem>
-    <subsystem name="ins" type="hff"/>
+    </module>
+    <module name="ins" type="hff"/>
+    <module name="gps_ubx_ucenter"/>
+    <module name="geo_mag"/>
+    <module name="air_data"/>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-  </modules>
-
   <servos driver="Pwm">
     <servo name="FL" no="0" min="1000" neutral="1100" max="2000"/>
     <servo name="FR" no="1" min="1000" neutral="1100" max="2000"/>