diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index 1be8b75191..07c8c198af 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -44,17 +44,6 @@
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_3"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
-
-  </section>
-
   <section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -179,6 +168,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/lisa_l.makefile
 # Fixed Wing Specifics
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
 # Temporary problem solving
 ap.CFLAGS 	+= -DSTM32
@@ -191,10 +181,14 @@ MODEM_UART_NR	= 2
 MODEM_BAUD	= 57600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
+# rest
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
+ap.srcs   += traffic_info.c
+
 # Config for SITL simulation
 
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS 	+= -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
-sim.srcs 	+= nav_survey_rectangle.c traffic_info.c nav_line.c
+sim.srcs 	+= traffic_info.c
   </makefile>
 </airframe>
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index 1228963baf..6eae43bd94 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -44,17 +44,6 @@
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_3"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
-
-  </section>
-
   <section name="INFRARED" prefix="IR_">
     <define name="ADC_IR1_NEUTRAL" value="512"/>
     <define name="ADC_IR2_NEUTRAL" value="512"/>
@@ -180,17 +169,24 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 # Fixed Wing Specifics
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
 # IO Options
 include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
 
-GPS_UART_NR	= 0
-GPS_BAUD	= 38400
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR	= 0
+#GPS_BAUD	= 38400
 include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
 
-MODEM_UART_NR	= 1
-MODEM_BAUD	= 9600
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+MODEM_BAUD = 9600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
 
@@ -198,13 +194,6 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 ap.CFLAGS 	+= -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 
-######################################
-# Todo
-
-ap.CFLAGS 	+= -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-ap.CFLAGS 	+= -DGYRO -DADXRS150
-ap.srcs 	+= $(SRC_FIXEDWING)/gyro.c
-
 
 ######################################
 # Config for SITL simulation
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 093d504081..24668ee973 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -217,13 +217,14 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
 
 # IO Options
 include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
 
-# default GPS parameters
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
 #GPS_UART_NR	= 0
 #GPS_BAUD	= 38400
 include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
 
-# default modem parameters
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
 #MODEM_UART_NR = 1
 #MODEM_BAUD = 57600
 include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
diff --git a/conf/autopilot/fixedwing_common.makefile b/conf/autopilot/fixedwing_common.makefile
index 5fbf7dafb4..e198d90003 100644
--- a/conf/autopilot/fixedwing_common.makefile
+++ b/conf/autopilot/fixedwing_common.makefile
@@ -2,7 +2,7 @@
 
 
 SRC_FIXEDWING=.
-SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCHI)
 SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 
 CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot
diff --git a/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile b/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
index 81a4cdac28..8c73b1c5fd 100644
--- a/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
+++ b/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
@@ -1,4 +1,14 @@
-# attitude via IR sensors and standard assignment for tiny and twog
+# attitude via IR sensors
+
+#
+# default values for tiny and twog are:
+# ADC_IR1    = ADC_1
+# ADC_IR2    = ADC_2
+# ADC_IR_TOP = ADC_0
+# ADC_IR_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
 
 ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
 ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
diff --git a/conf/autopilot/subsystems/fixedwing_gyro.makefile b/conf/autopilot/subsystems/fixedwing_gyro.makefile
index 21b882efcb..50968fa0ed 100644
--- a/conf/autopilot/subsystems/fixedwing_gyro.makefile
+++ b/conf/autopilot/subsystems/fixedwing_gyro.makefile
@@ -1,4 +1,12 @@
-# Standard setup for roll stabilization with gyro on a tiny or twog
+# roll stabilization with gyro
+
+#
+# default values for tiny and twog are:
+# ADC_GYRO_ROLL    = ADC_3
+# ADC_GYRO_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
 
 ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
 ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)