diff --git a/conf/airframes/CDW/yapa_xsens.xml b/conf/airframes/CDW/yapa_xsens.xml
index 494e3f8503..03f5d3d88b 100644
--- a/conf/airframes/CDW/yapa_xsens.xml
+++ b/conf/airframes/CDW/yapa_xsens.xml
@@ -5,6 +5,49 @@
 -->
 
 <airframe name="Yapa v1">
+  <!-- ************************* FIRMWARE ************************* -->
+
+  <firmware name="fixedwing">
+    <target name="ap" board="yapa_2.0"/>
+    <target name="sim" board="pc"/>
+    <define name="STRONG_WIND"/>
+    <define name="WIND_INFO"/>
+    <define name="WIND_INFO_RET"/>
+    <define name="LOITER_TRIM"/>
+    <define name="TUNE_AGRESSIVE_CLIMB"/>
+    <define name="AGR_CLIMB"/>
+    <subsystem name="radio_control" type="ppm"/>
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+    <!-- Actuators -->
+    <subsystem name="control"/>
+    <!-- Sensors -->
+    <subsystem name="navigation"/>
+    <subsystem name="ins" type="xsens">
+      <configure name="XSENS_UART_NR" value="0"/>
+    </subsystem>
+  </firmware>
+
+  <!-- ************************* MODULES ************************* -->
+
+  <modules>
+    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="1"/>
+      <!--      <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="digital_cam_i2c.xml"/>  -->
+    <!--    <load name="ins_ppzuavimu.xml"/>  -->
+    <load name="digital_cam.xml">
+      <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
+    </load>
+    <load name="nav_line.xml"/>
+  </modules>
+
+  <!-- ************************* ACTUATORS ************************* -->
 
   <servos>
     <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
@@ -19,7 +62,8 @@
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
+    <axis name="BRAKE" failsafe_value="9600"/>
+    <!-- both elerons up as butterfly brake ? -->
   </commands>
 
   <rc_commands>
@@ -30,92 +74,86 @@
     <set command="BRAKE" value="@FLAPS"/>
   </rc_commands>
 
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(75)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(45)"/>
+  </section>
+
   <section name="SERVO_MIXER_GAINS">
     <define name="AILERON_NEUTRAL" value="0.3f"/>
-
     <define name="AILERON_RATE_UP" value="1.0f"/>
     <define name="AILERON_RATE_DOWN" value="0.5f"/>
-
     <define name="AILERON_RATE_UP_BRAKE" value="1.0f"/>
     <define name="AILERON_RATE_DOWN_BRAKE" value="1.0f"/>
-
     <define name="PITCH_GAIN" value="0.9f"/>
-
     <define name="BRAKE_AILEVON" value="-0.7f"/>
     <define name="BRAKE_PITCH" value="0.1f"/>
     <define name="MAX_BRAKE_RATE" value="80"/>
-
     <define name="RUDDER_OF_AILERON" value="0.3"/>
-
-</section>
+  </section>
 
   <command_laws>
     <!-- Brake Rate Limiter -->
     <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
-    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
-
+    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE"/>
     <!-- Differential Aileron Depending on Brake Value -->
     <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
     <let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
     <let var="aileron_up" value="((-@ROLL)  *  (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
     <let var="aileron_down" value="((-@ROLL)  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
-    <let var="leftturn" value="(@ROLL >= 0? 0 : 1)"/>
+    <let var="leftturn" value="(@ROLL &gt;= 0? 0 : 1)"/>
     <let var="rightturn" value="(1 - $leftturn)"/>
     <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
     <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
-
     <set servo="RUDDER" value="-(@YAW + @ROLL * RUDDER_OF_AILERON)"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
-
     <!-- Pitch with Brake-Trim Function -->
     <set servo="ELEVATOR" value="@PITCH * PITCH_GAIN - BRAKE_PITCH * $brake_value"/>
   </command_laws>
 
-  <!-- Local magnetic field -->
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <!-- ************************* SENSORS ************************* -->
+
   <section name="AHRS" prefix="AHRS_">
     <define name="H_X" value="0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value="0.85490967783446"/>
   </section>
 
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
+  </section>
+
   <section name="XSENS">
     <define name="GPS_IMU_LEVER_ARM_X" value="-0.285f"/>
     <define name="GPS_IMU_LEVER_ARM_Y" value="0.0f"/>
     <define name="GPS_IMU_LEVER_ARM_Z" value="0.0f"/>
   </section>
 
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="RadOfDeg(75)"/>
-    <define name="MAX_PITCH" value="RadOfDeg(45)"/>
-  </section>
+  <!-- ************************* GAINS ************************* -->
 
-  <section name="BAT">
-<!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.0885749980807" unit="rad"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
-
-    <define name="COMMAND_ROLL_TRIM" value="180"/>
-    <define name="COMMAND_PITCH_TRIM" value="-194."/>
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.972000002861"/>
+    <define name="COURSE_DGAIN" value="0.280999988317"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="PITCH_PGAIN" value="16917.2929688"/>
+    <define name="PITCH_DGAIN" value="7.73400020599"/>
+    <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
+    <define name="ROLL_SLEW" value="1."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
+    <define name="ROLL_RATE_GAIN" value="820.312011719"/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -124,7 +162,6 @@
     <define name="ALTITUDE_PGAIN" value="0.108000002801"/>
     <!-- outer loop saturation -->
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
     <!-- auto throttle inner loop -->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.43599998951"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
@@ -135,30 +172,9 @@
     <define name="AUTO_THROTTLE_PGAIN" value="0."/>
     <define name="AUTO_THROTTLE_IGAIN" value="0."/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.361000001431"/>
-
     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
   </section>
 
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.972000002861"/>
-    <define name="COURSE_DGAIN" value="0.280999988317"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="16917.2929688"/>
-    <define name="PITCH_DGAIN" value="7.73400020599"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="3007.81298828"/>
-
-    <define name="ROLL_SLEW" value="1."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
-    <define name="ROLL_RATE_GAIN" value="820.312011719"/>
-  </section>
-
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="30"/>
     <define name="BLEND_END" value="15"/>
@@ -170,14 +186,28 @@
     <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
   </section>
 
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+  <!-- ************************* MISC ************************* -->
 
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  <!-- Local magnetic field -->
+
+  <section name="BAT">
+    <!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="14." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+    <define name="COMMAND_ROLL_TRIM" value="180"/>
+    <define name="COMMAND_PITCH_TRIM" value="-194."/>
   </section>
 
   <section name="DIGITAL_CAMERA" prefix="DC_">
@@ -185,54 +215,4 @@
     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
   </section>
 
-
-  <modules>
-
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="1"/>
-<!--      <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="digital_cam_i2c.xml"/>  -->
-  <!--    <load name="ins_ppzuavimu.xml"/>  -->
-    <load name="digital_cam.xml">
-      <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO16"/>
-    </load>
-    <load name="nav_line.xml"/>
-
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="yapa_2.0"/>
-    <target name="sim" board="pc"/>
-
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="LOITER_TRIM"/>
-      <define name="TUNE_AGRESSIVE_CLIMB"/>
-      <define name="AGR_CLIMB"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="navigation"/>
-    <subsystem name="ins" type="xsens">
-      <configure name="XSENS_UART_NR" value="0"/>
-    </subsystem>
-
-
-</firmware>
-
-</airframe>
+  </airframe>
diff --git a/conf/airframes/examples/MentorEnergy.xml b/conf/airframes/examples/MentorEnergy.xml
index 7b3526a6a5..0997c574aa 100644
--- a/conf/airframes/examples/MentorEnergy.xml
+++ b/conf/airframes/examples/MentorEnergy.xml
@@ -5,27 +5,24 @@
 -->
 
 <airframe name="LisaAspirin2">
+  <!-- ************************* FIRMWARE ************************* -->
 
   <firmware name="fixedwing">
     <target name="ap" board="lisa_m_1.0">
       <define name="LISA_M_LONGITUDINAL_X"/>
-
       <configure name="PERIODIC_FREQUENCY" value="120"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
       <define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
       <define name="USE_I2C2"/>
-
       <define name="USE_AHRS_GPS_ACCELERATIONS"/>
     </target>
     <target name="sim" board="pc"/>
-
     <target name="nps" board="pc">
       <!-- Note NPS needs the ppm type radio_control subsystem -->
       <subsystem name="fdm" type="jsbsim"/>
     </target>
-
     <define name="USE_AIRSPEED"/>
     <define name="AGR_CLIMB"/>
     <define name="STRONG_WIND"/>
@@ -39,19 +36,15 @@
     -->
     <subsystem name="imu" type="aspirin_v2.1"/>
     <subsystem name="ahrs" type="float_dcm">
-<!--      <define name="USE_MAGNETOMETER" /> -->
+      <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
     <subsystem name="ins" type="alt_float"/>
-
-
     <subsystem name="radio_control" type="ppm"/>
-
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api">
       <configure name="MODEM_BAUD" value="B57600"/>
       <configure name="MODEM_PORT" value="UART2"/>
     </subsystem>
-
     <!-- Actuators -->
     <subsystem name="control" type="energy"/>
     <!-- Sensors -->
@@ -61,6 +54,8 @@
     </subsystem>
   </firmware>
 
+  <!-- ************************* MODULES ************************* -->
+
   <modules>
     <load name="gps_ubx_ucenter.xml"/>
     <load name="airspeed_ets.xml">
@@ -70,23 +65,21 @@
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
       <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
     </load>
-
     <load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="2"/>
       <define name="LIGHT_LED_NAV" value="3"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
-
     <load name="digital_cam.xml">
       <define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/>
     </load>
-
     <!-- load name="nav_catapult.xml"/-->
-
     <load name="nav_line.xml"/>
   </modules>
 
+  <!-- ************************* ACTUATORS ************************* -->
+
   <servos>
     <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILEVON_LEFT" no="1" min="1200" neutral="1500" max="1800"/>
@@ -109,6 +102,11 @@
     <set command="YAW" value="@YAW"/>
   </rc_commands>
 
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.8"/>
+    <define name="MAX_PITCH" value="0.8"/>
+  </section>
+
   <command_laws>
     <set servo="AILEVON_LEFT" value="@ROLL"/>
     <set servo="AILEVON_RIGHT" value="-@ROLL"/>
@@ -117,46 +115,100 @@
     <set servo="RUDDER" value="@YAW"/>
   </command_laws>
 
-  <!-- Local magnetic field -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value="0.85490967783446"/>
+  <section name="TRIM" prefix="COMMAND_">
+    <define name="ROLL_TRIM" value="0"/>
+    <define name="PITCH_TRIM" value="788."/>
   </section>
 
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
+    <define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+  </section>
+
+  <!-- ************************* SENSORS ************************* -->
+
   <section name="IMU" prefix="IMU_">
     <define name="MAG_X_NEUTRAL" value="((-320+140)/2)"/>
     <define name="MAG_Y_NEUTRAL" value="((-320+140)/2)"/>
     <define name="MAG_Z_NEUTRAL" value="0"/>
-
     <define name="MAG_X_SENS" value="1" integer="16"/>
     <define name="MAG_Y_SENS" value="1" integer="16"/>
     <define name="MAG_Z_SENS" value="1" integer="16"/>
-
     <define name="BODY_TO_IMU_PHI" value="0"/>
     <define name="BODY_TO_IMU_THETA" value="0"/>
     <define name="BODY_TO_IMU_PSI" value="0"/>
   </section>
 
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value="0.85490967783446"/>
+  </section>
+
   <section name="INS" prefix="INS_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="5.9" unit="deg"/>
   </section>
 
-  <section name="TRIM" prefix="COMMAND_">
-    <define name="ROLL_TRIM" value="0"/>
-    <define name="PITCH_TRIM" value="788."/>
+  <!-- ************************* GAINS ************************* -->
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="0.89"/>
+    <define name="COURSE_DGAIN" value="0.27"/>
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
+    <define name="PITCH_PGAIN" value="12000"/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
+    <define name="ROLL_SLEW" value="1."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
+    <define name="ROLL_RATE_GAIN" value="500."/>
   </section>
 
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.8"/>
-    <define name="MAX_PITCH" value="0.8"/>
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- power -->
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.183"/>
+    <define name="AIRSPEED_PGAIN" value="0.217"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="10."/>
+    <define name="MAX_ACCELERATION" value="2."/>
+    <!-- energy -->
+    <define name="ENERGY_TOT_PGAIN" value="0.205"/>
+    <define name="ENERGY_TOT_IGAIN" value="0.403"/>
+    <define name="ENERGY_DIFF_PGAIN" value="0.403"/>
+    <define name="ENERGY_DIFF_IGAIN" value="0.259"/>
+    <define name="GLIDE_RATIO" value="7."/>
+    <!-- auto throttle -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
+    <!-- extra's -->
+    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
+    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
+    <!-- extra's -->
+    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
+    <!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
   </section>
 
+  <!-- ************************* MISC ************************* -->
+
+  <!-- Local magnetic field -->
+
   <section name="BAT">
     <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
     <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
@@ -168,12 +220,8 @@
     <define name="GLIDE_AIRSPEED" value="12." unit="m/s"/>
     <define name="RACE_AIRSPEED" value="25." unit="m/s"/>
     <define name="STALL_AIRSPEED" value="10." unit="m/s"/>
-
     <define name="CARROT" value="5." unit="s"/>
-
-
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
     <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
   </section>
 
@@ -191,77 +239,6 @@
     <define name="TARGET_SPEED" value="13" unit="m/s"/>
   </section>
 
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!-- power -->
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.183"/>
-    <define name="AIRSPEED_PGAIN" value="0.217"/>
-
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="10."/>
-    <define name="MAX_ACCELERATION" value="2."/>
-
-    <!-- energy -->
-    <define name="ENERGY_TOT_PGAIN" value="0.205"/>
-    <define name="ENERGY_TOT_IGAIN" value="0.403"/>
-    <define name="ENERGY_DIFF_PGAIN" value="0.403"/>
-    <define name="ENERGY_DIFF_IGAIN" value="0.259"/>
-    <define name="GLIDE_RATIO" value="7." />
-
-    <!-- auto throttle -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
-
-    <!-- extra's -->
-    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
-
-    <!-- extra's -->
-    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="m/s/s"/>
-
-    <!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/-->
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.89"/>
-    <define name="COURSE_DGAIN" value="0.27"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
-    <define name="PITCH_MAX_SETPOINT" value="50" unit="deg"/>
-    <define name="PITCH_MIN_SETPOINT" value="-50" unit="deg"/>
-
-    <define name="PITCH_PGAIN" value="12000"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1273.88500977"/>
-
-    <define name="ROLL_SLEW" value="1."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="7972.02783203"/>
-    <define name="ROLL_RATE_GAIN" value="500."/>
-  </section>
-
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="10.0" unit="deg"/>
-    <define name="DEFAULT_PITCH" value="5.0" unit="deg"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
   <section name="DIGITAL_CAMERA" prefix="DC_">
     <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
@@ -277,4 +254,4 @@
     <define name="BYPASS_INS" value="TRUE"/>
   </section>
 
-</airframe>
+  </airframe>