diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
index 8ab5c8f96c..e8d4b5c50d 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
@@ -5,7 +5,7 @@
   <firmware name="rotorcraft">
     <define name="DEBUG_VFF_EXTENDED"/>
     <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <target name="ap" board="ardrone2_raw">
+    <target name="ap" board="ardrone2">
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
index e52c35ae25..acf6d6cc47 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
@@ -5,7 +5,7 @@
   <firmware name="rotorcraft">
     <define name="DEBUG_VFF_EXTENDED"/>
     <configure name="HOST" value="192.168.1.$(AC_ID)"/>
-    <target name="ap" board="ardrone2_raw">
+    <target name="ap" board="ardrone2">
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
similarity index 98%
rename from conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
rename to conf/airframes/TUDelft/IMAV2013/ardrone2.xml
index 2d1bff2fdb..de8231534f 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
@@ -1,10 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
 
-<airframe name="ardrone2_raw">
+<airframe name="ardrone2">
 
   <firmware name="rotorcraft">
     <!-- Main autopilot target -->
-    <target name="ap" board="ardrone2_raw">
+    <target name="ap" board="ardrone2">
       <define name="USE_INS_NAV_INIT"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
 
diff --git a/conf/airframes/TUDelft/IMAV2013/conf.xml b/conf/airframes/TUDelft/IMAV2013/conf.xml
index dff3725763..14d504ce77 100644
--- a/conf/airframes/TUDelft/IMAV2013/conf.xml
+++ b/conf/airframes/TUDelft/IMAV2013/conf.xml
@@ -1,8 +1,8 @@
 <conf>
   <aircraft
-   name="Ardrone2_raw_181"
+   name="Ardrone2_181"
    ac_id="181"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -10,9 +10,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_182"
+   name="Ardrone2_182"
    ac_id="182"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -20,9 +20,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_183"
+   name="Ardrone2_183"
    ac_id="183"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -30,9 +30,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_184"
+   name="Ardrone2_184"
    ac_id="184"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -40,9 +40,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_185"
+   name="Ardrone2_185"
    ac_id="185"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -50,9 +50,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_186"
+   name="Ardrone2_186"
    ac_id="186"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -60,9 +60,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_187"
+   name="Ardrone2_187"
    ac_id="187"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -70,9 +70,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_188"
+   name="Ardrone2_188"
    ac_id="188"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -80,9 +80,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_189"
+   name="Ardrone2_189"
    ac_id="189"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -90,9 +90,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_190"
+   name="Ardrone2_190"
    ac_id="190"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -100,9 +100,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_191"
+   name="Ardrone2_191"
    ac_id="191"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -110,9 +110,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_192"
+   name="Ardrone2_192"
    ac_id="192"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -120,9 +120,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_193"
+   name="Ardrone2_193"
    ac_id="193"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -130,9 +130,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_194"
+   name="Ardrone2_194"
    ac_id="194"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
@@ -140,9 +140,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_195"
+   name="Ardrone2_195"
    ac_id="195"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft_vision.xml"
@@ -150,9 +150,9 @@
    gui_color="red"
   />
   <aircraft
-   name="Ardrone2_raw_196"
+   name="Ardrone2_196"
    ac_id="196"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/TUDelft/IMAV2013_rotorcraft.xml"
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2.xml
similarity index 99%
rename from conf/airframes/ardrone2_raw.xml
rename to conf/airframes/ardrone2.xml
index bbcfe40dd0..d0652cda48 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2.xml
@@ -1,9 +1,9 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<airframe name="ardrone2_raw">
+<airframe name="ardrone2">
 
   <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2_raw"/>
+    <target name="ap" board="ardrone2"/>
 
     <target name="nps" board="pc">
       <subsystem name="fdm" type="jsbsim"/>
diff --git a/conf/airframes/ardrone2_indi.xml b/conf/airframes/ardrone2_indi.xml
index 14146371f7..b43fe41f38 100644
--- a/conf/airframes/ardrone2_indi.xml
+++ b/conf/airframes/ardrone2_indi.xml
@@ -3,7 +3,7 @@
 <airframe name="ardrone2_indi">
 
   <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2_raw">
+    <target name="ap" board="ardrone2">
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
       <subsystem name="telemetry" type="transparent_udp"/>
       <subsystem name="radio_control" type="datalink"/>
diff --git a/conf/airframes/ardrone2_opticflow_hover.xml b/conf/airframes/ardrone2_opticflow_hover.xml
index 706ee24529..b207f57f8e 100644
--- a/conf/airframes/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/ardrone2_opticflow_hover.xml
@@ -3,7 +3,7 @@
 <airframe name="ardrone2_opticflow">
 
   <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2_raw"/>
+    <target name="ap" board="ardrone2"/>
 
     <!--target name="nps" board="pc">
       <subsystem name="fdm" type="jsbsim"/>
diff --git a/conf/airframes/ardrone2_raw_optitrack.xml b/conf/airframes/ardrone2_optitrack.xml
similarity index 99%
rename from conf/airframes/ardrone2_raw_optitrack.xml
rename to conf/airframes/ardrone2_optitrack.xml
index 87d9d0a90f..a78860c7ba 100644
--- a/conf/airframes/ardrone2_raw_optitrack.xml
+++ b/conf/airframes/ardrone2_optitrack.xml
@@ -1,9 +1,9 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<airframe name="ardrone2_raw">
+<airframe name="ardrone2_optitrack">
 
   <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2_raw">
+    <target name="ap" board="ardrone2">
       <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
       <configure name="USE_MAGNETOMETER" value="0"/>
     </target>
diff --git a/conf/boards/ardrone2_raw.makefile b/conf/boards/ardrone2.makefile
similarity index 87%
rename from conf/boards/ardrone2_raw.makefile
rename to conf/boards/ardrone2.makefile
index 09c93b9933..7c57158a2e 100644
--- a/conf/boards/ardrone2_raw.makefile
+++ b/conf/boards/ardrone2.makefile
@@ -1,14 +1,13 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-# ardrone2_raw.makefile
+# ardrone2.makefile
 #
 # http://wiki.paparazziuav.org/wiki/AR.Drone_2_-_Specifications
 #
 
 BOARD=ardrone
 BOARD_VERSION=2
-BOARD_TYPE=raw
-BOARD_CFG=\"boards/$(BOARD)$(BOARD_VERSION)_$(BOARD_TYPE).h\"
+BOARD_CFG=\"boards/$(BOARD)$(BOARD_VERSION).h\"
 
 ARCH=linux
 $(TARGET).ARCHDIR = $(ARCH)
@@ -18,7 +17,7 @@ ap.MAKEFILE = ardrone2
 # -----------------------------------------------------------------------
 USER=foobar
 HOST?=192.168.1.1
-SUB_DIR=raw
+SUB_DIR=paparazzi
 FTP_DIR=/data/video
 TARGET_DIR=$(FTP_DIR)/$(SUB_DIR)
 # -----------------------------------------------------------------------
@@ -36,9 +35,6 @@ GPS_BAUD           ?= B57600
 # The datalink default uses UDP
 MODEM_HOST         ?= 192.168.1.255
 
-# for distinction between RAW and SDK version
-$(TARGET).CFLAGS +=-DARDRONE2_RAW
-
 # handle linux signals by hand
 $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL -D_GNU_SOURCE
 
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 212a2b3fdd..85a0752b5c 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -198,9 +198,9 @@
    gui_color="blue"
   />
   <aircraft
-   name="ardrone2_raw"
+   name="ardrone2"
    ac_id="201"
-   airframe="airframes/ardrone2_raw.xml"
+   airframe="airframes/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 7ba880e501..9c69951320 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -330,9 +330,9 @@
    gui_color="blue"
   />
   <aircraft
-   name="ardrone2_raw"
+   name="ardrone2"
    ac_id="201"
-   airframe="airframes/ardrone2_raw.xml"
+   airframe="airframes/ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_ardrone.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index 684c99730c..197320dda0 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -137,8 +137,8 @@ endif
 ifeq ($(BOARD), booz)
 ns_CFLAGS += -DUSE_DAC
 ns_srcs   += $(SRC_ARCH)/mcu_periph/dac_arch.c
-else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
-ns_srcs   += $(SRC_BOARD)/electrical_raw.c
+else ifeq ($(BOARD), ardrone)
+ns_srcs   += $(SRC_BOARD)/electrical.c
 else ifeq ($(BOARD), bebop)
 ns_srcs   += $(SRC_BOARD)/electrical.c
 endif
@@ -167,7 +167,7 @@ ifeq ($(ARCH), stm32)
 ns_srcs += $(SRC_ARCH)/led_hw.c
 endif
 
-ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
+ifeq ($(BOARD), ardrone)
 ns_srcs += $(SRC_BOARD)/gpio_ardrone.c
 endif
 
diff --git a/conf/firmwares/subsystems/shared/actuators_ardrone2.makefile b/conf/firmwares/subsystems/shared/actuators_ardrone2.makefile
index ce4cab5741..01a040a1a1 100644
--- a/conf/firmwares/subsystems/shared/actuators_ardrone2.makefile
+++ b/conf/firmwares/subsystems/shared/actuators_ardrone2.makefile
@@ -2,4 +2,4 @@
 # Actuator drivers for the raw ardrone version are included here
 
 ap.CFLAGS += -DACTUATORS
-ap.srcs   += $(SRC_BOARD)/actuators_ardrone2_raw.c
+ap.srcs   += $(SRC_BOARD)/actuators.c
diff --git a/conf/firmwares/subsystems/shared/baro_board.makefile b/conf/firmwares/subsystems/shared/baro_board.makefile
index 1452a4bf6b..d0a54828ee 100644
--- a/conf/firmwares/subsystems/shared/baro_board.makefile
+++ b/conf/firmwares/subsystems/shared/baro_board.makefile
@@ -26,7 +26,7 @@ else ifeq ($(BOARD), navstik)
   BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
 
 # Ardrone baro
-else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
+else ifeq ($(BOARD), ardrone)
   BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
 
 # Bebop baro
diff --git a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
index 40c4fd6cf7..260b99fdb0 100644
--- a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
+++ b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
@@ -1,8 +1,8 @@
 # imu AR.Drone2
 
-imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_ardrone2_raw.h\" -DUSE_IMU
+imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_ardrone2.h\" -DUSE_IMU
 imu_srcs   += $(SRC_SUBSYSTEMS)/imu.c
-imu_srcs   += $(SRC_SUBSYSTEMS)/imu/imu_ardrone2_raw.c
+imu_srcs   += $(SRC_SUBSYSTEMS)/imu/imu_ardrone2.c
 imu_srcs   += $(SRC_BOARD)/navdata.c
 
 
diff --git a/sw/airborne/arch/linux/led_hw.h b/sw/airborne/arch/linux/led_hw.h
index 1a65f7f5c3..2d4e36cc28 100644
--- a/sw/airborne/arch/linux/led_hw.h
+++ b/sw/airborne/arch/linux/led_hw.h
@@ -31,7 +31,7 @@
 #include <stdint.h>
 #include BOARD_CONFIG
 
-#if defined BOARD_ARDRONE2_RAW
+#if defined BOARD_ARDRONE2
 extern uint32_t led_hw_values;
 #define LED_INIT(i) { led_hw_values &= ~(1<<i); }
 #define LED_ON(i) { led_hw_values |= (1<<i); }
diff --git a/sw/airborne/boards/ardrone/actuators_ardrone2_raw.c b/sw/airborne/boards/ardrone/actuators.c
similarity index 90%
rename from sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
rename to sw/airborne/boards/ardrone/actuators.c
index 58731fdb49..3ce4531815 100644
--- a/sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
+++ b/sw/airborne/boards/ardrone/actuators.c
@@ -24,12 +24,12 @@
  */
 
 /**
- * @file boards/ardrone/actuators_ardrone2_raw.c
- * Actuator driver for ardrone2-raw version
+ * @file boards/ardrone/actuators.c
+ * Actuator driver for ardrone2 version
  */
 
 #include "subsystems/actuators.h"
-#include "actuators_ardrone2_raw.h"
+#include "actuators.h"
 #include "mcu_periph/gpio.h"
 #include "led_hw.h"
 #include "mcu_periph/sys_time.h"
@@ -53,7 +53,7 @@
  * 190  2.5
  * 130  3.0
  */
-int actuator_ardrone2_raw_fd; /**< File descriptor for the port */
+int actuator_ardrone2_fd; /**< File descriptor for the port */
 
 #define ARDRONE_GPIO_PORT       0x32524
 
@@ -83,18 +83,18 @@ void actuators_ardrone_init(void)
   led_hw_values = 0;
 
   //open mot port
-  actuator_ardrone2_raw_fd = open("/dev/ttyO0", O_RDWR | O_NOCTTY | O_NDELAY);
-  if (actuator_ardrone2_raw_fd == -1) {
+  actuator_ardrone2_fd = open("/dev/ttyO0", O_RDWR | O_NOCTTY | O_NDELAY);
+  if (actuator_ardrone2_fd == -1) {
     perror("open_port: Unable to open /dev/ttyO0 - ");
     return;
   }
-  fcntl(actuator_ardrone2_raw_fd, F_SETFL, 0); //read calls are non blocking
-  fcntl(actuator_ardrone2_raw_fd, F_GETFL, 0);
+  fcntl(actuator_ardrone2_fd, F_SETFL, 0); //read calls are non blocking
+  fcntl(actuator_ardrone2_fd, F_GETFL, 0);
 
   //set port options
   struct termios options;
   //Get the current options for the port
-  tcgetattr(actuator_ardrone2_raw_fd, &options);
+  tcgetattr(actuator_ardrone2_fd, &options);
   //Set the baud rates to 115200
   cfsetispeed(&options, B115200);
   cfsetospeed(&options, B115200);
@@ -105,7 +105,7 @@ void actuators_ardrone_init(void)
   options.c_oflag &= ~OPOST; //clear output options (raw output)
 
   //Set the new options for the port
-  tcsetattr(actuator_ardrone2_raw_fd, TCSANOW, &options);
+  tcsetattr(actuator_ardrone2_fd, TCSANOW, &options);
 
   //reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
   gpio_setup_input(ARDRONE_GPIO_PORT, ARDRONE_GPIO_PIN_IRQ_INPUT);
@@ -157,11 +157,11 @@ void actuators_ardrone_init(void)
 
 int actuators_ardrone_cmd(uint8_t cmd, uint8_t *reply, int replylen)
 {
-  if (full_write(actuator_ardrone2_raw_fd, &cmd, 1) < 0) {
+  if (full_write(actuator_ardrone2_fd, &cmd, 1) < 0) {
     perror("actuators_ardrone_cmd: write failed");
     return -1;
   }
-  return full_read(actuator_ardrone2_raw_fd, reply, replylen);
+  return full_read(actuator_ardrone2_fd, reply, replylen);
 }
 
 #include "autopilot.h"
@@ -236,7 +236,7 @@ void actuators_ardrone_set_pwm(uint16_t pwm0, uint16_t pwm1, uint16_t pwm2, uint
   cmd[2] = ((pwm1 & 0x1ff) << 3) | ((pwm2 & 0x1ff) >> 6);
   cmd[3] = ((pwm2 & 0x1ff) << 2) | ((pwm3 & 0x1ff) >> 7);
   cmd[4] = ((pwm3 & 0x1ff) << 1);
-  full_write(actuator_ardrone2_raw_fd, cmd, 5);
+  full_write(actuator_ardrone2_fd, cmd, 5);
   RunOnceEvery(20, actuators_ardrone_led_run());
 }
 
@@ -265,10 +265,10 @@ void actuators_ardrone_set_leds(uint8_t led0, uint8_t led1, uint8_t led2, uint8_
   cmd[0] = 0x60 | ((led0 & 1) << 4) | ((led1 & 1) << 3) | ((led2 & 1) << 2) | ((led3 & 1) << 1);
   cmd[1] = ((led0 & 2) << 3) | ((led1 & 2) << 2) | ((led2 & 2) << 1) | ((led3 & 2) << 0);
 
-  full_write(actuator_ardrone2_raw_fd, cmd, 2);
+  full_write(actuator_ardrone2_fd, cmd, 2);
 }
 
 void actuators_ardrone_close(void)
 {
-  close(actuator_ardrone2_raw_fd);
+  close(actuator_ardrone2_fd);
 }
diff --git a/sw/airborne/boards/ardrone/actuators_ardrone2_raw.h b/sw/airborne/boards/ardrone/actuators.h
similarity index 92%
rename from sw/airborne/boards/ardrone/actuators_ardrone2_raw.h
rename to sw/airborne/boards/ardrone/actuators.h
index c564dd0ecc..69caa44a4c 100644
--- a/sw/airborne/boards/ardrone/actuators_ardrone2_raw.h
+++ b/sw/airborne/boards/ardrone/actuators.h
@@ -24,12 +24,12 @@
  */
 
 /**
- * @file boards/ardrone/actuators_ardrone2_raw.h
+ * @file boards/ardrone/actuators.h
  * Actuator driver for ardrone2-raw version
  */
 
-#ifndef ACTUATORS_ARDRONE2_RAW_H_
-#define ACTUATORS_ARDRONE2_RAW_H_
+#ifndef ACTUATORS_ARDRONE2_H_
+#define ACTUATORS_ARDRONE2_H_
 
 #include <stdint.h>
 
@@ -59,4 +59,4 @@ void actuators_ardrone_set_pwm(uint16_t pwm0, uint16_t pwm1, uint16_t pwm2, uint
 void actuators_ardrone_set_leds(uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3);
 void actuators_ardrone_close(void);
 
-#endif /* ACTUATORS_ARDRONE2_RAW_H_ */
+#endif /* ACTUATORS_ARDRONE2_H_ */
diff --git a/sw/airborne/boards/ardrone/electrical_raw.c b/sw/airborne/boards/ardrone/electrical.c
similarity index 99%
rename from sw/airborne/boards/ardrone/electrical_raw.c
rename to sw/airborne/boards/ardrone/electrical.c
index bbc5ece085..bb8dad54fe 100644
--- a/sw/airborne/boards/ardrone/electrical_raw.c
+++ b/sw/airborne/boards/ardrone/electrical.c
@@ -26,7 +26,7 @@
  * arch specific electrical status readings
  */
 
-#include "electrical_raw.h"
+#include "electrical.h"
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
diff --git a/sw/airborne/boards/ardrone/electrical_raw.h b/sw/airborne/boards/ardrone/electrical.h
similarity index 100%
rename from sw/airborne/boards/ardrone/electrical_raw.h
rename to sw/airborne/boards/ardrone/electrical.h
diff --git a/sw/airborne/boards/ardrone/gpio_ardrone.c b/sw/airborne/boards/ardrone/gpio_ardrone.c
index efcff4b390..2c77947434 100644
--- a/sw/airborne/boards/ardrone/gpio_ardrone.c
+++ b/sw/airborne/boards/ardrone/gpio_ardrone.c
@@ -22,8 +22,6 @@
  * ardrone GPIO driver
  */
 
-#ifdef ARDRONE2_RAW
-
 #include <fcntl.h>   /* File control definitions */
 #include <errno.h>   /* Error number definitions */
 #include <sys/ioctl.h>
@@ -133,5 +131,3 @@ uint16_t gpio_get(uint32_t port, uint16_t pin)
   ioctl(gpiofp, GPIO_READ, &data);
   return data.value;
 }
-
-#endif
diff --git a/sw/airborne/boards/ardrone2_raw.h b/sw/airborne/boards/ardrone2.h
similarity index 64%
rename from sw/airborne/boards/ardrone2_raw.h
rename to sw/airborne/boards/ardrone2.h
index 957e3d9c88..f7431abcbc 100644
--- a/sw/airborne/boards/ardrone2_raw.h
+++ b/sw/airborne/boards/ardrone2.h
@@ -1,12 +1,12 @@
-#ifndef CONFIG_ARDRONE2_RAW
-#define CONFIG_ARDRONE2_RAW
+#ifndef CONFIG_ARDRONE2
+#define CONFIG_ARDRONE2
 
-#define BOARD_ARDRONE2_RAW
+#define BOARD_ARDRONE2
 
 #define UART1_DEV "/dev/ttyUSB0"
 
 /* Default actuators driver */
-#define DEFAULT_ACTUATORS "boards/ardrone/actuators_ardrone2_raw.h"
+#define DEFAULT_ACTUATORS "boards/ardrone/actuators.h"
 #define ActuatorDefaultSet(_x,_y) ActuatorArdroneSet(_x,_y)
 #define ActuatorsDefaultInit() ActuatorsArdroneInit()
 #define ActuatorsDefaultCommit() ActuatorsArdroneCommit()
@@ -17,4 +17,4 @@
 #define USE_BARO_BOARD 1
 #endif
 
-#endif /* CONFIG_ARDRONE2_RAW */
+#endif /* CONFIG_ARDRONE2 */
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_raw.c b/sw/airborne/subsystems/imu/imu_ardrone2.c
similarity index 89%
rename from sw/airborne/subsystems/imu/imu_ardrone2_raw.c
rename to sw/airborne/subsystems/imu/imu_ardrone2.c
index 4e7312e214..9af41d13ba 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_raw.c
+++ b/sw/airborne/subsystems/imu/imu_ardrone2.c
@@ -20,13 +20,13 @@
  */
 
 /**
- * @file subsystems/imu/imu_ardrone2_raw.c
- * IMU implementation for ardrone2-raw.
+ * @file subsystems/imu/imu_ardrone2.c
+ * IMU implementation for ardrone2.
  */
 
 #include "subsystems/imu.h"
 #include "navdata.h"
-#include "imu_ardrone2_raw.h"
+#include "imu_ardrone2.h"
 #include "mcu_periph/uart.h"
 
 void imu_impl_init(void)
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h b/sw/airborne/subsystems/imu/imu_ardrone2.h
similarity index 93%
rename from sw/airborne/subsystems/imu/imu_ardrone2_raw.h
rename to sw/airborne/subsystems/imu/imu_ardrone2.h
index 7efbbcc796..4696193657 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
+++ b/sw/airborne/subsystems/imu/imu_ardrone2.h
@@ -20,12 +20,12 @@
  */
 
 /**
- * @file subsystems/imu/imu_ardrone2_raw.h
- * IMU implementation for ardrone2-raw.
+ * @file subsystems/imu/imu_ardrone2.h
+ * IMU implementation for ardrone2.
  */
 
-#ifndef IMU_ARDRONE2_RAW_H_
-#define IMU_ARDRONE2_RAW_H_
+#ifndef IMU_ARDRONE2_H_
+#define IMU_ARDRONE2_H_
 
 #include "generated/airframe.h"
 #include "navdata.h"
@@ -87,4 +87,4 @@
 
 #define ImuEvent navdata_update
 
-#endif /* IMU_ARDRONE2_RAW_H_ */
+#endif /* IMU_ARDRONE2_H_ */
diff --git a/sw/ext/bebop.py b/sw/ext/bebop.py
deleted file mode 100755
index 043faed71f..0000000000
--- a/sw/ext/bebop.py
+++ /dev/null
@@ -1,488 +0,0 @@
-#!/usr/bin/env python
-
-from __future__ import print_function
-import re
-import argparse
-import socket
-import telnetlib
-import os
-from time import sleep
-from ftplib import FTP
-
-
-# Check if IP is valid
-def is_ip(address):
-    try:
-        socket.inet_aton(address)
-        ip = True
-    except socket.error:
-        ip = False
-    return ip
-
-# Execute a command
-def execute_command(command):
-    tn.write(command + '\n')
-    return tn.read_until('# ')[len(command) + 2:-4]
-
-# Helper function
-def split_into_path_and_file(name):
-    if name.count('/') <= 0:
-        return ["./", name]
-    return name.rsplit('/', 1)
-
-# Read from config.ini
-def read_from_config(name, config=''):
-    if config == '':
-        config = execute_command('cat /data/config.ini')
-    search = re.search(name + '[^=]+=[\r\n\t ]([^\r\n\t ]+)', config)
-    if search is None:
-        return ''
-    else:
-        return search.group(1)
-
-# Write to config
-def write_to_config(name, value):
-    if read_from_config(name) == '':
-        execute_command('echo "' + name + ' = ' + value + '\" >> /data/config.ini')
-    else:
-        execute_command('sed -i "s/\(' + name + ' *= *\).*/\\1' + value + '/g" /data/config.ini')
-
-# Check the version
-def check_version():
-    return execute_command('cat /firmware/version.txt')
-
-# Check what currently is running on the drone
-def check_running():
-    ps_aux = execute_command('ps')
-    running = ""
-
-    if 'program.elf' in ps_aux:
-        running += ' Native (program.elf),'
-    if 'ap.elf' in ps_aux:
-        running += ' Paparazzi (ap.elf),'
-    if 'gst-launch' in ps_aux:
-        running += ' GStreamer (gst-launch)'
-    return running[1:]
-
-# Check if vision framework is installed
-def check_vision_installed():
-    du_opt = execute_command('du -d 2 /data/video/opt')
-    return '/data/video/opt/arm/gst' in du_opt or '/data/video/opt/arm/lib' in du_opt or '/data/video/opt/arm/tidsp-binaries-23.i3.8' in du_opt
-
-# Check if the vision framework is running
-def check_vision_running():
-    du_opt = execute_command('du -d 2 /opt')
-    return '/opt/arm/gst' in du_opt and '/opt/arm/lib' in du_opt and '/opt/arm/tidsp-binaries-23.i3.8' in du_opt
-
-# Check if autoboot is installed
-def check_autoboot():
-    check_update = execute_command('grep "START_PAPARAZZI" /bin/check_update.sh')
-    wifi_setup = execute_command('grep "BASE_ADRESS" /bin/wifi_setup.sh')
-    if "START_PAPARAZZI" in check_update and "BASE_ADRESS" in wifi_setup:
-        return True
-    else:
-        return False
-
-# Check if custom wifi_setup script is installed
-def check_wifi_setup():
-    check_wifi = execute_command('grep "static_ip_address_base" /bin/wifi_setup.sh')
-    if "static_ip_address_base" in check_wifi:
-        return True
-    else:
-        return False
-
-# Check the filesystem
-def check_filesystem():
-    return execute_command('df -h')
-
-# Reboot the drone
-def bebop_reboot():
-    execute_command('reboot')
-
-# Install the vision framework
-def bebop_install_vision():
-    print('Uploading GST')
-    ftp.storbinary("STOR arm_light.tgz", file("bin/arm_light.tgz", "rb"))
-    print(execute_command("cd /data/video && tar -xzf arm_light.tgz"))
-    print(execute_command("rm -rf /data/video/arm_light.tgz"))
-    print('Now Starting Vision')
-    bebop_start_vision()
-
-# Remove the vision framework
-def bebop_remove_vision():
-    execute_command("rm -rf /opt/arm")
-    execute_command("rm -rf /lib/dsp")
-    execute_command("rm -rf /data/video/opt")
-
-# Start the vision framework
-def bebop_start_vision():
-    # Mount the directories
-    execute_command("mkdir -p /opt/arm")
-    execute_command("mkdir -p /lib/dsp")
-    execute_command("mount --bind /data/video/opt/arm /opt/arm")
-    execute_command("mount --bind /data/video/opt/arm/lib/dsp /lib/dsp")
-    # Start The DSP programs
-    execute_command("kill -9 `pidof program.elf`")
-    execute_command("kill -9 `pidof gst-launch-0.10`")
-    execute_command("export PATH=/opt/arm/gst/bin:$PATH")
-    execute_command("export DSP_PATH=/opt/arm/tidsp-binaries-23.i3.8/")
-    execute_command("/bin/dspbridge/cexec.out -T /opt/arm/tidsp-binaries-23.i3.8/baseimage.dof -v")
-    execute_command("/bin/dspbridge/dynreg.out -r /opt/arm/tidsp-binaries-23.i3.8/m4venc_sn.dll64P -v")
-    # Show result
-    execute_command("ls -altr /opt/arm/gst/bin")
-
-# Install autoboot script
-def bebop_install_autoboot():
-    print('Uploading autoboot script')
-    ftp.storbinary("STOR check_update.sh", file("check_update.sh", "rb"))
-    print(execute_command("mv /data/video/check_update.sh /bin/check_update.sh"))
-    print(execute_command("chmod 777 /bin/check_update.sh"))
-
-# Install network script
-def bebop_install_network_script():
-    print('Uploading Wifi script')
-    ftp.storbinary("STOR wifi_setup.sh", file("wifi_setup.sh", "rb"))
-    print(execute_command("mv /data/video/wifi_setup.sh /bin/wifi_setup.sh"))
-    print(execute_command("chmod 777 /bin/wifi_setup.sh"))
-
-# Set network SSID
-def bebop_set_ssid(name):
-    write_to_config('ssid_single_player', name)
-    print('The network ID (SSID) of the Bebop is changed to ' + name)
-
-# Set IP address
-def bebop_set_ip_address(address):
-    splitted_ip = address.split(".")
-    write_to_config('static_ip_address_base', splitted_ip[0] + '.' + splitted_ip[1] + '.' + splitted_ip[2] + '.')
-    write_to_config('static_ip_address_probe', splitted_ip[3])
-    print('The IP Address of the Bebop is changed to ' + address)
-
-# Set wifi mode (0: master, 1: ad-hoc, 2: managed, *: master)
-def bebop_set_wifi_mode(mode):
-    modes = { 'master' : '0', 'ad-hoc' : '1', 'managed' : '2' }
-    try:
-        val = modes[mode]
-    except:
-        print('Unexpected wifi mode, setting to master (default)')
-        val = modes['master']
-    write_to_config('wifi_mode', val)
-    print('The Wifi mode of the Bebop is changed to ' + mode + ' (' + val + ')')
-
-def bebop_status():
-    config_ini = execute_command('cat /data/config.ini')
-
-    print('======================== Bebop Status ========================')
-    print('Version:\t\t' + check_version())
-    print('Host:\t\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
-    print('Currently running:\t' + check_running())
-    print('Serial number:\t\t' + read_from_config('drone_serial', config_ini))
-    print('Network id:\t\t' + read_from_config('ssid_single_player', config_ini))
-    print('Motor software:\t\t' +
-          read_from_config('motor1_soft', config_ini) + '\t' + read_from_config('motor2_soft', config_ini) + '\t' +
-          read_from_config('motor3_soft', config_ini) + '\t' + read_from_config('motor4_soft', config_ini))
-    print('Motor hardware:\t\t' +
-          read_from_config('motor1_hard', config_ini) + '\t' + read_from_config('motor2_hard', config_ini) + '\t' +
-          read_from_config('motor3_hard', config_ini) + '\t' + read_from_config('motor4_hard', config_ini))
-
-    autorun = {'': 'Native', '0': 'Native', '1': 'Paparazzi'}
-    if check_autoboot():
-        print('Autorun at start:\tInstalled booting ' + autorun[read_from_config('start_paparazzi', config_ini)])
-    else:
-        print('Autorun at start:\tNot installed')
-
-    # Check if the vision framework is installed and running
-    vision_framework = ""
-    if check_vision_installed():
-        vision_framework += "Installed"
-    if check_vision_running():
-        vision_framework += " and running"
-    print('Vision framework:\t' + vision_framework)
-
-    # Request the filesystem status
-    print('\n======================== Filesystem Status ========================')
-    print(check_filesystem())
-
-
-# Parse the arguments
-parser = argparse.ArgumentParser(description='Bebop python helper. Use bebop.py -h for help')
-parser.add_argument('--host', metavar='HOST', default='192.168.42.1',
-                    help='the ip address of bebop')
-subparsers = parser.add_subparsers(title='Command to execute', metavar='command', dest='command')
-
-# All the subcommands and arguments
-subparsers.add_parser('status', help='Request the status of the Bebop')
-subparsers.add_parser('reboot', help='Reboot the Bebop')
-subparsers.add_parser('installvision', help='Install the vision framework')
-subparser_upload_gst = subparsers.add_parser('upload_gst_module',
-                                         help='Upload, configure and move a gstreamer0.10 module libXXX.so')
-subparser_upload_gst.add_argument('file', help='Filename of *.so module')
-subparser_upload_and_run = subparsers.add_parser('upload_file_and_run', help='Upload and run software (for instance the Paparazzi autopilot)')
-subparser_upload_and_run.add_argument('file', help='Filename of an executable')
-subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw for Paparazzi autopilot)')
-subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
-subparser_upload.add_argument('file', help='Filename')
-subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/video)')
-subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
-subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
-subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
-subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
-subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
-subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
-subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
-subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
-subparsers.add_parser('startvision', help='Start the vision framework')
-subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
-subparser_start.add_argument('program', help='the program to start')
-subparser_kill = subparsers.add_parser('kill', help='Kill a program on the Bebop')
-subparser_kill.add_argument('program', help='the program to kill')
-subparser_networkid = subparsers.add_parser('networkid', help='Set the network ID(SSID) of the Bebop')
-subparser_networkid.add_argument('name', help='the new network ID(SSID)')
-subparser_ipaddress = subparsers.add_parser('ipaddress', help='Set the IP address of the Bebop')
-subparser_ipaddress.add_argument('address', help='the new IP address')
-subparser_wifimode = subparsers.add_parser('wifimode', help='Set the Wifi mode the Bebop')
-subparser_wifimode.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
-subparser_configure_network = subparsers.add_parser('configure_network', help='Configure the network on the Bebop')
-subparser_configure_network.add_argument('name', help='the new network ID(SSID)')
-subparser_configure_network.add_argument('address', help='the new IP address')
-subparser_configure_network.add_argument('mode', help='the new Wifi mode', choices=['master', 'ad-hoc', 'managed'])
-subparser_install_autostart = subparsers.add_parser('install_autostart', help='Install custom autostart script and set what to start on boot for the Bebop')
-subparser_install_autostart.add_argument('type', choices=['native', 'paparazzi'],
-                                 help='what to start on boot')
-subparser_autostart = subparsers.add_parser('autostart', help='Set what to start on boot for the Bebop')
-subparser_autostart.add_argument('type', choices=['native', 'paparazzi'],
-                                 help='what to start on boot')
-
-args = parser.parse_args()
-
-# Connect with telnet and ftp
-try:
-    tn = telnetlib.Telnet(args.host)
-    ftp = FTP(args.host)
-    ftp.login()
-except:
-    print('Could not connect to Bebop (host: ' + args.host + ')')
-    exit(2)
-
-# Read until after login
-tn.read_until('# ')
-
-# Check the Bebop status
-if args.command == 'status':
-    bebop_status()
-
-# Reboot the drone
-elif args.command == 'reboot':
-    bebop_reboot()
-    print('The Bebop is rebooting...')
-
-# Kill a program
-elif args.command == 'kill':
-    execute_command('killall -9 ' + args.program)
-    print('Program "' + args.program + '" is now killed')
-
-# Start a program
-elif args.command == 'start':
-    execute_command(args.start + ' &')
-    print('Program "' + args.start + '" is now started')
-
-# Change the network ID
-elif args.command == 'networkid':
-    bebop_set_ssid(args.name)
-
-    if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
-        bebop_reboot()
-
-# Change the IP address
-elif args.command == 'ipaddress':
-    bebop_set_ip_address(args.address)
-
-    if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
-        bebop_reboot()
-
-# Change the wifi mode
-elif args.command == 'wifimode':
-    bebop_set_wifi_mode(args.mode)
-
-    if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
-        bebop_reboot()
-
-# Install and configure network
-elif args.command == 'configure_network':
-    config_ini = execute_command('cat /data/config.ini')
-    print('=== Current network setup ===')
-    print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
-    print('Host:\t\t' + args.host + ' (' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini) + ' after boot)')
-    print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
-    print('=============================')
-    if check_wifi_setup():
-        print('Custom Wifi script already installed')
-        if raw_input("Shall I reinstall the Wifi script (y/N) ").lower() == 'y':
-            bebop_install_network_script()
-    else:
-        if raw_input("Shall I install custom Wifi script (recommanded) (y/N) ").lower() == 'y':
-            bebop_install_network_script()
-    bebop_set_ssid(args.name)
-    bebop_set_ip_address(args.address)
-    bebop_set_wifi_mode(args.mode)
-    config_ini = execute_command('cat /data/config.ini')
-    print('== New network setup after boot ==')
-    print('Network id:\t' + read_from_config('ssid_single_player', config_ini))
-    print('Host:\t\t' + read_from_config('static_ip_address_base', config_ini) +
-          read_from_config('static_ip_address_probe', config_ini))
-    print('Mode:\t\t' + read_from_config('wifi_mode', config_ini))
-    print('==================================')
-
-    if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
-        bebop_reboot()
-
-# Install and configure autostart
-elif args.command == 'install_autostart':
-    if check_autoboot():
-        print('Custom autostart script already installed')
-        if raw_input("Shall I reinstall the autostart script (y/N) ").lower() == 'y':
-            bebop_install_autoboot()
-    else:
-        bebop_install_autoboot()
-    autorun = {'native': '0', 'paparazzi': '1'}
-    write_to_config('start_paparazzi', autorun[args.type])
-    print('The autostart on boot is changed to ' + args.type)
-
-    if raw_input("Shall I restart the Bebop? (y/N) ").lower() == 'y':
-        bebop_reboot()
-
-# Change the autostart
-elif args.command == 'autostart':
-    autorun = {'native': '0', 'paparazzi': '1'}
-    write_to_config('start_paparazzi', autorun[args.type])
-    print('The autostart on boot is changed to ' + args.type)
-
-# Install Vision framework
-elif args.command == 'installvision':
-    if check_vision_installed():
-        print('Vision framework already installed')
-        if raw_input("Shall I reinstall the vision framework? (y/N) ").lower() == 'y':
-            bebop_remove_vision()
-            bebop_install_vision()
-
-    bebop_install_vision()
-    print('Vision framework installed')
-
-# Start Vision framework
-elif args.command == 'startvision':
-    if check_vision_running():
-        print('Vision framework already started')
-    else:
-        if not check_vision_installed():
-            print('No vision framework installed')
-            if raw_input("Shall I install the vision framework? (y/N) ").lower() == 'y':
-                bebop_install_vision()
-
-        if check_vision_installed():
-            bebop_start_vision()
-            print('Vision framework started')
-
-elif args.command == 'upload_gst_module':
-    print('Uploading ...' + args.file)
-    ftp.storbinary("STOR " + args.file, file(args.file, "rb"))
-    execute_command("chmod 777 /data/video/" + args.file)
-    execute_command("mv /data/video/" + args.file + " /data/video/opt/arm/gst/lib/gstreamer-0.10")
-    if check_vision_running():
-        print('Info: Vision framework already started')
-    else:
-        if not check_vision_installed():
-            print('Warning: No vision framework installed')
-            if raw_input("Warning: Shall I install the vision framework? (y/N) ").lower() == 'y':
-                bebop_install_vision()
-
-        if check_vision_installed():
-            bebop_start_vision()
-            print('#pragma message: Vision framework started')
-    print('#pragma message: Vision Plugin Uploaded and DSP Started.')
-
-
-elif args.command == 'insmod':
-    modfile = split_into_path_and_file(args.file)
-    print('Uploading \'' + modfile[1])
-    ftp.storbinary("STOR " + modfile[1], file(args.file, "rb"))
-    print(execute_command("insmod /data/video/" + modfile[1]))
-
-elif args.command == 'upload_file_and_run':
-    # Split filename and path
-    f = split_into_path_and_file(args.file)
-
-    print("Kill running " + f[1] + " and make folder " + args.folder)
-    execute_command("killall -9 " + f[1])
-    sleep(1)
-    execute_command("mkdir -p /data/ftp/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to " + args.folder)
-    ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
-    sleep(0.5)
-    execute_command("chmod 777 /data/ftp/" + args.folder + "/" + f[1])
-    execute_command("/data/ftp/" + args.folder + "/" + f[1] + " > /dev/null 2>&1 &")
-    print("#pragma message: Upload and Start of ap.elf to Bebop Succes!")
-
-elif args.command == 'upload_file':
-    # Split filename and path
-    f = split_into_path_and_file(args.file)
-
-    execute_command("mkdir -p /data/video/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
-    ftp.storbinary("STOR " + args.folder + "/" + f[1], file(args.file, "rb"))
-    print("#pragma message: Upload of " + f[1] + " to Bebop Succes!")
-
-elif args.command == 'download_file':
-    # Split filename and path
-    f = split_into_path_and_file(args.file)
-    # Open file and download
-    try:
-        file = open(args.file, 'wb')
-        print('Downloading \'' + f[1] + "\' from " + args.folder + " to " + f[0])
-        ftp.retrbinary("RETR " + args.folder + "/" + f[1], file.write)
-        print("#pragma message: Download of " + f[1] + " from Bebop Succes!")
-    except IOError:
-        print("#pragma message: Fail to open file " + args.file)
-    except:
-        os.remove(args.file)
-        print("#pragma message: Download of " + f[1] + " from Bebop Failed!")
-    else:
-        file.close()
-
-elif args.command == 'download_dir':
-    # Split filename and path
-    files = execute_command('find /data/video/' + args.folder + ' -name \'*.*\'')
-    # Create dest dir if needed
-    if not os.path.exists(args.dest):
-        os.mkdir(args.dest)
-    # Open file and download
-    for f in files.split():
-        file_name = split_into_path_and_file(f)
-        file_source = args.folder + '/' + file_name[1]
-        file_dest = args.dest + '/' + file_name[1]
-        try:
-            file = open(file_dest, 'wb')
-            print('Downloading \'' + f + "\' to " + file_dest)
-            ftp.retrbinary("RETR " + file_source, file.write)
-        except IOError:
-            print("#pragma message: Fail to open file " + file_dest)
-        except:
-            os.remove(file_dest)
-            print("#pragma message: Download of " + f + " from Bebop Failed!")
-        else:
-            file.close()
-    print("#pragma message: End download of folder " + args.folder + " from Bebop")
-
-elif args.command == 'rm_dir':
-    # Split filename and path
-    print("Deleting folder /data/video/" + args.folder + " from Bebop")
-    print(execute_command('rm -r /data/video/' + args.folder))
-
-
-
-# Close the telnet and python script
-tn.close()
-ftp.close()
-exit(0)
diff --git a/sw/tools/parrot/ardrone2/check_update.sh b/sw/tools/parrot/ardrone2/check_update.sh
index 0d264427e7..bd344c22fd 100755
--- a/sw/tools/parrot/ardrone2/check_update.sh
+++ b/sw/tools/parrot/ardrone2/check_update.sh
@@ -64,7 +64,7 @@ if [ -e $UPDATE_PATH ] ; then
 
 		# Check what to start
 		if [ "$START_PAPARAZZI" = "yes" ] ; then
-			(/data/video/raw/ap.elf; gpio 181 -d ho 1) &
+			(/data/video/paparazzi/ap.elf; gpio 181 -d ho 1) &
 		else
 			(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
 		fi
@@ -80,7 +80,7 @@ else
     if [ "$START_PAPARAZZI" = "yes" ] ; then
         (/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
         sleep 10
-	(/data/video/raw/ap.elf; gpio 181 -d ho 1) &
+	(/data/video/paparazzi/ap.elf; gpio 181 -d ho 1) &
     else
 	(/bin/program.elf ${PELF_ARGS}; gpio 181 -d ho 1) &
     fi