diff --git a/conf/airframes/AGGIEAIR/ark_quad_lisa_mx.xml b/conf/airframes/AGGIEAIR/ark_quad_lisa_mx.xml
index eb7a6725dd..476388408c 100644
--- a/conf/airframes/AGGIEAIR/ark_quad_lisa_mx.xml
+++ b/conf/airframes/AGGIEAIR/ark_quad_lisa_mx.xml
@@ -96,7 +96,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -106,11 +105,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/BR/asctec_br.xml b/conf/airframes/BR/asctec_br.xml
index 3899e7af3e..e604e268d2 100644
--- a/conf/airframes/BR/asctec_br.xml
+++ b/conf/airframes/BR/asctec_br.xml
@@ -112,7 +112,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -122,11 +121,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
index e5ee58d688..6da37d180b 100644
--- a/conf/airframes/BR/bebop_default.xml
+++ b/conf/airframes/BR/bebop_default.xml
@@ -114,7 +114,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -124,11 +123,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index 0d7b8e450e..a017e18d35 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -128,7 +128,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -138,11 +137,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index 4c887b9919..804da44ed8 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -128,7 +128,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -138,11 +137,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/bebop_indi_frog2.xml b/conf/airframes/BR/bebop_indi_frog2.xml
index 399d0368c7..a3dd12e7b2 100644
--- a/conf/airframes/BR/bebop_indi_frog2.xml
+++ b/conf/airframes/BR/bebop_indi_frog2.xml
@@ -126,7 +126,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -136,11 +135,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
index 9fd6fca780..1b84942b2c 100644
--- a/conf/airframes/BR/bebop_indi_frog_flip.xml
+++ b/conf/airframes/BR/bebop_indi_frog_flip.xml
@@ -130,7 +130,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -141,10 +140,6 @@
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
 
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index bceb367d7b..9f095abf98 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -102,7 +102,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -112,11 +111,6 @@
     <define name="IGAIN_P" value="301"/>
     <define name="IGAIN_Q" value="302"/>
     <define name="IGAIN_R" value="303"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/BR/mavtec4_br.xml b/conf/airframes/BR/mavtec4_br.xml
index 8518e16440..6be2d2c5b0 100644
--- a/conf/airframes/BR/mavtec4_br.xml
+++ b/conf/airframes/BR/mavtec4_br.xml
@@ -112,7 +112,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -122,11 +121,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
index b78601bf43..9f7cdca1e9 100644
--- a/conf/airframes/CDW/bebop.xml
+++ b/conf/airframes/CDW/bebop.xml
@@ -129,7 +129,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -139,11 +138,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/CRIDEA/cridea_quadsuave.xml b/conf/airframes/CRIDEA/cridea_quadsuave.xml
index 92478a7681..932b502fc4 100644
--- a/conf/airframes/CRIDEA/cridea_quadsuave.xml
+++ b/conf/airframes/CRIDEA/cridea_quadsuave.xml
@@ -121,7 +121,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -131,11 +130,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_control.xml b/conf/airframes/ENAC/quadrotor/ard2_base_control.xml
index 67af71cafb..0376c6862f 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_control.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_control.xml
@@ -52,7 +52,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -62,11 +61,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/ENAC/quadrotor/bebop_201.xml b/conf/airframes/ENAC/quadrotor/bebop_201.xml
index 9f764259df..bbe4d6f37b 100644
--- a/conf/airframes/ENAC/quadrotor/bebop_201.xml
+++ b/conf/airframes/ENAC/quadrotor/bebop_201.xml
@@ -141,7 +141,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -151,11 +150,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
index 5f95e710bb..4e804e36d2 100644
--- a/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
@@ -144,7 +144,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -154,11 +153,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml b/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
index 665a0bf648..0edb3bfaf2 100644
--- a/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
+++ b/conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
@@ -138,7 +138,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -148,11 +147,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml b/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
index c0d41f25b9..4cb66c088b 100644
--- a/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
+++ b/conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
@@ -140,7 +140,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -150,11 +149,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
index 18795bd7f6..959b3291b8 100644
--- a/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
@@ -144,7 +144,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU"    value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -154,11 +153,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/HooperFly/teensyfly_quad_elle0.xml b/conf/airframes/HooperFly/teensyfly_quad_elle0.xml
index fb240318c6..7ed97e2bda 100644
--- a/conf/airframes/HooperFly/teensyfly_quad_elle0.xml
+++ b/conf/airframes/HooperFly/teensyfly_quad_elle0.xml
@@ -139,7 +139,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -149,11 +148,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
index 409feb07b8..35e1c80ea8 100644
--- a/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
+++ b/conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
@@ -140,7 +140,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -150,11 +149,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/LS/quadrotor_altura_lisa_m_2_0.xml b/conf/airframes/LS/quadrotor_altura_lisa_m_2_0.xml
index bc3d3ce701..9e104c3eb1 100644
--- a/conf/airframes/LS/quadrotor_altura_lisa_m_2_0.xml
+++ b/conf/airframes/LS/quadrotor_altura_lisa_m_2_0.xml
@@ -118,7 +118,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="1"/>
@@ -128,11 +127,6 @@
     <define name="IGAIN_P" value="0"/>
     <define name="IGAIN_Q" value="0"/>
     <define name="IGAIN_R" value="0"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="0"/>
-    <define name="DDGAIN_Q" value="0"/>
-    <define name="DDGAIN_R" value="0"/>
   </section>
 
 
diff --git a/conf/airframes/LS/quadrotor_bebop_small_gps_messages.xml b/conf/airframes/LS/quadrotor_bebop_small_gps_messages.xml
index 95d8537696..dde78c74a3 100644
--- a/conf/airframes/LS/quadrotor_bebop_small_gps_messages.xml
+++ b/conf/airframes/LS/quadrotor_bebop_small_gps_messages.xml
@@ -117,7 +117,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -127,11 +126,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml b/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
index 733c39d35f..3d3845fa6f 100644
--- a/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
+++ b/conf/airframes/LS/quadrotor_mavtec_lisa_m_2_0.xml
@@ -116,7 +116,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -126,11 +125,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
  <section name="INS" prefix="INS_">
diff --git a/conf/airframes/OPENUAS/openuas_ardrone2.xml b/conf/airframes/OPENUAS/openuas_ardrone2.xml
index d5131949f9..608fa4b56b 100644
--- a/conf/airframes/OPENUAS/openuas_ardrone2.xml
+++ b/conf/airframes/OPENUAS/openuas_ardrone2.xml
@@ -153,7 +153,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -163,11 +162,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/OPENUAS/openuas_leapfrogeye.xml b/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
index 38cb965cea..da9040956b 100644
--- a/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
+++ b/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
@@ -136,7 +136,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -146,11 +145,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/OPENUAS/openuas_psi.xml b/conf/airframes/OPENUAS/openuas_psi.xml
index d68b87e16c..0c49155875 100644
--- a/conf/airframes/OPENUAS/openuas_psi.xml
+++ b/conf/airframes/OPENUAS/openuas_psi.xml
@@ -150,7 +150,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -160,11 +159,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
index f9c7569c90..8bd61070ec 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
@@ -95,7 +95,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -105,11 +104,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_flip.xml b/conf/airframes/TUDelft/airframes/ardrone2_flip.xml
index 7cb741bcd7..6e18cfff92 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_flip.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_flip.xml
@@ -118,7 +118,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -128,11 +127,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_indi.xml b/conf/airframes/TUDelft/airframes/ardrone2_indi.xml
index 24aa34f719..3f56d93bed 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_indi.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_indi.xml
@@ -113,7 +113,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -123,11 +122,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml b/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml
index 5d6efd77e4..87a0abc72c 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml
@@ -123,7 +123,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -133,11 +132,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml b/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml
index d8396a0305..55b4ea049d 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml
@@ -126,7 +126,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -136,11 +135,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml b/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml
index d13a6f7467..2a5c99fd0c 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml
@@ -122,7 +122,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -132,11 +131,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml b/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml
index 4c6f02bdc1..db09651e0f 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml
+++ b/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml
@@ -112,7 +112,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -122,11 +121,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
diff --git a/conf/airframes/TUDelft/airframes/bebop_flip.xml b/conf/airframes/TUDelft/airframes/bebop_flip.xml
index adef3a33dd..877602dfe5 100644
--- a/conf/airframes/TUDelft/airframes/bebop_flip.xml
+++ b/conf/airframes/TUDelft/airframes/bebop_flip.xml
@@ -131,7 +131,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -141,11 +140,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/bebop_indi.xml b/conf/airframes/TUDelft/airframes/bebop_indi.xml
index 5dcd4afa30..022b3c9601 100644
--- a/conf/airframes/TUDelft/airframes/bebop_indi.xml
+++ b/conf/airframes/TUDelft/airframes/bebop_indi.xml
@@ -103,7 +103,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -113,11 +112,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/mavtec4.xml b/conf/airframes/TUDelft/airframes/mavtec4.xml
index 1d28521583..2ba4694d03 100644
--- a/conf/airframes/TUDelft/airframes/mavtec4.xml
+++ b/conf/airframes/TUDelft/airframes/mavtec4.xml
@@ -122,7 +122,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -132,11 +131,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/TUDelft/airframes/mavtec5.xml b/conf/airframes/TUDelft/airframes/mavtec5.xml
index 93db66f569..3cdaa978ca 100644
--- a/conf/airframes/TUDelft/airframes/mavtec5.xml
+++ b/conf/airframes/TUDelft/airframes/mavtec5.xml
@@ -120,7 +120,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -130,11 +129,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/TUDelft/airframes/rm_ardrone2.xml b/conf/airframes/TUDelft/airframes/rm_ardrone2.xml
index 6dac0deb6c..f85e71a64d 100644
--- a/conf/airframes/TUDelft/airframes/rm_ardrone2.xml
+++ b/conf/airframes/TUDelft/airframes/rm_ardrone2.xml
@@ -120,7 +120,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -130,11 +129,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/examples/ardrone2.xml b/conf/airframes/examples/ardrone2.xml
index 0a6c2e9ec0..181b08dbc7 100644
--- a/conf/airframes/examples/ardrone2.xml
+++ b/conf/airframes/examples/ardrone2.xml
@@ -122,7 +122,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -132,11 +131,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/examples/ardrone2_opticflow_hover.xml b/conf/airframes/examples/ardrone2_opticflow_hover.xml
index 332c188949..e4ee94b99a 100644
--- a/conf/airframes/examples/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/examples/ardrone2_opticflow_hover.xml
@@ -123,7 +123,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -133,11 +132,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/examples/ardrone2_px4flow_hover.xml b/conf/airframes/examples/ardrone2_px4flow_hover.xml
index a72466dff9..e51c69f6f7 100644
--- a/conf/airframes/examples/ardrone2_px4flow_hover.xml
+++ b/conf/airframes/examples/ardrone2_px4flow_hover.xml
@@ -122,7 +122,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -132,11 +131,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/examples/bebop.xml b/conf/airframes/examples/bebop.xml
index cb1924ad22..f3d074de44 100644
--- a/conf/airframes/examples/bebop.xml
+++ b/conf/airframes/examples/bebop.xml
@@ -117,7 +117,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -127,11 +126,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/examples/bumblebee_quad.xml b/conf/airframes/examples/bumblebee_quad.xml
index 32389c3764..55d02565b6 100644
--- a/conf/airframes/examples/bumblebee_quad.xml
+++ b/conf/airframes/examples/bumblebee_quad.xml
@@ -148,7 +148,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -158,11 +157,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/krooz_sd_quad_mkk.xml b/conf/airframes/examples/krooz_sd_quad_mkk.xml
index 64fd076d14..874cab42a5 100644
--- a/conf/airframes/examples/krooz_sd_quad_mkk.xml
+++ b/conf/airframes/examples/krooz_sd_quad_mkk.xml
@@ -126,7 +126,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -136,11 +135,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_elle0.xml b/conf/airframes/examples/quadrotor_elle0.xml
index a900f5515c..9248d8b6a6 100644
--- a/conf/airframes/examples/quadrotor_elle0.xml
+++ b/conf/airframes/examples/quadrotor_elle0.xml
@@ -116,7 +116,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -126,11 +125,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index d6ed43f950..0101af035b 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -112,7 +112,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -122,11 +121,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_lisa_mx.xml b/conf/airframes/examples/quadrotor_lisa_mx.xml
index 9cbfc6abde..c277a76c71 100644
--- a/conf/airframes/examples/quadrotor_lisa_mx.xml
+++ b/conf/airframes/examples/quadrotor_lisa_mx.xml
@@ -111,7 +111,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -121,11 +120,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml b/conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
index 2c922c2f5d..e24e335c79 100644
--- a/conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
+++ b/conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml
@@ -143,7 +143,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -153,11 +152,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_navstik.xml b/conf/airframes/examples/quadrotor_navstik.xml
index 77acc83903..7cca9454a8 100644
--- a/conf/airframes/examples/quadrotor_navstik.xml
+++ b/conf/airframes/examples/quadrotor_navstik.xml
@@ -120,7 +120,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -130,11 +129,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
diff --git a/conf/airframes/flixr/flixr_lisa_mx.xml b/conf/airframes/flixr/flixr_lisa_mx.xml
index 172c81d0d2..f9cf939664 100644
--- a/conf/airframes/flixr/flixr_lisa_mx.xml
+++ b/conf/airframes/flixr/flixr_lisa_mx.xml
@@ -161,7 +161,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -171,11 +170,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/flixr/fraser_lisa_m_rotorcraft.xml b/conf/airframes/flixr/fraser_lisa_m_rotorcraft.xml
index 36b365693c..e70182fdfb 100644
--- a/conf/airframes/flixr/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/flixr/fraser_lisa_m_rotorcraft.xml
@@ -138,7 +138,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -148,11 +147,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/flixr/zmr250_elle0.xml b/conf/airframes/flixr/zmr250_elle0.xml
index 9a7239f391..2006611a3f 100644
--- a/conf/airframes/flixr/zmr250_elle0.xml
+++ b/conf/airframes/flixr/zmr250_elle0.xml
@@ -106,7 +106,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -116,11 +115,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/ardrone2_indi.xml b/conf/airframes/untested/ardrone2_indi.xml
index 01b8a45906..e9ced3802f 100644
--- a/conf/airframes/untested/ardrone2_indi.xml
+++ b/conf/airframes/untested/ardrone2_indi.xml
@@ -113,7 +113,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -123,11 +122,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/untested/ardrone2_optitrack.xml b/conf/airframes/untested/ardrone2_optitrack.xml
index 31fca5d287..2f2ef5808e 100644
--- a/conf/airframes/untested/ardrone2_optitrack.xml
+++ b/conf/airframes/untested/ardrone2_optitrack.xml
@@ -112,7 +112,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -122,11 +121,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
diff --git a/conf/airframes/untested/bebop_indi.xml b/conf/airframes/untested/bebop_indi.xml
index a3fb0e8e95..28232f37a9 100644
--- a/conf/airframes/untested/bebop_indi.xml
+++ b/conf/airframes/untested/bebop_indi.xml
@@ -118,7 +118,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -128,11 +127,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml b/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
index 218258f51a..e6adf572d9 100644
--- a/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
@@ -125,7 +125,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -135,11 +134,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/krooz_sd_hexa_mkk.xml b/conf/airframes/untested/krooz_sd_hexa_mkk.xml
index 67dc3f9a23..827b66c306 100644
--- a/conf/airframes/untested/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_hexa_mkk.xml
@@ -125,7 +125,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -135,11 +134,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/krooz_sd_okto_mkk.xml b/conf/airframes/untested/krooz_sd_okto_mkk.xml
index 0099f0945d..cc9f215ce4 100644
--- a/conf/airframes/untested/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_okto_mkk.xml
@@ -130,7 +130,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -140,11 +139,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/krooz_sd_quad_pwm.xml b/conf/airframes/untested/krooz_sd_quad_pwm.xml
index e431b64d91..2d2021d3f0 100644
--- a/conf/airframes/untested/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/untested/krooz_sd_quad_pwm.xml
@@ -118,7 +118,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -128,11 +127,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/quadrotor_lisa_m_mkk.xml b/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
index 5bafb3b77f..453d9f00e6 100644
--- a/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
@@ -104,7 +104,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -114,11 +113,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/quadrotor_mlkf.xml b/conf/airframes/untested/quadrotor_mlkf.xml
index 119e865ac4..13e774266a 100644
--- a/conf/airframes/untested/quadrotor_mlkf.xml
+++ b/conf/airframes/untested/quadrotor_mlkf.xml
@@ -107,7 +107,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -117,11 +116,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/untested/quadrotor_pixhawk_lite.xml b/conf/airframes/untested/quadrotor_pixhawk_lite.xml
index 57c1b6d8f7..1112498dcc 100644
--- a/conf/airframes/untested/quadrotor_pixhawk_lite.xml
+++ b/conf/airframes/untested/quadrotor_pixhawk_lite.xml
@@ -146,7 +146,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -156,11 +155,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/quadrotor_px4fmu.xml b/conf/airframes/untested/quadrotor_px4fmu.xml
index a6cfe45957..91da1639ae 100644
--- a/conf/airframes/untested/quadrotor_px4fmu.xml
+++ b/conf/airframes/untested/quadrotor_px4fmu.xml
@@ -108,7 +108,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -118,11 +117,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/untested/stm32f4_discovery_test.xml b/conf/airframes/untested/stm32f4_discovery_test.xml
index d356c1a35c..492de4f6b4 100644
--- a/conf/airframes/untested/stm32f4_discovery_test.xml
+++ b/conf/airframes/untested/stm32f4_discovery_test.xml
@@ -108,7 +108,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -118,11 +117,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/settings/control/stabilization_rate.xml b/conf/settings/control/stabilization_rate.xml
index 9ad53219e1..65cc721687 100644
--- a/conf/settings/control/stabilization_rate.xml
+++ b/conf/settings/control/stabilization_rate.xml
@@ -11,10 +11,6 @@
       <dl_setting var="stabilization_rate_igain.p" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain p" param="STABILIZATION_RATE_IGAIN_P" type="int32" persistent="true"/>
       <dl_setting var="stabilization_rate_igain.q" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain q" param="STABILIZATION_RATE_IGAIN_Q" type="int32" persistent="true"/>
       <dl_setting var="stabilization_rate_igain.r" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain r" param="STABILIZATION_RATE_IGAIN_R" type="int32" persistent="true"/>
-
-      <dl_setting var="stabilization_rate_ddgain.p" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain p" param="STABILIZATION_RATE_DDGAIN_P" type="int32" persistent="true"/>
-      <dl_setting var="stabilization_rate_ddgain.q" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain q" param="STABILIZATION_RATE_DDGAIN_Q" type="int32" persistent="true"/>
-      <dl_setting var="stabilization_rate_ddgain.r" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain r" param="STABILIZATION_RATE_DDGAIN_R" type="int32" persistent="true"/>
     </dl_settings>
 
   </dl_settings>