diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index 33919cb9ea..d8b773214f 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -213,7 +213,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index e8401c7ef6..5b0d0b2ed0 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -11,7 +11,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="booz_1.0">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 2c55323d36..ed983ce12e 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -15,7 +15,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
     <target name="ap" board="booz_1.0">
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index 1a4ac65bc3..e3774fe6d2 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -10,7 +10,6 @@
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ADAPT_HOVER"/>
     <define name="USE_ATTITUDE_REF" value="0"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
@@ -105,7 +104,6 @@
 
   <!-- Magnetic field for Toulouse (declination -16°) -->
   <section name="AHRS" prefix="AHRS_">
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
     <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.513081"/>
     <define name="H_Y" value="-0.00242783"/>
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 09e9ba1a0e..33cbbb872a 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -242,7 +242,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index aee822cb0a..5be5972e59 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -214,7 +214,6 @@
   <firmware name="rotorcraft">
 <!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
 <!--     <define name="USE_INS_NAV_INIT"/> -->
-     <define name="USE_ADAPT_HOVER"/>
      <define name="FAILSAFE_GROUND_DETECT"/>
      <define name="USE_GPS_ACC4R"/>
      <target name="ap" board="lisa_l_1.0">
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
similarity index 100%
rename from conf/airframes/ENAC/quadrotor/g1_vision.xml
rename to conf/airframes/obsolete/ENAC/g1_vision.xml
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
similarity index 100%
rename from conf/airframes/ENAC/quadrotor/mkk1-vision.xml
rename to conf/airframes/obsolete/ENAC/mkk1-vision.xml
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
similarity index 100%
rename from conf/airframes/ENAC/quadrotor/mkk1.xml
rename to conf/airframes/obsolete/ENAC/mkk1.xml
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
similarity index 100%
rename from conf/airframes/ENAC/quadrotor/nova1.xml
rename to conf/airframes/obsolete/ENAC/nova1.xml
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/A1000_BOOZ.xml
rename to conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/A1000_LISA.xml
rename to conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/A1000_NOVA.xml
rename to conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
rename to conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/booz2_a1000.xml
rename to conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
similarity index 100%
rename from conf/airframes/UofAdelaide/lisa_a1000.xml
rename to conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml