diff --git a/conf/ESDEN/esden_conf.xml b/conf/ESDEN/esden_conf.xml
new file mode 100644
index 0000000000..c71d214ed8
--- /dev/null
+++ b/conf/ESDEN/esden_conf.xml
@@ -0,0 +1,189 @@
+<conf>
+  <aircraft
+   name="E-Cocto"
+   ac_id="120"
+   airframe="airframes/ESDEN/esden_cocto_lm2a2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="E-GST"
+   ac_id="121"
+   airframe="airframes/ESDEN/esden_gain_scheduling_example.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#def7def7def7"
+  />
+  <aircraft
+   name="E-HexyAvocado"
+   ac_id="122"
+   airframe="airframes/ESDEN/esden_hexy_ll11a2pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft_slow.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings=""
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#c7e3fa4b8806"
+  />
+  <aircraft
+   name="E-HexyFig"
+   ac_id="123"
+   airframe="airframes/ESDEN/esden_hexy_lm2a2pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#e83db09cffff"
+  />
+  <aircraft
+   name="E-LisaM2"
+   ac_id="124"
+   airframe="airframes/ESDEN/esden_lisa2_hex.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#ce5cfffff686"
+  />
+  <aircraft
+   name="E-QSLia"
+   ac_id="125"
+   airframe="airframes/ESDEN/esden_qs_asp22.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#a12addc1ffff"
+  />
+  <aircraft
+   name="E-QuadyApricot"
+   ac_id="127"
+   airframe="airframes/ESDEN/esden_quady_lm1a1pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#ffffb9e04a1b"
+  />
+  <aircraft
+   name="E-QuadyL"
+   ac_id="126"
+   airframe="airframes/ESDEN/esden_quady_ll11a2pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#ffffb139b139"
+  />
+  <aircraft
+   name="E-QuadyLemon"
+   ac_id="129"
+   airframe="airframes/ESDEN/esden_quady_lm2a2pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#fffffd519223"
+  />
+  <aircraft
+   name="E-QuadyOrange"
+   ac_id="130"
+   airframe="airframes/ESDEN/esden_quady_ls10pwm.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#ffffaf0e575e"
+  />
+  <aircraft
+   name="E-QuadyPeach"
+   ac_id="128"
+   airframe="airframes/ESDEN/esden_quady_lm2a2pwmppm.xml"
+   radio="radios/ESDEN/esden_QS1RX6.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="#ffffdca7a2aa"
+  />
+  <aircraft
+   name="LadyLisa"
+   ac_id="164"
+   airframe="airframes/examples/ladybird_lisa_s.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/superbitrf.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="Quad_Elle0"
+   ac_id="165"
+   airframe="airframes/examples/quadrotor_elle0.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="Quad_LisaMX"
+   ac_id="30"
+   airframe="airframes/examples/quadrotor_lisa_mx.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="Quad_LisaM_2"
+   ac_id="162"
+   airframe="airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="Quad_LisaS"
+   ac_id="163"
+   airframe="airframes/examples/quadrotor_lisa_s.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/superbitrf.xml settings/nps.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="white"
+  />
+  <aircraft
+   name="setup_elle0"
+   ac_id="17"
+   airframe="airframes/examples/setup_elle0.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/dummy.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/setup_actuators.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
+</conf>
diff --git a/conf/airframes/esden/calib/asp21-000.xml b/conf/airframes/ESDEN/calib/esden_asp21-000.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp21-000.xml
rename to conf/airframes/ESDEN/calib/esden_asp21-000.xml
diff --git a/conf/airframes/esden/calib/asp21-001.xml b/conf/airframes/ESDEN/calib/esden_asp21-001.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp21-001.xml
rename to conf/airframes/ESDEN/calib/esden_asp21-001.xml
diff --git a/conf/airframes/esden/calib/asp21-018.xml b/conf/airframes/ESDEN/calib/esden_asp21-018.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp21-018.xml
rename to conf/airframes/ESDEN/calib/esden_asp21-018.xml
diff --git a/conf/airframes/esden/calib/asp21-026.xml b/conf/airframes/ESDEN/calib/esden_asp21-026.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp21-026.xml
rename to conf/airframes/ESDEN/calib/esden_asp21-026.xml
diff --git a/conf/airframes/esden/calib/asp21-default.xml b/conf/airframes/ESDEN/calib/esden_asp21-default.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp21-default.xml
rename to conf/airframes/ESDEN/calib/esden_asp21-default.xml
diff --git a/conf/airframes/esden/calib/asp22-019.xml b/conf/airframes/ESDEN/calib/esden_asp22-019.xml
similarity index 100%
rename from conf/airframes/esden/calib/asp22-019.xml
rename to conf/airframes/ESDEN/calib/esden_asp22-019.xml
diff --git a/conf/airframes/esden/calib/aspirin_012.xml b/conf/airframes/ESDEN/calib/esden_aspirin_012.xml
similarity index 100%
rename from conf/airframes/esden/calib/aspirin_012.xml
rename to conf/airframes/ESDEN/calib/esden_aspirin_012.xml
diff --git a/conf/airframes/esden/calib/aspirin_jtm.xml b/conf/airframes/ESDEN/calib/esden_aspirin_jtm.xml
similarity index 100%
rename from conf/airframes/esden/calib/aspirin_jtm.xml
rename to conf/airframes/ESDEN/calib/esden_aspirin_jtm.xml
diff --git a/conf/airframes/esden/calib/ls10-default.xml b/conf/airframes/ESDEN/calib/esden_ls10-default.xml
similarity index 100%
rename from conf/airframes/esden/calib/ls10-default.xml
rename to conf/airframes/ESDEN/calib/esden_ls10-default.xml
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
similarity index 97%
rename from conf/airframes/esden/cocto_lm2a2.xml
rename to conf/airframes/ESDEN/esden_cocto_lm2a2.xml
index 9520040f53..df182c6ff8 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/cocto_lm2a2.xml"
+     airframe="airframes/ESDEN/cocto_lm2a2.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="cocto_lm2a2">
+<airframe name="E-Cocto">
 
 <!--
 
@@ -88,7 +89,7 @@ B2L -> CW
     <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256,  256,  256}"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-018.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
similarity index 96%
rename from conf/airframes/esden/gain_scheduling_example.xml
rename to conf/airframes/ESDEN/esden_gain_scheduling_example.xml
index cd8342b79a..b43179e7c9 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
@@ -1,7 +1,10 @@
 <!-- this is a quadshot vehicle equiped with Lia -->
 <!-- Copyright (C) 2012, Pranay Sinha, Piotr Esden-Tempski, Transition Robotics, Inc. -->
+<!-- NOTES: gain_scheduling_example -->
 
-<airframe name="gain_scheduling_example">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="E-GSE">
 
   <servos driver="Pwm">
     <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
@@ -51,7 +54,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp22-019.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp22-019.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -69,7 +72,7 @@
  </section>
 
  <section name="BAT">
-    <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
+    <define name="MIN_BAT_LEVEL" value="10.4" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>
 
@@ -186,7 +189,7 @@
    	 <define name="USE_LED_BODY" value="1"/>
          <define name="SAFETY_WARNING_LED" value="BODY"/>
    </load>
-   <load name="gain_scheduling.xml"/>
+  <!-- FIXME <load name="gain_scheduling.xml"/>-->
 </modules>
 
   <firmware name="rotorcraft">
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
similarity index 96%
rename from conf/airframes/esden/hexy_ll11a2pwm.xml
rename to conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
index fb4bf17237..3cbe3c5c95 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/hexy_ll11a2pwm.xml"
+     airframe="airframes/ESDEN/hexy_ll11a2pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/telemetry_booz2.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/settings_booz2.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="hexy_ll11a2pwm">
+<airframe name="E-HexyAvocado">
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"   no="0" min="1000" neutral="1100" max="1950"/>
@@ -49,7 +50,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-001.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-001.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -195,7 +196,9 @@
 
  <modules main_freq="512">
    <load name="gps_ubx_ucenter.xml"/>
-   <load name="led_safety_status.xml"/>
+   <load name="led_safety_status.xml">
+     <define name="SAFETY_WARNING_LED" value="5"/>
+   </load>
  </modules>
 
  <firmware name="rotorcraft">
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
similarity index 97%
rename from conf/airframes/esden/hexy_lm2a2pwm.xml
rename to conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
index 6b33aa2b4f..a63c329d56 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/hexy_lm2a2pwm.xml"
+     airframe="airframes/ESDEN/hexy_lm2a2pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/rotorcraft_tri.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="hexy_lm2a2pwm">
+<airframe name="E-HexyFig">
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"   no="0" min="1000" neutral="1100" max="1950"/>
@@ -49,7 +50,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-026.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-026.xml"/>
 
   <section name="IMU" prefix="IMU_">
 	  <define name="BODY_TO_IMU_PHI"   value="0."  unit="deg"/>
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/ESDEN/esden_lisa2_hex.xml
similarity index 97%
rename from conf/airframes/esden/lisa2_hex.xml
rename to conf/airframes/ESDEN/esden_lisa2_hex.xml
index 1c80e6a038..fe81caaecb 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/ESDEN/esden_lisa2_hex.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/hexy_lm2a2pwm.xml"
+     airframe="airframes/ESDEN/hexy_lm2a2pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/rotorcraft_tri.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="hexy_lm2a2pwm">
+<airframe name="E-LisaM2">
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"   no="0" min="1000" neutral="1100" max="1950"/>
@@ -53,7 +54,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-026.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-026.xml"/>
 
   <section name="IMU" prefix="IMU_">
 	  <define name="BODY_TO_IMU_PHI"   value="0."  unit="deg"/>
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/ESDEN/esden_qs_asp22.xml
similarity index 97%
rename from conf/airframes/esden/qs_asp22.xml
rename to conf/airframes/ESDEN/esden_qs_asp22.xml
index d4765c826c..6f32d26c1a 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/ESDEN/esden_qs_asp22.xml
@@ -1,7 +1,9 @@
 <!-- this is a quadshot vehicle equiped with Lia -->
 <!-- Copyright (C) 2012, Transition Robotics, Inc. -->
 
-<airframe name="qs_asp22">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<airframe name="E-QSLia">
 
   <servos driver="Pwm">
     <servo name="A1" no="0" min="1000" neutral="1050" max="2000"/>
@@ -54,7 +56,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp22-019.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp22-019.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
@@ -71,7 +73,7 @@
  </section>
 
  <section name="BAT">
-    <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
+    <define name="MIN_BAT_LEVEL" value="10.4" unit="V"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
  </section>
 
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
similarity index 97%
rename from conf/airframes/esden/quady_ll11a2pwm.xml
rename to conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
index 8c85b97764..ff4c8f8fed 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/quady_ll11a2pwm.xml"
+     airframe="airframes/ESDEN/esden_quady_ll11a2pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="quady_ll11a2pwm.xml">
+<airframe name="E-QuadyL">
 
   <servos driver="Pwm">
     <servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
@@ -45,7 +46,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-001.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-001.xml"/>
 
   <section name="IMU" prefix="IMU_">
 	  <define name="BODY_TO_IMU_PHI"   value="0."   unit="deg"/>
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
similarity index 97%
rename from conf/airframes/esden/quady_lm1a1pwm.xml
rename to conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
index 2a886fe24c..e9c181107c 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/quady_lm1a1pwm.xml"
+     airframe="airframes/ESDEN/quady_lm1a1pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="quady_lm1a1pwm">
+<airframe name="E-QuadyApricot">
 
   <servos driver="Pwm">
     <servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
@@ -45,7 +46,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-018.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
similarity index 97%
rename from conf/airframes/esden/quady_lm2a2pwm.xml
rename to conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
index 252b273514..87392da022 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/quady_lm2a2pwm.xml"
+     airframe="airframes/ESDEN/quady_lm2a2pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="quady_lm2a2pwm">
+<airframe name="E-QuadyLemon">
 
   <servos driver="Pwm">
     <servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
@@ -45,7 +46,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-018.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
similarity index 96%
rename from conf/airframes/esden/quady_lm2a2pwmppm.xml
rename to conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
index 488887812e..8eb21531fd 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/quady_lm2a2pwmppm.xml"
-     radio="radios/QS1RX6.xml"
+     airframe="airframes/ESDEN/quady_lm2a2pwmppm.xml"
+     radio="radios/ESDEN/QS1RX6.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="quady_lm2a2pwm">
+<airframe name="E-QuadyPeach">
 
   <servos driver="Pwm">
     <servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
@@ -45,7 +46,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_asp21-018.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/esden/quady_ls10pwm.xml b/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
similarity index 97%
rename from conf/airframes/esden/quady_ls10pwm.xml
rename to conf/airframes/ESDEN/esden_quady_ls10pwm.xml
index 2d0a0a5780..8f3789e117 100644
--- a/conf/airframes/esden/quady_ls10pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
@@ -2,14 +2,15 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/quady_ls10pwm.xml"
+     airframe="airframes/ESDEN/quady_ls10pwm.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
      settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<airframe name="quady_ls10pwm">
+<airframe name="E-QuadyOrange">
 
   <servos driver="Pwm">
     <servo name="FRONT" no="0" min="1000" neutral="1100" max="1950"/>
@@ -45,7 +46,7 @@
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/esden/calib/ls10-default.xml"/>
+  <include href="conf/airframes/ESDEN/calib/esden_ls10-default.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/README.txt b/conf/airframes/README.txt
new file mode 100644
index 0000000000..b2d9e9af86
--- /dev/null
+++ b/conf/airframes/README.txt
@@ -0,0 +1,13 @@
+If you have your own autonomous aircraft, it is really apriciated if you would:
+* Create your own short UPPERCASE directory name within this one, e.g. "MYX"
+* Prefix your airframe names with the same name in lowercase and add an underscore, e.g. myx_superdart.xml
+
+This will make your life of updating Paparazzi much simpler...
+
+It can be helpful to take a look at how other paparazzi enthousiasts like you did just that.
+
+TIP: Remember to put the following DOCTYPE line in the top of your airframe file: 
+
+ <!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+Have a great day!
diff --git a/conf/radios/QS1RX6.xml b/conf/radios/ESDEN/esden_QS1RX6.xml
similarity index 98%
rename from conf/radios/QS1RX6.xml
rename to conf/radios/ESDEN/esden_QS1RX6.xml
index bada5e8a8d..09af175b01 100644
--- a/conf/radios/QS1RX6.xml
+++ b/conf/radios/ESDEN/esden_QS1RX6.xml
@@ -41,7 +41,7 @@
 Note: a command may be reversed by exchanging min and max values
 -->
 
-<!DOCTYPE radio SYSTEM "radio.dtd">
+<!DOCTYPE radio SYSTEM "../radio.dtd">
 <radio name="Quadshot1 RX 6" data_min="700" data_max="2300" sync_min="4000" sync_max="20000" pulse_type="NEGATIVE">
   <channel ctl="A" function="ROLL" min="1100" neutral="1500" max="1900" average="0"/>     <!-- right stick left/right -->
   <channel ctl="B" function="PITCH" min="1100" neutral="1500" max="1900" average="0"/>    <!-- left stick up/down -->