diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index c41a7991cf..1be8b75191 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -185,7 +185,7 @@ ap.CFLAGS 	+= -DSTM32
 
 GPS_UART_NR	= 1
 GPS_BAUD	= 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
 
 MODEM_UART_NR	= 2
 MODEM_BAUD	= 57600
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index b2fa5917c4..1228963baf 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -187,7 +187,7 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
 
 GPS_UART_NR	= 0
 GPS_BAUD	= 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
 
 MODEM_UART_NR	= 1
 MODEM_BAUD	= 9600
diff --git a/conf/autopilot/fixedwing_autopilot.makefile b/conf/autopilot/fixedwing_autopilot.makefile
index 873cf52376..a08136c6a5 100644
--- a/conf/autopilot/fixedwing_autopilot.makefile
+++ b/conf/autopilot/fixedwing_autopilot.makefile
@@ -1,6 +1,6 @@
 #
 # $Id: booz2_autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
-#  
+#
 # Copyright (C) 2008 Antoine Drouin
 #
 # This file is part of paparazzi.
@@ -18,7 +18,7 @@
 # You should have received a copy of the GNU General Public License
 # along with paparazzi; see the file COPYING.  If not, write to
 # the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA. 
+# Boston, MA 02111-1307, USA.
 #
 #
 
@@ -33,7 +33,7 @@ ap.CFLAGS += $(FIXEDWING_INC)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 ap.srcs    = $(SRC_FIXEDWING)/main.c
 
-ifeq ($(ARCHI), stm32) 
+ifeq ($(ARCHI), stm32)
 ap.srcs += lisa/plug_sys.c
 endif
 
@@ -42,7 +42,7 @@ endif
 #
 ifeq ($(ARCHI), arm7)
 ap.srcs += $(SRC_ARCH)/armVIC.c
-else ifeq ($(ARCHI), stm32) 
+else ifeq ($(ARCHI), stm32)
 ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
 ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
 endif
@@ -51,7 +51,7 @@ endif
 # LEDs
 #
 ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
-ifeq ($(ARCHI), stm32) 
+ifeq ($(ARCHI), stm32)
 ap.srcs += $(SRC_ARCH)/led_hw.c
 endif
 
@@ -62,7 +62,7 @@ ap.CFLAGS += -DUSE_SYS_TIME
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
-ifeq ($(ARCHI), stm32) 
+ifeq ($(ARCHI), stm32)
 ap.CFLAGS += -DSYS_TIME_LED=1  -DPERIPHERALS_AUTO_INIT
 endif
 
@@ -79,16 +79,13 @@ ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
 ap.CFLAGS += -DAP
 ap.srcs += $(SRC_FIXEDWING)/main_ap.c
 ap.srcs += $(SRC_FIXEDWING)/estimator.c
-ap.CFLAGS += -DNAV
-ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
-ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
 
 #
 # InterMCU & Commands
 #
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c 
+ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c
 ap.srcs += $(SRC_FIXEDWING)/commands.c
 
 #
@@ -100,15 +97,17 @@ ap.srcs += $(SRC_ARCH)/uart_hw.c
 ifeq ($(ARCHI), arm7)
 ap.CFLAGS += -DADC
 ap.srcs += $(SRC_ARCH)/adc_hw.c
-else ifeq ($(ARCHI), stm32) 
+else ifeq ($(ARCHI), stm32)
 ap.srcs += lisa/lisa_analog_plug.c
 endif
 
 
 #
 # GPS choice
-# 
-# include booz2_gps.makefile
+#
+# include fixedwing_gps_ublox_lea5h.makefile
+# or
+# include fixedwing_gps_ublox_lea4p.makefile
 # or
 # nothing
 #
@@ -117,27 +116,7 @@ endif
 #
 # AHRS choice
 #
-# include booz2_ahrs_cmpl.makefile
+# include fixedwing_attitude_infrared.makefile
 # or
-# include booz2_ahrs_lkf.makefile
-#
-
-
-#
-# INS choice
-#
-# include booz2_ins_hff.makefile
-# or
-# nothing
-#
-
-
-#
-# FMS  choice
-#
-# include booz2_fms_test_signal.makefile
-# or
-# include booz2_fms_datalink.makefile
-# or 
-# nothing
+# not done yet
 #
diff --git a/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile b/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
index ad5d272931..81bfaf19dc 100644
--- a/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
+++ b/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
@@ -1,5 +1,7 @@
+# attitude via IR sensors and standard assignment for tiny and twog
+
+ap.CFLAGS += -DUSE_$(ADC_CHANNEL_IR1) -DUSE_$(ADC_CHANNEL_IR2) -DUSE_$(ADC_CHANNEL_IR_TOP)
 
 ap.CFLAGS += -DINFRARED
-ap.srcs += $(SRC_FIXEDWING)/infrared.c 
-
+ap.srcs += $(SRC_FIXEDWING)/infrared.c
 
diff --git a/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile b/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
similarity index 84%
rename from conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
rename to conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
index 1db0f77190..1d3c3d22ed 100644
--- a/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
+++ b/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
@@ -1,10 +1,9 @@
+# UBlox LEA 4P
 
 
-
-ap.CFLAGS += -DGPS -DUBX 
+ap.CFLAGS += -DGPS -DUBX
 ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
 ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
 
 ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
-
diff --git a/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile b/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
new file mode 100644
index 0000000000..218d1ce9eb
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
@@ -0,0 +1,9 @@
+# UBlox LEA 5H
+
+
+ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
+ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
+ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
+
+ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
diff --git a/conf/autopilot/subsystems/fixedwing_gyro.makefile b/conf/autopilot/subsystems/fixedwing_gyro.makefile
new file mode 100644
index 0000000000..7e72a843a0
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_gyro.makefile
@@ -0,0 +1,5 @@
+# Standard setup for roll stabilization with gyro on a tiny or twog
+
+ap.CFLAGS 	+= -DUSE_$(ADC_CHANNEL_GYRO_ROLL)
+ap.CFLAGS 	+= -DGYRO -DADXRS150
+ap.srcs 	+= $(SRC_FIXEDWING)/gyro.c
diff --git a/conf/autopilot/subsystems/fixedwing_navigation.makefile b/conf/autopilot/subsystems/fixedwing_navigation.makefile
new file mode 100644
index 0000000000..5cb3ed3f10
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_navigation.makefile
@@ -0,0 +1,7 @@
+# Standard fixed wing navigation
+
+ap.CFLAGS += -DNAV
+ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
+ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+
+sim.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
diff --git a/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile b/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
index f2cbe8c15d..04f52ece8b 100644
--- a/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
+++ b/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
@@ -1,5 +1,5 @@
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
index 902fdd779d..785ea77802 100644
--- a/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
+++ b/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
@@ -1,6 +1,6 @@
 
 
-ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR) 
+ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
 ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
 
 MODEM_UART = Uart$(MODEM_UART_NR)
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile
deleted file mode 100644
index 4d563abb33..0000000000
--- a/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile
+++ /dev/null
@@ -1,5 +0,0 @@
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c $(SRC_FIXEDWING)/pprz_transport.c
-
-
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
new file mode 100644
index 0000000000..1db2b728ed
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
@@ -0,0 +1,10 @@
+# XBee modems in API mode
+
+ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
+ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
+
+MODEM_UART = Uart$(MODEM_UART_NR)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART) -DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c $(SRC_FIXEDWING)/xbee.c
diff --git a/conf/autopilot/tiny.makefile b/conf/autopilot/tiny.makefile
index 3c9aae48aa..e4eceb3595 100644
--- a/conf/autopilot/tiny.makefile
+++ b/conf/autopilot/tiny.makefile
@@ -15,6 +15,13 @@ fbw.TARGETDIR = autopilot
 LPC21ISP_BAUD = 38400
 LPC21ISP_XTAL = 12000
 
+
+# default settings for tiny and twog
+GPS_UART_NR	= 0
+GPS_BAUD	= 38400
+MODEM_UART_NR = 1
+MODEM_BAUD = 57600
+
 # a test program to setup actuators 
 setup_actuators.ARCHDIR = $(ARCHI)
 setup_actuators.ARCH = arm7tdmi