diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index 830c176d2f..48bf3d250b 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -182,10 +182,6 @@
     <define name="HOVER_KP" value="500"/>
     <define name="HOVER_KD" value="200"/>
     <define name="HOVER_KI" value="100"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
   </section>
 
diff --git a/conf/airframes/CDW/tricopter_cdw.xml b/conf/airframes/CDW/tricopter_cdw.xml
index 86946f11f3..51282ed794 100644
--- a/conf/airframes/CDW/tricopter_cdw.xml
+++ b/conf/airframes/CDW/tricopter_cdw.xml
@@ -179,10 +179,6 @@ LiPo/LiIo-Zellen: 2-3
     <define name="HOVER_KP" value="500"/>
     <define name="HOVER_KD" value="200"/>
     <define name="HOVER_KI" value="100"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 2dce3cc671..0e30d8b98e 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -225,9 +225,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 834132e720..7bc59e2ff9 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -199,9 +199,7 @@
     <define name="HOVER_KD"     value="80"/>
     <define name="HOVER_KI"     value="0"/>
     <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/ENAC/quadrotor/hen1.xml b/conf/airframes/ENAC/quadrotor/hen1.xml
index 2c0bdb49ae..82bbdad77c 100644
--- a/conf/airframes/ENAC/quadrotor/hen1.xml
+++ b/conf/airframes/ENAC/quadrotor/hen1.xml
@@ -205,9 +205,7 @@
     <define name="HOVER_KD" value="80"/>
     <define name="HOVER_KI" value="0"/>
     <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163"/>
     <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
     <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
   </section>
 
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index aaf45e3e27..d0834d9e57 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -208,10 +208,6 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
 -->
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
index c67a98311e..8743fa786c 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
@@ -176,10 +176,6 @@
     <define name="HOVER_KP" value="283"/>
     <define name="HOVER_KD" value="82"/>
     <define name="HOVER_KI" value="13"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
diff --git a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
index ace2179575..35c2f7e1bb 100644
--- a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
@@ -157,10 +157,6 @@
    <define name="HOVER_KP" value="400"/>
    <define name="HOVER_KD" value="350"/>
    <define name="HOVER_KI" value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
   </section>
 
diff --git a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
index 064c01ae5a..f6f649785d 100644
--- a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
@@ -159,10 +159,6 @@
    <define name="HOVER_KP" value="400"/>
    <define name="HOVER_KD" value="350"/>
    <define name="HOVER_KI" value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
   </section>
 
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
index a11d9f889b..31e1e248c8 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
@@ -143,10 +143,6 @@
    <define name="HOVER_KP" value="281"/>
    <define name="HOVER_KD" value="66"/>
    <define name="HOVER_KI" value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
   </section>
 
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
index 4e7dda0a2e..e974354f94 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
@@ -146,10 +146,6 @@
    <define name="HOVER_KP" value="281"/>
    <define name="HOVER_KD" value="66"/>
    <define name="HOVER_KI" value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
   </section>
 
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index ee9e0848ac..2abbffbe35 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -234,10 +234,6 @@
         <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
 
-        <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-        <define name="RC_CLIMB_COEF" value ="163"/>
-        <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-        <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     </section>
 
 
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 06f2f97307..ecf1a1c44f 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -234,10 +234,6 @@
         <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
 
-        <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-        <define name="RC_CLIMB_COEF" value ="163"/>
-        <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-        <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     </section>
 
 
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 99265a1638..851a85abfe 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -186,10 +186,6 @@
     <define name="HOVER_KP" value="283"/>
     <define name="HOVER_KD" value="82"/>
     <define name="HOVER_KI" value="13"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
diff --git a/conf/airframes/ardrone2_sdk.xml b/conf/airframes/ardrone2_sdk.xml
index 73c21af476..792c0bc74f 100644
--- a/conf/airframes/ardrone2_sdk.xml
+++ b/conf/airframes/ardrone2_sdk.xml
@@ -81,10 +81,6 @@
 		<define name="HOVER_KP" value="425" />
 		<define name="HOVER_KD" value="200" />
 		<define name="HOVER_KI" value="125" />
-		<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-		<define name="RC_CLIMB_COEF" value="163" />
-		<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-		<define name="RC_CLIMB_DEAD_BAND" value="160000" />
 		<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
         <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
 	</section>
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index a62ace8aee..1caaad3f40 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -204,9 +204,7 @@
     <define name="HOVER_KD" value="60"/>
     <define name="HOVER_KI" value="10"/>
     <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value="163" />
     <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000" />
   </section>
 
 
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index af532c20f2..8dd9a4a01c 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -164,9 +164,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index 609e7295bd..0378866152 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -182,10 +182,6 @@ B2L -> CW
    <define name="HOVER_KP"    value="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index 02f574bd9f..af9bf85d86 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -165,8 +165,6 @@
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="175"/>
    <define name="HOVER_KI"    value="72"/>
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index f796f42c68..0d90506b29 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -179,10 +179,6 @@
    <define name="HOVER_KP"    value="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
   </section>
 
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 73554f3209..3ae9b86194 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -140,10 +140,6 @@
    <define name="HOVER_KP"    value="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
   </section>
 
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index b21dddffcb..03c2cf1fa1 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -147,10 +147,6 @@
    <define name="HOVER_KP"    value="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
   </section>
 
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index c4ef62b938..767074fd1a 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -173,8 +173,6 @@
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="175"/>
    <define name="HOVER_KI"    value="72"/>
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
 <!--    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.3"/> -->
   </section>
 
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index ca80e5a5d2..96374827a9 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -175,10 +175,6 @@
    <define name="HOVER_KP"    value="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
   </section>
 
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 406734e757..9b53ad433b 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -136,10 +136,6 @@
    <define name="HOVER_KP"    value="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index e87c817b3e..696ebcaea9 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -139,10 +139,6 @@
    <define name="HOVER_KP"    value="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 31fd65c39d..b4de081a06 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -136,10 +136,6 @@
    <define name="HOVER_KP"    value="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/esden/quady_ls01pwm.xml b/conf/airframes/esden/quady_ls01pwm.xml
index 4a3a194c39..0e1ca2d7e1 100644
--- a/conf/airframes/esden/quady_ls01pwm.xml
+++ b/conf/airframes/esden/quady_ls01pwm.xml
@@ -139,10 +139,6 @@
    <define name="HOVER_KP"    value="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index e93ccf9d2c..8d55914c9f 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -160,10 +160,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index 5faaedebe3..0f9c50c31c 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -159,10 +159,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
   </section>
 
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
index 44f2681826..51f8b24ec9 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
@@ -206,9 +206,7 @@
     <define name="HOVER_KP"    value="120"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <define name="RC_CLIMB_COEF" value ="500"/>
     <define name="RC_DESCENT_COEF" value ="200"/>
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
index 4bf55eeb9f..505eb445e7 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
@@ -209,9 +209,7 @@
     <define name="HOVER_KP"    value="120"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <define name="RC_CLIMB_COEF" value ="500"/>
 	  <define name="RC_DESCENT_COEF" value ="200"/>
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
index cf85a484c0..02f161cbe8 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
@@ -194,9 +194,7 @@
     <define name="HOVER_KP"    value="120"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <define name="RC_CLIMB_COEF" value ="500"/>
 	  <define name="RC_DESCENT_COEF" value ="200"/>
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 5e4869cb87..3023bdf628 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -158,10 +158,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </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 d8481b8a1d..4a5bb02b9f 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -184,10 +184,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
index 9f7210bd3e..df3fb54495 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
@@ -187,10 +187,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 4746f8f78d..a5552bdc51 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -176,10 +176,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index 877026c43b..450b8469b1 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -158,10 +158,6 @@
    <define name="HOVER_KP" value="400"/>
    <define name="HOVER_KD" value="350"/>
    <define name="HOVER_KI" value="144"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index 781cbd771a..f3dc3f729c 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -186,10 +186,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 98df961abd..5a0952f747 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -208,9 +208,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_px4fmu.xml b/conf/airframes/examples/quadrotor_px4fmu.xml
index fb02773791..e43771927f 100644
--- a/conf/airframes/examples/quadrotor_px4fmu.xml
+++ b/conf/airframes/examples/quadrotor_px4fmu.xml
@@ -180,10 +180,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index d5fc8439fd..36dce08da3 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -197,8 +197,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="175"/>
    <define name="HOVER_KI"    value="72"/>
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index ed339e5a4a..f5555ae309 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -182,10 +182,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
 
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 451e682961..f8929f63ff 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -220,10 +220,6 @@
     <define name="HOVER_KP"    value="120"/>
     <define name="HOVER_KD"    value="100"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.38"/>
     <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
index d24b588c2e..72dca9815e 100644
--- a/conf/airframes/obsolete/ENAC/g1_vision.xml
+++ b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -156,9 +156,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
index 4d78dbd80b..23c7008d8a 100644
--- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -189,10 +189,6 @@
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="100"/>
    <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
index 18a9742bc7..7f776cac2f 100644
--- a/conf/airframes/obsolete/ENAC/mkk1.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1.xml
@@ -209,10 +209,6 @@
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="100"/>
    <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
index 0ef106ba39..d4f1fcf1e0 100644
--- a/conf/airframes/obsolete/ENAC/nova1.xml
+++ b/conf/airframes/obsolete/ENAC/nova1.xml
@@ -180,10 +180,6 @@
    <define name="HOVER_KP"    value="200"/>
    <define name="HOVER_KD"    value="100"/>
    <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index 0c2cfe06c0..e854e832f9 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -164,9 +164,7 @@
    <define name="HOVER_KD"     value="250"/>
    <define name="HOVER_KI"     value="100"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 6d60135e55..210bb076cc 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -182,9 +182,7 @@
    <define name="HOVER_KD"     value="250"/>
    <define name="HOVER_KI"     value="100"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/Poine/booz2_a1.xml b/conf/airframes/obsolete/Poine/booz2_a1.xml
index 5823e29e03..2b6e8d4477 100644
--- a/conf/airframes/obsolete/Poine/booz2_a1.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a1.xml
@@ -154,10 +154,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
 <!--   <define name="INV_M" value ="0.2"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/Poine/booz2_a7.xml b/conf/airframes/obsolete/Poine/booz2_a7.xml
index d3f23c31fd..6700f2db08 100644
--- a/conf/airframes/obsolete/Poine/booz2_a7.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a7.xml
@@ -180,10 +180,6 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
 
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!-- <define name="INV_M" value ="0.2"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/Poine/h_hex.xml b/conf/airframes/obsolete/Poine/h_hex.xml
index 252cdacf33..68b5909458 100644
--- a/conf/airframes/obsolete/Poine/h_hex.xml
+++ b/conf/airframes/obsolete/Poine/h_hex.xml
@@ -140,10 +140,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index 10b61e41a0..133609d264 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -228,10 +228,6 @@ second attempt
    <define name="HOVER_KP" value="500"/>
    <define name="HOVER_KD" value="200"/>
    <define name="HOVER_KI" value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
 <!--   <define name="INV_M" value ="0.2"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
index 5f3ee2a945..b3ffc90742 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
@@ -165,10 +165,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="INV_M" value ="0.2"/>
   </section>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 406d6de2c0..2d79f20d0c 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -189,9 +189,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
index 3328cc4b18..a49c75280d 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -189,9 +189,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
index 82f499852b..d696663c45 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
@@ -229,10 +229,6 @@ second attempt
    <define name="HOVER_KP" value="500"/>
    <define name="HOVER_KD" value="200"/>
    <define name="HOVER_KI" value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
 <!--   <define name="INV_M" value ="0.2"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
index 0cecb4fdb2..a3c44a1e7f 100644
--- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
@@ -144,10 +144,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="INV_M" value ="0.2"/>
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index a5a48f5295..416dab39d9 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -149,9 +149,7 @@
    <define name="HOVER_KD"     value="250"/>
    <define name="HOVER_KI"     value="100"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index aa12a6dfdd..c34c091e2e 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -189,9 +189,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index 81c9021e83..1a5409d1bf 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -189,9 +189,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index ed879fb742..c09fd3073e 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -189,9 +189,7 @@
    <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- <define name="INV_M" value="0.118"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a1p.xml b/conf/airframes/obsolete/booz2_a1p.xml
index 18ff3d98f8..d9e902c05c 100644
--- a/conf/airframes/obsolete/booz2_a1p.xml
+++ b/conf/airframes/obsolete/booz2_a1p.xml
@@ -158,10 +158,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
 <!--   <define name="INV_M" value ="0.2"/> -->
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index d0f9361638..2a92ca9e34 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -149,9 +149,7 @@
    <define name="HOVER_KD"     value="250"/>
    <define name="HOVER_KI"     value="100"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 0635e3ce89..0cf7baf229 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -134,9 +134,7 @@
    <define name="HOVER_KP"     value="500"/>
    <define name="HOVER_KD"     value="250"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index e9cc7ede69..85b6b0030f 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -112,9 +112,7 @@
    <define name="HOVER_KP"     value="500"/>
    <define name="HOVER_KD"     value="250"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index 6fc2fe07eb..28bfac3b35 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -150,10 +150,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="INV_M" value ="0.2"/>
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index 4cf6bb4bbe..3b27bd401a 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -142,9 +142,7 @@
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="0"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!-- NDJD : Valeur mesurée 10/09/2009 -->
    <define name="INV_M" value="0.111"/>
   </section>
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 370920cd85..c8e5d7374a 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -154,9 +154,7 @@
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
index 79e8d519ac..6ca655ad60 100644
--- a/conf/airframes/obsolete/example_heli_lisam.xml
+++ b/conf/airframes/obsolete/example_heli_lisam.xml
@@ -193,10 +193,6 @@ AP_MODE_NAV
    <define name="HOVER_KP" value="150"/>
    <define name="HOVER_KD" value="80"/>
    <define name="HOVER_KI" value="20"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="INV_M" value ="0.21"/>
   </section>
 
diff --git a/conf/airframes/obsolete/mm/rotor/qmk1.xml b/conf/airframes/obsolete/mm/rotor/qmk1.xml
index 37b3b6c07a..4093f1a9a9 100644
--- a/conf/airframes/obsolete/mm/rotor/qmk1.xml
+++ b/conf/airframes/obsolete/mm/rotor/qmk1.xml
@@ -154,10 +154,6 @@
    <define name="HOVER_KP"    value="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <!--define name="INV_M" value ="0.2"/-->
   </section>
 
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
index 5d1b3e397d..f52ddd2f1f 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -201,10 +201,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
 
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
index 5343031357..724162a770 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -164,10 +164,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
index 2ba487a784..12694aaf9c 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -171,10 +171,6 @@
     <define name="HOVER_KP"    value="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
-    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-    <define name="RC_CLIMB_COEF" value ="163"/>
-    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">