diff --git a/conf/flight_plans/airexpo.xml b/conf/flight_plans/airexpo.xml
deleted file mode 100644
index aad18413af..0000000000
--- a/conf/flight_plans/airexpo.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-<flight_plan SECURITY_HEIGHT="25" lat0="43.449300" lon0="1.266300" ground_alt="189" qfu="270" alt="250" max_dist_from_home="450" name="AirExpo" airspace="airexpo">
-  <waypoints>
-    <waypoint name="HOME" x="-271.330646709" y="43.9746582191" alt="250."/>
-    <waypoint name="TX_W" x="-547.990853153" y="186.049398384" alt="250."/>
-    <waypoint name="TX_E" x="-99.807450281" y="-37.0290245749" alt="250."/>
-    <waypoint name="NW" x="-525.280122141" y="218.618616053" alt="250."/>
-  </waypoints>
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
-      <heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
-      <deroute BLOCK="circlehome"/>
-    </block>
-    <block NAME="circlehome">
-      <exception COND="(RcEvent1())" DEROUTE="circuit"/>
-      <circle WP="HOME" RADIUS="-50"/>
-    </block>
-    <block name="survey">
-       <survey sector="survey" grid="70"/>
-    </block>
-    <block name="circuit">
-      <exception COND="(RcEvent1())" DEROUTE="circlehome"/>
-      <go wp="NW" FROM="TX_E" hmode="route" approaching_time="1"/>
-      <go wp="TX_W" approaching_time="1"/>
-      <go wp="TX_E" from="TX_W" hmode="route"/>
-      <deroute block="circlehome"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/biscarosse.xml b/conf/flight_plans/biscarosse.xml
deleted file mode 100644
index 4d2d347d64..0000000000
--- a/conf/flight_plans/biscarosse.xml
+++ /dev/null
@@ -1,87 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan alt="50" ground_alt="0" lat0="44.4459" lon0="-1.2562" max_dist_from_home="1000" name="Biscarosse" qfu="270" security_height="25">
-<header>
-#include "dc.h"
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="1" x="-2.15568649652" y="98.0451414566"/>
-    <waypoint name="2" x="0" y="200"/>
-    <waypoint name="S1" x="-613.048818661" y="-76.7757721655"/>
-    <waypoint name="S2" x="-106.969918801" y="491.90205153"/>
-    <waypoint name="BASELEG" x="500" y="500"/>
-    <waypoint name="TD" x="0" y="50" alt="0"/>
-    <waypoint name="AF" x="200" y="50" alt="30"/>
-  </waypoints>
-  <blocks>
-    <block name="wait GPS">
-      <while cond="!GpsFixValid()"/>
-    </block>
-    <block name="init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call fun="NavSetGroundReferenceHere()"/>
-      <deroute block="circle 1"/>
-    </block>
-
-    <block name="circle 1">
-      <circle radius="nav_radius" wp="1"/>
-    </block>
-
-    <block name="circle cam">
-      <while cond="TRUE">
-        <circle radius="nav_radius" wp="1" until="stage_time>5"/>
-        <call fun="dc_shutter()"/>
-      </while>
-    </block>
-
-    <block name="eight 1">
-      <eight center="1" radius="75" turn_around="2"/>
-    </block>
-    <block name="oval">
-      <oval p1="1" p2="2" radius="80"/>
-    </block>
-    <block name="circle left 1">
-      <circle radius="-75" wp="1"/>
-    </block>
-    <block name="climb 75">
-      <circle pitch="0.3" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="10 > PowerVoltage()" vmode="throttle" wp="1"/>
-    </block>
-    <block name="descent 0">
-      <circle pitch="-0.3" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
-      <deroute block="circle 1"/>
-    </block>
-    <block name="glide12">
-      <go from="1" hmode="route" vmode="glide" wp="2"/>
-    </block>
-    <block name="stack 2">
-      <circle radius="75" wp="2"/>
-    </block>
-    <block name="survey WE" strip_button="Survey WE">
-      <survey_rectangle grid="100" orientation="WE" wp1="S1" wp2="S2"/>
-    </block>
-    <block name="survey NS" strip_button="Survey NS">
-      <survey_rectangle grid="100" wp1="S1" wp2="S2"/>
-    </block>
-
-   <block name="land">
-      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
-      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius"
-              until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
-              wp="BASELEG"/>
-    </block>
-
-    <block name="final">
-      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/circles.xml b/conf/flight_plans/circles.xml
deleted file mode 100644
index 34f4087fdb..0000000000
--- a/conf/flight_plans/circles.xml
+++ /dev/null
@@ -1,35 +0,0 @@
-<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
-
-<procedure>
-  <param name="rad" default_value="75"/>
-  <param name="vz" default_value="1"/>
-  <param name="top" default_value="GROUND_ALT+150"/>
-  <param name="bottom"/>
-
-  <waypoints>
-    <waypoint name="center" x="0" y="0" alt="0"/>
-  </waypoints>
-
-  <blocks>
-    <block NAME="climb">
-      <exception COND="(RcEvent1())" DEROUTE="palier"/>
-      <circle WP="center" RADIUS="rad" vmode="climb" climb="vz" until="estimator_z > top"/>
-    </block>
-
-    <block NAME="palier">
-      <exception COND="(RcEvent1())" DEROUTE="down"/>
-      <circle WP="center" RADIUS="rad" alt="top" until="stage_time > 60"/>
-    </block>
-
-    <block NAME="down">
-      <exception COND="(RcEvent1())" DEROUTE="palier_bot"/>
-      <circle WP="center" RADIUS="rad" vmode="climb" climb="-(vz)" until="GROUND_ALT+50 > estimator_z"/>
-    </block>
-
-    <block NAME="palier_bot">
-      <exception COND="(RcEvent1())" DEROUTE="event1"/>
-      <circle WP="center" RADIUS="rad" alt="bottom"/>
-   </block>
-
-  </blocks>
-</procedure>
diff --git a/conf/flight_plans/example.xml b/conf/flight_plans/example.xml
deleted file mode 100644
index a3bbe1cb40..0000000000
--- a/conf/flight_plans/example.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="Example" LON0="???" MAX_DIST_FROM_HOME="???" GROUND_ALT="???" SECURITY_HEIGHT="25" QFU="???" ALT="???" LAT0="???">
-
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-  </waypoints>
-
-  <include name="up_and_down" procedure="circles.xml" x="00" y="100" rotate="0">
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="circlehome"/>
-  </include>
-
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
-      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
-      <deroute BLOCK="circlehome"/>
-    </block>
-    <block NAME="circlehome">
-      <exception COND="(RcEvent1())" DEROUTE="up_and_down.climb"/>
-      <circle WP="HOME" ALT="GROUND_ALT+50" RADIUS="75"/>
-    </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/mav06_S2.xml b/conf/flight_plans/mav06_S2.xml
deleted file mode 100644
index 4b12f03299..0000000000
--- a/conf/flight_plans/mav06_S2.xml
+++ /dev/null
@@ -1,87 +0,0 @@
-<flight_plan alt="100" ground_alt="59" lat0="30.6478" lon0="-86.3253" max_dist_from_home="1500" name="MAV06" qfu="90" security_height="25">
-<header>
-#include "bomb.h"
-</header>
-  <waypoints>
-    <waypoint name="TARGET" x="700.251490867" y="100.691196656"/>
-    <waypoint name="TARGET2" x="223.530834534" y="-344.157380864"/>
-    <waypoint name="C2" x="223.530834534" y="-244.157380864"/>
-    <waypoint name="TARGET3" x="-245.243284406" y="-341.332207266"/>
-    <waypoint name="C3" x="-100.875481096" y="-344.543431048"/>
-    <waypoint name="BASELEG" x="-2.87161011167" y="-163.418097454"/>
-    <waypoint alt="90." name="START" x="-61.4546727629" y="124.362795495"/>
-    <waypoint name="RELEASE" x="149.970542131" y="126.560028979"/>
-    <waypoint name="HOME" x="0" y="-60"/>
-    <waypoint alt="120." name="WAIT" x="117.199996091" y="-132.703845164"/>
-    <waypoint alt="120." name="CLIMB" x="241.669853874" y="83.9946379811"/>
-    <waypoint alt="89." name="AF" x="-143.80300338" y="-148.231289385"/>
-    <waypoint alt="59." name="TD" x="27.3293594896" y="1.40175988153"/>
-    <waypoint name="TOD" x="-142.91998501" y="2.3426450938"/>
-    <waypoint name="OVERRUN" x="207.635718161" y="109.431672315"/>
-  </waypoints>
-  <blocks>
-    <block name="kill">
-      <attitude roll="0" throttle="0" vmode="throttle"/>
-    </block>
-
-
-    <block name="land">
-      <set value="compute_baseleg()" var="unit"/>
-      <circle radius="BOMB_RADIUS" until="circle_count > 0.5" wp="BASELEG"/>
-      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10) && baseleg_alt_tolerance > fabs(estimator_z - baseleg_alt)" wp="BASELEG"/>
-    </block>
-
-    <block name="final">
-      <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
-      <go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
-      <go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
-    </block>
-
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-
-
-    <block name="circle 2">
-      <exception cond="block_time > 300" deroute="wait"/>
-      <circle wp="C2" radius="-80"/>
-    </block>
-
-    <block name="circle 3">
-      <exception cond="block_time > 300" deroute="wait"/>
-      <circle wp="C3" radius="80"/>
-    </block>
-
-    <block name="climb">
-      <exception cond=" estimator_z > ground_alt +30" deroute="wait"/>
-      <attitude pitch="0.3" roll="0" throttle="0.8" until="10> stage_time" vmode="throttle"/>
-    </block>
-    <block name="wait" strip_button="Wait">
-      <set value="v_ctl_auto_throttle_nominal_cruise_throttle" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="-100" wp="WAIT"/>
-    </block>
-    <block name="Climb 0">
-      <circle climb="0" radius="100" vmode="climb" wp="WAIT"/>
-    </block>
-
-
-    <block name="target2" strip_button="T2">
-      <exception cond="block_time > 300" deroute="wait"/>
-      <eight center="TARGET2" radius="80" turn_around="C2"/>
-    </block>
-    <block name="target3" strip_button="T3">
-      <exception cond="block_time > 300" deroute="wait"/>
-      <eight center="TARGET3" radius="80" turn_around="C3"/>
-    </block>
-
-    <block name="roll" strip_button="Roll">
-      <set value="TRUE" var="h_ctl_disabled"/>
-      <set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
-      <while cond="3 > stage_time && (estimator_phi > 0 ||  -M_PI_2 > estimator_phi)"/>
-      <set value="FALSE" var="h_ctl_disabled"/>
-      <return/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/muret1.xml b/conf/flight_plans/muret1.xml
deleted file mode 100644
index 1d2026c48c..0000000000
--- a/conf/flight_plans/muret1.xml
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example - Muret1" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
-    <waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
-    <waypoint name="4" x="162.5" y="210.0" lat="43.4641503744" lon="1.27484411158" alt="250."/>
-    <waypoint name="5" x="97.5" y="60.0" lat="43.4627882109" lon="1.27407935592" alt="250."/>
-    <waypoint name="2" x="-130.0" y="217.5" lat="43.4641632754" lon="1.27122790867" alt="250."/>
-    <waypoint name="1" x="-100.0" y="60.0" lat="43.4627513408" lon="1.2716390001" alt="250."/>
-    <waypoint name="RWAY" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="185."/>
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-    <waypoint name="IAF" x="267.5" y="200.0" alt="250."/>
-  </waypoints>
-
-  <include name="slow" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="vz" value="0.5"/>
-    <arg name="top" value="GROUND_ALT+200"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="fast.climb"/>
-  </include>
-
-  <include name="fast" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="rad" value="150"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="xyz"/>
-  </include>
-
-  <include name="hippo1" procedure="hippo.xml" x="-100" y="150" rotate="0">
-    <arg name="alt" value="GROUND_ALT+100"/>
-    <with from="event1" to="penta"/>
-  </include>
-
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
-      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
-    </block>
-
-    <block NAME="deux">
-      <exception COND="(RcEvent1())" DEROUTE="hippo1.loop"/>
-      <circle WP="HOME" alt="GROUND_ALT+50" radius="75"/>
-    </block>
-
-    <block NAME="penta">
-      <exception COND="(RcEvent1())" DEROUTE="slow.climb"/>
-      <while>
-        <go hmode="route" from="1" wp="2"/>
-        <go hmode="route" from="2" wp="3"/>
-        <go hmode="route" from="3" wp="4"/>
-        <go hmode="route" from="4" wp="1"/>
-      </while>
-    </block>
-    <block NAME="xyz">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <xyz/>
-    </block>
-
-    <block NAME="land">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-      <exception COND="(GROUND_ALT+10> estimator_z)" DEROUTE="rdg"/>
-      <exception COND="(RcEvent2())" DEROUTE="stop"/>
-      <circle WP="2" radius="50" ALT="215" UNTIL="And(225 > estimator_z, Qdr(0))"/>
-      <go WP="IAF" ALT="215"/>
-      <go WP="AF" ALT="215"/>
-      <go WP="RWAY" HMODE="route" VMODE="glide"/>
-    </block>
-
-    <block NAME="rdg">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <heading CLIMB="2.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > GROUND_ALT+25)"/>
-      <deroute block="land"/>
-    </block>
-  <block name="stop">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="throttle" throttle="0"/>
-  </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret2.xml b/conf/flight_plans/muret2.xml
deleted file mode 100644
index ef072a0e48..0000000000
--- a/conf/flight_plans/muret2.xml
+++ /dev/null
@@ -1,83 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example t2 - Muret" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
-    <waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
-    <waypoint name="4" x="162.5" y="210.0" lat="43.4641503744" lon="1.27484411158" alt="250."/>
-    <waypoint name="5" x="97.5" y="60.0" lat="43.4627882109" lon="1.27407935592" alt="250."/>
-    <waypoint name="2" x="-130.0" y="217.5" lat="43.4641632754" lon="1.27122790867" alt="250."/>
-    <waypoint name="1" x="-100.0" y="60.0" lat="43.4627513408" lon="1.2716390001" alt="250."/>
-    <waypoint name="RWAY" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="185."/>
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-    <waypoint name="IAF" x="267.5" y="200.0" alt="250."/>
-  </waypoints>
-
-  <include name="slow" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="vz" value="0.5"/>
-    <arg name="top" value="GROUND_ALT+200"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="fast.climb"/>
-  </include>
-
-  <include name="fast" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="rad" value="150"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="xyz"/>
-  </include>
-
-  <include name="hippo1" procedure="hippo.xml" x="-100" y="150" rotate="0">
-    <arg name="alt" value="GROUND_ALT+100"/>
-    <with from="event1" to="huit"/>
-   </include>
-
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
-      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
-    </block>
-
-    <block NAME="deux">
-      <exception COND="(RcEvent1())" DEROUTE="hippo1.loop"/>
-      <circle WP="HOME" alt="GROUND_ALT+50" radius="75"/>
-    </block>
-
-    <block NAME="huit">
-      <exception COND="(RcEvent1())" DEROUTE="slow.climb"/>
-      <while>
-        <go from="5" WP="1" HMODE="route"/>
-        <go WP="2" HMODE="route"/>
-        <go WP="3" HMODE="route"/>
-        <go WP="4" HMODE="route"/>
-        <go WP="5" HMODE="route"/>
-      </while>
-    </block>
-    <block NAME="xyz">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <xyz/>
-    </block>
-
-    <block NAME="land">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-      <exception COND="(GROUND_ALT+10> estimator_z)" DEROUTE="rdg"/>
-      <exception COND="(RcEvent2())" DEROUTE="stop"/>
-      <circle WP="2" radius="50" ALT="215" UNTIL="And(225 > estimator_z, Qdr(0))"/>
-      <go WP="IAF" ALT="215"/>
-      <go WP="AF" ALT="215"/>
-      <go WP="RWAY" HMODE="route" VMODE="glide"/>
-    </block>
-
-    <block NAME="rdg">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <heading CLIMB="2.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > GROUND_ALT+25)"/>
-      <deroute block="land"/>
-    </block>
-  <block name="stop">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="throttle" throttle="0"/>
-  </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret3.xml b/conf/flight_plans/muret3.xml
deleted file mode 100644
index ef072a0e48..0000000000
--- a/conf/flight_plans/muret3.xml
+++ /dev/null
@@ -1,83 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example t2 - Muret" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
-    <waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
-    <waypoint name="4" x="162.5" y="210.0" lat="43.4641503744" lon="1.27484411158" alt="250."/>
-    <waypoint name="5" x="97.5" y="60.0" lat="43.4627882109" lon="1.27407935592" alt="250."/>
-    <waypoint name="2" x="-130.0" y="217.5" lat="43.4641632754" lon="1.27122790867" alt="250."/>
-    <waypoint name="1" x="-100.0" y="60.0" lat="43.4627513408" lon="1.2716390001" alt="250."/>
-    <waypoint name="RWAY" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="185."/>
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-    <waypoint name="IAF" x="267.5" y="200.0" alt="250."/>
-  </waypoints>
-
-  <include name="slow" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="vz" value="0.5"/>
-    <arg name="top" value="GROUND_ALT+200"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="fast.climb"/>
-  </include>
-
-  <include name="fast" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="rad" value="150"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="xyz"/>
-  </include>
-
-  <include name="hippo1" procedure="hippo.xml" x="-100" y="150" rotate="0">
-    <arg name="alt" value="GROUND_ALT+100"/>
-    <with from="event1" to="huit"/>
-   </include>
-
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
-      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
-    </block>
-
-    <block NAME="deux">
-      <exception COND="(RcEvent1())" DEROUTE="hippo1.loop"/>
-      <circle WP="HOME" alt="GROUND_ALT+50" radius="75"/>
-    </block>
-
-    <block NAME="huit">
-      <exception COND="(RcEvent1())" DEROUTE="slow.climb"/>
-      <while>
-        <go from="5" WP="1" HMODE="route"/>
-        <go WP="2" HMODE="route"/>
-        <go WP="3" HMODE="route"/>
-        <go WP="4" HMODE="route"/>
-        <go WP="5" HMODE="route"/>
-      </while>
-    </block>
-    <block NAME="xyz">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <xyz/>
-    </block>
-
-    <block NAME="land">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-      <exception COND="(GROUND_ALT+10> estimator_z)" DEROUTE="rdg"/>
-      <exception COND="(RcEvent2())" DEROUTE="stop"/>
-      <circle WP="2" radius="50" ALT="215" UNTIL="And(225 > estimator_z, Qdr(0))"/>
-      <go WP="IAF" ALT="215"/>
-      <go WP="AF" ALT="215"/>
-      <go WP="RWAY" HMODE="route" VMODE="glide"/>
-    </block>
-
-    <block NAME="rdg">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <heading CLIMB="2.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > GROUND_ALT+25)"/>
-      <deroute block="land"/>
-    </block>
-  <block name="stop">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="throttle" throttle="0"/>
-  </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret4.xml b/conf/flight_plans/muret4.xml
deleted file mode 100644
index 854999252d..0000000000
--- a/conf/flight_plans/muret4.xml
+++ /dev/null
@@ -1,82 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example - Muret4" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
-    <waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
-    <waypoint name="4" x="162.5" y="210.0" lat="43.4641503744" lon="1.27484411158" alt="250."/>
-    <waypoint name="5" x="97.5" y="60.0" lat="43.4627882109" lon="1.27407935592" alt="250."/>
-    <waypoint name="2" x="-130.0" y="217.5" lat="43.4641632754" lon="1.27122790867" alt="250."/>
-    <waypoint name="1" x="-100.0" y="60.0" lat="43.4627513408" lon="1.2716390001" alt="250."/>
-    <waypoint name="RWAY" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="185."/>
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-    <waypoint name="IAF" x="267.5" y="200.0" alt="250."/>
-  </waypoints>
-
-  <include name="slow" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="vz" value="0.5"/>
-    <arg name="top" value="GROUND_ALT+200"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="fast.climb"/>
-  </include>
-
-  <include name="fast" procedure="circles.xml" x="00" y="200" rotate="0">
-    <arg name="rad" value="150"/>
-    <arg name="bottom" value="GROUND_ALT+50"/>
-    <with from="event1" to="xyz"/>
-  </include>
-
-  <include name="hippo1" procedure="hippo.xml" x="-100" y="150" rotate="0">
-    <arg name="alt" value="GROUND_ALT+100"/>
-    <with from="event1" to="penta"/>
-  </include>
-
-  <blocks>
-    <block NAME="init">
-      <while COND="(!launch)"/>
-      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
-      <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
-    </block>
-
-    <block NAME="deux">
-      <exception COND="(RcEvent1())" DEROUTE="hippo1.loop"/>
-      <circle WP="HOME" alt="GROUND_ALT+50" radius="75"/>
-    </block>
-
-    <block NAME="penta">
-      <exception COND="(RcEvent1())" DEROUTE="slow.climb"/>
-      <while>
-        <go hmode="route" from="1" wp="2"/>
-        <go hmode="route" from="2" wp="3"/>
-        <go hmode="route" from="3" wp="4"/>
-        <go hmode="route" from="4" wp="1"/>
-      </while>
-    </block>
-    <block NAME="xyz">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <xyz/>
-    </block>
-
-    <block NAME="land">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-      <exception COND="(GROUND_ALT+10> estimator_z)" DEROUTE="rdg"/>
-      <exception COND="(RcEvent2())" DEROUTE="stop"/>
-      <circle WP="2" radius="50" ALT="215" UNTIL="And(225 > estimator_z, Qdr(0))"/>
-      <go WP="IAF" ALT="215"/>
-      <go WP="AF" ALT="215"/>
-      <go WP="RWAY" HMODE="route" VMODE="glide"/>
-    </block>
-
-    <block NAME="rdg">
-      <exception COND="(RcEvent1())" DEROUTE="land"/>
-      <heading CLIMB="2.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > GROUND_ALT+25)"/>
-      <deroute block="land"/>
-    </block>
-  <block name="stop">
-      <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="throttle" throttle="0"/>
-  </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret_cam.xml b/conf/flight_plans/muret_cam.xml
deleted file mode 100644
index d146c92c43..0000000000
--- a/conf/flight_plans/muret_cam.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example - Muret for camera control" LON0="1.27289" MAX_DIST_FROM_HOME="500" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-     </waypoints>
-
-  <blocks>
-    <block NAME="init">
-      <exception COND="(RcEvent1())" DEROUTE="init"/>
-
-      <circle wp="HOME" alt="GROUND_ALT+50" radius="75" cam_mode="target" target="HOME" until="stage_time > 100"/>
-      <circle wp="HOME" alt="GROUND_ALT+50" radius="75" cam_mode="target" until="stage_time > 100"/>
-      <circle wp="HOME" alt="GROUND_ALT+50" radius="75" cam_mode="nadir" until="stage_time > 100"/>
-      <circle wp="HOME" alt="GROUND_ALT+50" radius="75" cam_mode="manual" until="stage_time > 100"/>
-      <xyz cam_mode="target"/>
-    </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret_clover.xml b/conf/flight_plans/muret_clover.xml
deleted file mode 100644
index 644534e621..0000000000
--- a/conf/flight_plans/muret_clover.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="Muret clover" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-     </waypoints>
-
-     <include name="clover" procedure="clover.xml" x="0" y="0" rotate="0">
-     <arg name="rad" value="50"/>
-     <with from="event1" to="home"/>
-     </include>
-
-  <blocks>
-    <block NAME="home">
-      <exception COND="(RcEvent1())" DEROUTE="clover.go"/>
-      <circle wp="HOME" alt="GROUND_ALT+50" radius="50"/>
-    </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/muret_follow.xml b/conf/flight_plans/muret_follow.xml
deleted file mode 100644
index cb8b82d419..0000000000
--- a/conf/flight_plans/muret_follow.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan NAME="example - Muret for loops" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
-
-  <waypoints utm_x0="360284.8" utm_y0="4813595.5">
-    <waypoint name="HOME" x="0.0" y="30.0" lat="43.4625000078" lon="1.27288231142" alt="250."/>
-     </waypoints>
-
-  <blocks>
-    <block NAME="home">
-       <exception COND="(RcEvent1())" DEROUTE="follow"/>
-       <circle wp="HOME" alt="GROUND_ALT+50" radius="-75"/>
-    </block>
-
-    <block NAME="follow">
-       <exception COND="(RcEvent1())" DEROUTE="home"/>
-      <follow ac_id="3" distance="50" height="20"/>
-    </block>
-  </blocks>
-</flight_plan>
-
diff --git a/conf/flight_plans/ricou_mini.xml b/conf/flight_plans/ricou_mini.xml
deleted file mode 100644
index 13e08338fc..0000000000
--- a/conf/flight_plans/ricou_mini.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<flight_plan NAME="Ricou Mini" LON0="1.327747" MAX_DIST_FROM_HOME="400" GROUND_ALT="340" SECURITY_HEIGHT="25" QFU="245" ALT="390" LAT0="43.237535">
-  <waypoints UTM_X0="364222.4" UTM_Y0="4788550.7">
-    <waypoint Y="-100.0" LON="1.32741460722" NAME="HOME" X="-29.0" LAT="43.2366296919" alt="390"/>
-    <waypoint name="1" x="-193.99999994" y="47.9999975627" alt="390."/>
-    <waypoint name="3" x="221.00000006" y="-121.000002435" alt="390."/>
-    <waypoint name="2" x="129.000000059" y="-312.000002437" alt="390."/>
-    <waypoint name="4" x="-287.99999994" y="-123.000002442" alt="390."/>
-  </waypoints>
-  <include Y="-100" NAME="up_and_down" PROCEDURE="circles.xml" X="00" ROTATE="0">
-    <arg NAME="bottom" VALUE="GROUND_ALT+50"/>
-    <with FROM="event1" TO="home"/>
-  </include>
-  <include Y="-100" NAME="up_and_down2" PROCEDURE="circles.xml" X="00" ROTATE="0">
-    <arg NAME="bottom" VALUE="GROUND_ALT+50"/>
-    <arg NAME="vZ" VALUE="2"/>
-    <with FROM="event1" TO="home"/>
-  </include>
-  <blocks>
-    <block NAME="home">
-      <exception COND="(RcEvent1())" DEROUTE="huit"/>
-      <circle WP="HOME" RADIUS="-75"/>
-    </block>
-    <block NAME="home+50">
-      <exception COND="(RcEvent1())" DEROUTE="huit"/>
-      <circle WP="HOME" ALT="GROUND_ALT+100" RADIUS="-75"/>
-    </block>
-    <block NAME="huit">
-      <go WP="1"/>
-      <while>
-        <go WP="4"/>
-        <go WP="3" HMODE="route" FROM="4"/>
-        <go WP="2"/>
-        <go WP="1" HMODE="route" FROM="2"/>
-      </while>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/zigzag.xml b/conf/flight_plans/zigzag.xml
deleted file mode 100644
index 82117f1537..0000000000
--- a/conf/flight_plans/zigzag.xml
+++ /dev/null
@@ -1,44 +0,0 @@
-<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
-
-<procedure>
-  <param name="rad" default_value="30"/>
-  <param name="alt"/>
-
-  <waypoints>
-    <waypoint name="LANDING" x="0" y="40"/>
-    <waypoint name="TARGET" x="-120" y="100"/>
-    <waypoint name="WP1" x="-140" y="20"/>
-    <waypoint name="WP2" x="-60" y="80"/>
-    <waypoint name="WP3" x="-60" y="100"/>
-  </waypoints>
-
-  <blocks>
-    <block NAME="takeoff">
-      <exception COND="(RcEvent1())" DEROUTE="back"/>
-      <exception COND="(RcEvent2())" DEROUTE="target"/>
-      <heading vmode="throttle" throttle="0.7" pitch="0.15" course="280" until="(estimator_flight_time > 5)"/>
-      <go wp="WP1" alt="alt" approaching_time="1"/>
-      <go wp="WP2" alt="alt" approaching_time="1"/>
-      <go wp="WP3" alt="alt" approaching_time="1"/>
-      <deroute block="target"/>
-    </block>
-
-    <block NAME="target">
-      <exception COND="(RcEvent1())" DEROUTE="back"/>
-      <exception COND="(RcEvent2())" DEROUTE="carrot"/>
-      <circle WP="TARGET" RADIUS="rad" alt="alt"/>
-    </block>
-
-    <block NAME="carrot">
-      <exception COND="(RcEvent1())" DEROUTE="back"/>
-      <exception COND="(RcEvent2())" DEROUTE="target"/>
-      <xyz radius="rad"/>
-    </block>
-
-    <block NAME="back">
-      <exception COND="(RcEvent1())" DEROUTE="end"/>
-      <exception COND="(RcEvent2())" DEROUTE="target"/>
-      <circle wp="LANDING" alt="alt" radius="25"/>
-    </block>
-  </blocks>
-</procedure>