diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 0d224a5e6c..d212e13626 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -14,15 +14,15 @@
-
-
+
+
@@ -36,7 +36,7 @@
-
+
@@ -51,11 +51,11 @@
-
+
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 354a60858e..b02cd6ec66 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -14,8 +14,8 @@
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@@ -23,20 +23,15 @@
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@@ -54,11 +49,11 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
new file mode 100644
index 0000000000..83436e97ef
--- /dev/null
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -0,0 +1,234 @@
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diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 51ce75f968..827fb19b8f 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -10,19 +10,15 @@
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@@ -169,6 +165,7 @@
+
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 4acf157a96..6197ff36a6 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -15,25 +15,20 @@
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diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
new file mode 100644
index 0000000000..0c630fdb66
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -0,0 +1,243 @@
+
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+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE=IAP
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
+sim.CFLAGS += -DNPS_NO_SUPERVISION
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+#ap.CFLAGS += -DR_POS=0.1
+
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+
+ap.CFLAGS += -DUSE_MODULES
+
+
+
+
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
new file mode 100644
index 0000000000..ffd6dd9264
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -0,0 +1,278 @@
+
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+
+ARCH=lpc21
+ARCHI=arm7
+BOARD_CFG = \"boards/booz2_v1_0.h\"
+FLASH_MODE=IAP
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
+#ap.CFLAGS += -DBOOZ2_SONAR -DUSE_SONAR_1
+#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro_sonar.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
+#include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
+
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+ap.CFLAGS += -DUSE_MODULES
+
+include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+#sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+sim.CFLAGS += -DUSE_MODULES
+
+
+
+
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
new file mode 100644
index 0000000000..56529b3cc7
--- /dev/null
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -0,0 +1,242 @@
+
+
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+
+
+
+
+
+
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+#set GPS lag for horizontal filter
+#ap.CFLAGS += -DUSE_GPS_ACC4R
+
+#ap.CFLAGS += -DGUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+#sim.CFLAGS += -DGUIDANCE_H_USE_REF
+sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+
+
+
+