diff --git a/conf/airframes/funjetgfi1.xml b/conf/airframes/funjetgfi1.xml
index 8831308abf..7537a753a6 100755
--- a/conf/airframes/funjetgfi1.xml
+++ b/conf/airframes/funjetgfi1.xml
@@ -1,5 +1,12 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
+     Tiny 1.1 board
+     PerkinElmer TPS334 IR Sensors
+     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem
+     Payload: IST and Sensirion humidity/temp, VTI pressure/temp
+-->
 
 <airframe name="FunJet GFI 1 Tiny 1.1">
 
@@ -7,8 +14,8 @@
   <servos>
     <servo name="THROTTLE"      no="2" min="1550" neutral="1550" max="1900"/>
     <servo name="LIGHT"         no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="6" min="1100" neutral="1554" max="1900"/>
-    <servo name="AILEVON_RIGHT" no="5" min="1900" neutral="1446" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="5" min="1900" neutral="1432" max="1100"/>
+    <servo name="AILEVON_LEFT"  no="6" min="1100" neutral="1546" max="1900"/>
   </servos>
 
   <commands>
@@ -54,7 +61,7 @@
 
   <section name="INFRARED" prefix="IR_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="1" unit="deg"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
@@ -95,7 +102,7 @@
     <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
  
@@ -128,12 +135,12 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.35"/>
+    <define name="COURSE_PGAIN" value="-0.80"/>
     <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_PGAIN" value="5000."/>
+    <define name="ROLL_PGAIN" value="8300."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-5500."/>
     <define name="PITCH_DGAIN" value="0.4"/>
@@ -235,6 +242,11 @@ ap.CFLAGS += -DUSE_HUMID_SHT
 ap.srcs += baro_scp.c
 ap.CFLAGS += -DUSE_BARO_SCP
 
+ap.srcs += bomb.c
+
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
+
 # Hack to use the same tuning file than slayer1
 ap.CFLAGS += -DUSE_GPIO
 ap.srcs += $(SRC_ARCH)/gpio.c
@@ -251,6 +263,9 @@ include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += nav_survey_rectangle.c nav_line.c
 
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
+
   </makefile>
 </airframe>
 
diff --git a/conf/airframes/funjetgfi4.xml b/conf/airframes/funjetgfi4.xml
index caa3bb75f7..7ca2bd93cd 100644
--- a/conf/airframes/funjetgfi4.xml
+++ b/conf/airframes/funjetgfi4.xml
@@ -2,8 +2,10 @@
 
 <!-- Funjet Multiplex (http://www.multiplex-rc.de/)
      Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     PerkinElmer TPS334 IR Sensors
      Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
      XBee modem
+     Payload: Sensirion humidity/temp, VTI pressure/temp
 -->
 
 <airframe name="Funjet GFI 4 Tiny 2.1">
@@ -11,8 +13,8 @@
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1550" neutral="1550" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1490" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1544" max="1900"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1516" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1549" max="1900"/>
   </servos>
 
   <commands>
@@ -93,13 +95,13 @@
     <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <define name="POWER_CTL_BAT_NOMINAL" value="10" unit="volt"/>
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.024"/>
     <!-- outer loop saturation -->
@@ -127,12 +129,13 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.35"/>
+    <define name="COURSE_PGAIN" value="-0.8"/>
     <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-    <define name="ROLL_PGAIN" value="5000."/>
 
+    <define name="ROLL_PGAIN" value="7600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-5500."/>
     <define name="PITCH_DGAIN" value="0.4"/>
 
@@ -160,7 +163,7 @@
     </section>
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
-	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
     	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
     	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
@@ -208,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
@@ -227,12 +230,17 @@ ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3  -DSCK_PIN=2
 ap.srcs += baro_scp.c
 ap.CFLAGS += -DUSE_BARO_SCP
 
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
+
 
   </makefile>
 </airframe>