diff --git a/conf/airframes/tyto1.xml b/conf/airframes/tyto1.xml
index a6abf5584c..cd2a4bee81 100755
--- a/conf/airframes/tyto1.xml
+++ b/conf/airframes/tyto1.xml
@@ -64,27 +64,25 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1."/>
+
     <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="6" 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"/>
-    <linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
-    <linear name="TopOfIr" arity="1" coeff1="-1"/>
-    <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
-    <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
-    <define name="ADC_ROLL_NEUTRAL" value="0"/>
-    <define name="ADC_PITCH_NEUTRAL" value="-716"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
-
-    <define name="360_LATERAL_CORRECTION" value="1."/>
-    <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="360_VERTICAL_CORRECTION" value="1."/>
   </section>
 
  <section name="GYRO" prefix="GYRO_">
@@ -149,27 +147,19 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.23"/>
+
     <define name="ROLL_MAX_SETPOINT" value="0.4" 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="-200"/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
+
     <define name="PITCH_PGAIN" value="5000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0.2"/>
     
-    <!--  roll rate loop -->
-    <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
-    <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
-    <define name="ROLL_RATE_MAX_SETPOINT" value="10"/>
-    <define name="LO_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
-    <define name="HI_THROTTLE_ROLL_RATE_PGAIN" value="1000."/>
-    <define name="ROLL_RATE_IGAIN" value="0."/>
-    <define name="ROLL_RATE_DGAIN" value="0."/>
-    <define name="ROLL_RATE_SUM_NB_SAMPLES" value="64"/>
-
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
   <section name="NAV">
@@ -188,16 +178,6 @@
     <define name="DESCENT_NAV_RATIO" value="1.0"/>
     </section>
 
-
-  <section name="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </section>
-
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
     	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
@@ -218,13 +198,14 @@
  </section>
 
  <makefile>
+CONFIG=\"tiny_1_1.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
 ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
-ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -248,49 +229,25 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DGPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c nav_line.c discsurvey.c
-ap.srcs += traffic_info.c nav_survey_rectangle.c
-
-
-# Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
+ap.srcs += gyro.c nav_line.c
+ap.srcs += nav_survey_rectangle.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
-
-
-# a test program to setup actuators 
-setup_actuators.ARCHDIR = $(ARCHI)
-setup_actuators.ARCH = arm7tdmi
-setup_actuators.TARGET = setup_actuators
-setup_actuators.TARGETDIR = setup_actuators
-
-setup_actuators.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
-
   </makefile>
 </airframe>