diff --git a/conf/airframes/black_one.xml b/conf/airframes/black_one.xml
index bfc5326ca2..a1313722f8 100644
--- a/conf/airframes/black_one.xml
+++ b/conf/airframes/black_one.xml
@@ -1,6 +1,14 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<airframe name="BlackOne Tiny 0.9">
+<!-- The Black One (http://www.recherche.enac.fr/wiki/index.php/Image:MAC-BlackOne-MAV06.jpg)
+     Two ailevons
+     Tiny proto, tilted infrared sensor
+     2 cells lipo
+     Hatch to drop a paint ball
+     Gimballed camera -->
+
+
+<airframe name="BlackOne Tiny proto">
 
 <!-- commands section -->
   <servos>
diff --git a/conf/airframes/dragon.xml b/conf/airframes/dragon.xml
deleted file mode 100644
index e72f24c460..0000000000
--- a/conf/airframes/dragon.xml
+++ /dev/null
@@ -1,90 +0,0 @@
-<airframe name="Dragon (test for the tiny board)">
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="1"/>
-    <define name="IR2" value="0"/>
-    <define name="AIRSPEED" value="2"/>
-    <define name="CURRENT " value="3"/>
-    <define name="BAT" value="4"/>
-  </section>
-  <servos min="1000" neutral="1500" max="2000">
-    <servo name="GAZ" no="3" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="0" min="1800" neutral="1492" max="1179"/>
-    <servo name="AILEVON_RIGHT" no="2" min="1990" neutral="1662" max="1389"/>
-  </servos>
-  <command>
-    <set servo="GAZ" value="2 * @THROTTLE"/>
-    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
-    <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
-  </command>
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.55"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_ROLL_NEUTRAL" value="0"/>
-    <define name="ADC_PITCH_NEUTRAL" value="1040"/>
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="DEFAULT_CONTRAST" value="400"/>
-    <define name="RAD_OF_IR_CONTRAST" value="0.666"/>
-    <linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/>
-    <linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
-  </section>
-  <section name="PID">
-    <define name="ROLL_PGAIN" value="7000."/>
-    <define name="PITCH_OF_ROLL" value="0.2"/>
-    <define name="PITCH_PGAIN" value="10000."/>
-    <define name="MAX_ROLL" value="0.4"/>
-    <define name="MAX_PITCH" value="0.35"/>
-    <define name="MIN_PITCH" value="-0.35"/>
-    <define name="AILERON_OF_GAZ" value="-0.13"/>
-    <define name="CRUISE_THROTTLE" value="0.21"/>
-  </section>
-
-  <section name="ALT" prefix="CLIMB_">
-    <define name="PITCH_PGAIN" value="-0.1"/>
-    <define name="PITCH_IGAIN" value="0.025"/>
-    <define name="PGAIN" value="-0.025"/>
-    <define name="IGAIN" value="0.01"/>
-    <define name="MAX" value="1."/>
-    <define name="GAZ_OF_CLIMB" value="0.16" unit="% / m/s"/>
-    <define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
-  </section>
-
-  <section name="NAV">
-    <define name="COURSE_PGAIN" value="-0.3"/>
-    <define name="ALTITUDE_PGAIN" value="-0.05"/>
-    <define name="NAV_PITCH" value="0."/>
-  </section>
-  <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="2.16"/>
-    <define name="VOLTAGE_ADC_A" value="0.016768"/>
-    <define name="VOLTAGE_ADC_B" value="0.089803"/>
-    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
-    <define name="LOW_BATTERY" value="90" unit="1e-1V"/>
-  </section>
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15."/>
-    <define name="CARROT" value="5." unit="s"/>
-  </section>
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="5."/>
-    <define name="YAW_RESPONSE_FACTOR" value="1."/>
-    <define name="WEIGHT" value="0.45"/>
-  </section>
-	<section name="FAILSAFE" prefix="FAILSAFE_">
-		<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    <define name="DEFAULT_GAZ" value="CLIMB_LEVEL_GAZ+0.05" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-		<define name="HOME_RADIUS" value="50" unit="m"/>
-	</section>
-  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny_test.makefile
-
-
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/microjet8.xml b/conf/airframes/microjet8.xml
deleted file mode 100644
index 992b85c948..0000000000
--- a/conf/airframes/microjet8.xml
+++ /dev/null
@@ -1,243 +0,0 @@
-<airframe name="ENAC 1 Ball Dropper">
- <!-- tiny v1.1 -->
-
-<!-- commands section -->
-  <servos>
-    <servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1500" max="1000"/>
-    <servo name="GAZ"           no="2" min="1250" neutral="1262" max="1850"/>
-    <servo name="PAYLOAD" no="3" max="1000" neutral="2000" min="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="PAYLOAD"    failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="PAYLOAD"    value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.8"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
-    <set servo="GAZ"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="-$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="-$elevator - $aileron"/>
-    <set servo="PAYLOAD" value="@PAYLOAD"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.96"/>
-    <define name="MAX_PITCH" value="0.8"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_0"/>
-    <define name="IR_TOP" value="ADC_4"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_5"/>
-    <define name="GYRO_PITCH" value="ADC_6"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="DEFAULT_CONTRAST" value="200"/>
-    <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
-    <linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
-    <linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
-    <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="507"/>
-    <define name="ADC_PITCH_NEUTRAL" value="-16"/>
-    <define name="ADC_TOP_NEUTRAL" value="488"/>
-    <define name="ALLOW_INVERTED" value="1"/>
-    <define name="CORRECTION_RIGHT" value="1.3"/>
-    <define name="CORRECTION_LEFT"  value="1.3"/>
-    <define name="CORRECTION_UP"    value="1.6"/>
-    <define name="CORRECTION_DOWN"  value="1.4"/>
-  </section>
- 
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="464"/><!--459-->
-    <define name="ADC_PITCH_NEUTRAL" value="471"/>   
-    <define name="ADC_TEMP_NEUTRAL" value="802"/>   
-    <define name="ADC_TEMP_SLOPE" value="-0.0"/>   
-    <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="1."/>
-    <define name="PITCH_SCALE" value="1.3846"/>
-    <define name="PITCH_DIRECTION" value="1."/>
-  </section>
- 
-  <section name="BAT">
-    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-    <!--  <define name="VOLTAGE_ADC_A" value="0.0175"/>
-    <define name="VOLTAGE_ADC_B" value="0.525"/>
-    -->
-  <!--  <define name="VOLTAGE_ADC_A" value="0.01818"/>
-    <define name="VOLTAGE_ADC_B" value="-0.09"/>
-
-    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>-->
-    <define name="LOW_BATTERY" value="9.3" unit="V"/>
-  </section>
- 
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
-    <define name="CARROT" value="3." unit="s"/>
-    <define name="CONTROL_RATE" value="60"/>
-    <define name="KILL_MODE_DISTANCE" value="1.5*MAX_DIST_FROM_HOME"/>
-   <!-- <define name="TELEMETRY_MODE_FBW" value="1"/>-->
-    <define name="Z_CONTRAST_DEFAULT" value="1"/>
-  </section>
- 
-  <section name="PID">
-    <define name="ROLL_PGAIN" value="10000."/>
-    <define name="PITCH_OF_ROLL" value="0.0"/>
-    <define name="PITCH_PGAIN" value="6000."/>
-    <define name="MAX_ROLL" value="0.73"/>
-    <define name="MAX_PITCH" value="0.5"/>
-    <define name="MIN_PITCH" value="-0.5"/>
-    <define name="LOITER_PITCH" value="0.0"/>
-    <define name="DASH_PITCH" value="-0.0"/>
-    <define name="LOITER_TRIM" value="1000"/>
-    <define name="DASH_TRIM" value="-2500"/>
-    <define name="AILERON_OF_GAZ" value="0.0"/>
-    <define name="CRUISE_THROTTLE" value="0.65"/>
-    <define name="CLIMB_AUTO_PITCH_PGAIN" value="-0.1"/>
-    <define name="CLIMB_AUTO_PITCH_IGAIN" value="0.025"/>
-    <define name="CLIMB_AUTO_THROTTLE_PGAIN" value="-0.008"/>
-    <define name="CLIMB_AUTO_THROTTLE_IGAIN" value="0.25"/>
-    <define name="CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
- </section>
-    
- 
-  <section name="ALT" prefix="CLIMB_">
-    <define name="MAX" value="3."/>
-    <define name="PITCH_OF_VZ_PGAIN" value="0.35"/>
-    <define name="MAX_DIFF_GAZ" value="0.05" unit="%"/>
-  </section>
- 
-  <section name="THR">
- <define name="DASH_THR" value="1.0"/> 
- <define name="LOITER_THR" value=".40"/> 
-  </section>
-  
-  <section name="NAV">
-    <define name="COURSE_PGAIN" value="-0.6"/>
-    <define name="COURSE_IGAIN" value="0.0"/>
-    <define name="ALTITUDE_PGAIN" value="-0.065"/>
-    <define name="NAV_PITCH" value="0."/>
-    <define name="PRE_BANK_COEFF" value="0.9"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="2."/>
-    <define name="YAW_RESPONSE_FACTOR" value="1.35"/>
-    <define name="WEIGHT" value="1.3"/>
-  </section>
-
-   <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="CLIMB_GAZ" value="1.0"/><!-- Gaz for Aggressive Climb -->
-    <define name="DESCENT_GAZ" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_NAV_RATIO" value="0.5"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-    </section>
-
-   <section name="GYRO">
-    <define name="GYRO_MAX_RATE" value="500."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="60"/>
-    <define name="ALT_ROLL_PGAIN" value="5.5"/>
-    <define name="ROLL_RATE_PGAIN" value="860.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-    <define name="CONFIDENCE_COEFF" value="34.0"/>
-    <define name="J_FILTER" value="0"/>
-  </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_GAZ" value="0.0" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-	<define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- 
-<!--
-  <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="AEROCOMM"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
-
--->
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DCONFIG=\"tiny_0_99.h\" -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
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
-
-ap.srcs += gps_ubx.c gps.c
-
-
-ap.CFLAGS += -DINFRARED
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV
-ap.srcs += nav.c pid.c
-
-ap.CFLAGS += -DGYRO -DIDG300 -DPID_RATE_LOOP
-ap.srcs += gyro.c
-
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-# config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\"
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/slayer2.xml b/conf/airframes/slayer2.xml
index c8f0d8f279..4b24bad35d 100644
--- a/conf/airframes/slayer2.xml
+++ b/conf/airframes/slayer2.xml
@@ -1,5 +1,11 @@
 <airframe name="Miraterre Slayer 2">
- <!-- tiny 0.99 no 7, 13mm -->
+ <!-- Slayer (http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
+      Two ailevons
+      Hatch to drop a paint ball
+      Tilted infrared sensor, gyro
+      Still camera
+      Tiny 0.99
+-->
 
 <!-- commands section -->
   <servos>
@@ -83,7 +89,7 @@
 
  <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-    <define name="LOW_BATTERY" value="9.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
  
  <section name="MISC">
diff --git a/conf/airframes/slicer1.xml b/conf/airframes/slicer1.xml
index 2867ed4103..6566560215 100644
--- a/conf/airframes/slicer1.xml
+++ b/conf/airframes/slicer1.xml
@@ -1,6 +1,7 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<!-- Slicer
+<!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
+     Two ailevons
      Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
      3 cells lipo
      Gimballed camera on pitch and roll (in this order) axis -->
diff --git a/conf/airframes/slicer2.xml b/conf/airframes/slicer2.xml
index a0d2a7cf41..7c93dfbd43 100644
--- a/conf/airframes/slicer2.xml
+++ b/conf/airframes/slicer2.xml
@@ -1,6 +1,7 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<!-- Slicer
+<!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
+     Two ailevons
      Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
      3 cells lipo
      Fixed camera pointing down -->