diff --git a/sw/ground_segment/tmtc/aircraft_server.ml b/sw/ground_segment/tmtc/aircraft_server.ml
index a1e896cdd2..f27ec46ed2 100644
--- a/sw/ground_segment/tmtc/aircraft_server.ml
+++ b/sw/ground_segment/tmtc/aircraft_server.ml
@@ -252,6 +252,5 @@ let modes_of_aircraft = fun ac ->
   | Some m, _ -> m
   | None, FixedWing -> Server_globals.fixedwing_ap_modes
   | None, Rotorcraft -> Server_globals.rotorcraft_ap_modes
-  | None, Rover -> Server_globals.rover_ap_modes
   | None, _ -> [| "UKN" |]
 
diff --git a/sw/ground_segment/tmtc/server.ml b/sw/ground_segment/tmtc/server.ml
index 1aa81fb282..185f34bbdb 100644
--- a/sw/ground_segment/tmtc/server.ml
+++ b/sw/ground_segment/tmtc/server.ml
@@ -601,7 +601,7 @@ let new_aircraft = fun get_alive_md5sum real_id ->
     done in
 
   ignore (ac.ap_modes <- try
-    let ac = Aircraft.parse_aircraft "" airframe_xml in
+    let ac = Aircraft.parse_aircraft ~parse_af:true ~parse_ap:true "" conf in
     match ac.Aircraft.autopilots with
     | None -> None
     | Some [(_, ap)] -> Some (modes_from_autopilot ap.Autopilot.xml)
diff --git a/sw/ground_segment/tmtc/server_globals.ml b/sw/ground_segment/tmtc/server_globals.ml
index 03cdfbf009..8afdbfba0d 100644
--- a/sw/ground_segment/tmtc/server_globals.ml
+++ b/sw/ground_segment/tmtc/server_globals.ml
@@ -8,7 +8,6 @@ let port = ref 8889
 (** FIXME: Should be read from messages.xml *)
 let fixedwing_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"NOGPS"|]
 let rotorcraft_ap_modes = [|"KILL";"SAFE";"HOME";"RATE";"ATT";"R_RCC";"A_RCC";"ATT_C";"R_ZH";"A_ZH";"HOVER";"HOV_C";"H_ZH";"NAV";"RC_D";"CF";"FWD";"MODULE";"FLIP";"GUIDED"|]
-let rover_ap_modes = [|"MANUAL";"AUTO1";"AUTO2";"HOME";"KILL"|]
 let _AUTO2 = 2
 let gaz_modes = [|"MANUAL";"THROTTLE";"CLIMB";"ALT"|]
 let lat_modes = [|"MANUAL";"ROLL_RATE";"ROLL";"COURSE"|]
diff --git a/sw/tools/generators/gen_aircraft.ml b/sw/tools/generators/gen_aircraft.ml
index 85201d7c51..482cee11ca 100644
--- a/sw/tools/generators/gen_aircraft.ml
+++ b/sw/tools/generators/gen_aircraft.ml
@@ -282,7 +282,7 @@ let () =
       | Some autopilots ->
           List.iter (fun (freq, autopilot) ->
             let dep = List.map (fun sm ->
-              let h_name = paparazzi_conf // ("autopilot_core_"^(Xml.attrib sm "name")^".h") in
+              let h_name = aircraft_gen_dir // ("autopilot_core_"^(Xml.attrib sm "name")^".h") in
               (h_name, [autopilot.Autopilot.filename])
             ) (Xml.children autopilot.Autopilot.xml) in
             generate_config_element autopilot