diff --git a/conf/airframes/black_one.xml b/conf/airframes/obsolete/black_one.xml
similarity index 95%
rename from conf/airframes/black_one.xml
rename to conf/airframes/obsolete/black_one.xml
index fc394c39a7..b2a329b8f0 100644
--- a/conf/airframes/black_one.xml
+++ b/conf/airframes/obsolete/black_one.xml
@@ -66,7 +66,7 @@
     <define name="VSUPPLY" value="ADC_7"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -96,10 +96,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="474"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -109,7 +109,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="LOW_BATTERY" value="6.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -121,7 +121,7 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.025"/>
@@ -161,7 +161,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="1750"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -201,9 +201,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -225,7 +225,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -234,7 +234,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/dc_mc.xml b/conf/airframes/obsolete/dc_mc.xml
similarity index 94%
rename from conf/airframes/dc_mc.xml
rename to conf/airframes/obsolete/dc_mc.xml
index d7f707b6cc..2dd4821382 100644
--- a/conf/airframes/dc_mc.xml
+++ b/conf/airframes/obsolete/dc_mc.xml
@@ -22,13 +22,13 @@ main.srcs = main_dc_mc.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED 
+main.CFLAGS += -DLED
 #-DTIME_LED=1
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 main.srcs += $(SRC_ARCH)/uart_hw.c
 
-main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 main.srcs += downlink.c pprz_transport.c
 
 main.srcs +=  $(SRC_ARCH)/dc_mc_link.c
diff --git a/conf/airframes/drops.xml b/conf/airframes/obsolete/drops.xml
similarity index 96%
rename from conf/airframes/drops.xml
rename to conf/airframes/obsolete/drops.xml
index 9c64039a93..1ad5f47ecb 100644
--- a/conf/airframes/drops.xml
+++ b/conf/airframes/obsolete/drops.xml
@@ -70,7 +70,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="32"/> 
+    <define name="GYRO_NB_SAMPLES" value="32"/>
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -102,7 +102,7 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -110,9 +110,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -128,7 +128,7 @@
     <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"/-->
@@ -205,9 +205,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -231,7 +231,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -241,7 +241,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
old mode 100755
new mode 100644
similarity index 100%
rename from conf/airframes/easystar2.xml
rename to conf/airframes/obsolete/easystar2.xml
diff --git a/conf/airframes/example.xml b/conf/airframes/obsolete/example.xml
similarity index 96%
rename from conf/airframes/example.xml
rename to conf/airframes/obsolete/example.xml
index c0d82d24bf..70ec434090 100644
--- a/conf/airframes/example.xml
+++ b/conf/airframes/obsolete/example.xml
@@ -10,7 +10,7 @@ FLASH_MODE = IAP
 
 #
 # GPS :
-# 
+#
 #
 example_gps.ARCHDIR = $(ARCHI)
 example_gps.ARCH = arm7tdmi
@@ -30,7 +30,7 @@ example_gps.srcs += $(SRC_ARCH)/armVIC.c
 example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 example_gps.srcs += $(SRC_ARCH)/uart_hw.c
 
-example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 example_gps.srcs += downlink.c pprz_transport.c
 
 example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
diff --git a/conf/airframes/funjetfmi1.xml b/conf/airframes/obsolete/funjetfmi1.xml
similarity index 96%
rename from conf/airframes/funjetfmi1.xml
rename to conf/airframes/obsolete/funjetfmi1.xml
index 5ea45a57a9..1337da8d48 100644
--- a/conf/airframes/funjetfmi1.xml
+++ b/conf/airframes/obsolete/funjetfmi1.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi1.xml b/conf/airframes/obsolete/funjetgfi1.xml
old mode 100755
new mode 100644
similarity index 96%
rename from conf/airframes/funjetgfi1.xml
rename to conf/airframes/obsolete/funjetgfi1.xml
index 0aeddaf9bc..cbcc9efff9
--- a/conf/airframes/funjetgfi1.xml
+++ b/conf/airframes/obsolete/funjetgfi1.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
     <!-- outer loop proportional gain -->
@@ -163,9 +163,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -173,7 +173,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -194,7 +194,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -205,7 +205,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -242,4 +242,3 @@ sim.CFLAGS += -DUSE_JOYSTICK
 
   </makefile>
 </airframe>
-
diff --git a/conf/airframes/funjetgfi3.xml b/conf/airframes/obsolete/funjetgfi3.xml
old mode 100755
new mode 100644
similarity index 97%
rename from conf/airframes/funjetgfi3.xml
rename to conf/airframes/obsolete/funjetgfi3.xml
index b6b02f57a8..f3beff1ac5
--- a/conf/airframes/funjetgfi3.xml
+++ b/conf/airframes/obsolete/funjetgfi3.xml
@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_RIGHT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_LEFT" value="$elevator - $aileron"/>
@@ -84,7 +84,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -98,9 +98,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>  
+    <define name="POWER_CTL_BAT_NOMINAL" value="10.0" unit="volt"/>
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.024"/>
     <!-- outer loop saturation -->
@@ -138,7 +138,7 @@
     <define name="PITCH_PGAIN" value="-5500."/>
     <define name="PITCH_DGAIN" value="0.4"/>
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -180,17 +180,17 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
-  
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -205,7 +205,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -215,7 +215,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -269,4 +269,3 @@ sim.srcs += nav_survey_rectangle.c nav_line.c
 
   </makefile>
 </airframe>
-
diff --git a/conf/airframes/funjetgfi4.xml b/conf/airframes/obsolete/funjetgfi4.xml
similarity index 96%
rename from conf/airframes/funjetgfi4.xml
rename to conf/airframes/obsolete/funjetgfi4.xml
index e7cf0842f4..1ef790478b 100644
--- a/conf/airframes/funjetgfi4.xml
+++ b/conf/airframes/obsolete/funjetgfi4.xml
@@ -36,7 +36,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -82,9 +82,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -98,7 +98,7 @@
     <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="10" unit="volt"/>
@@ -164,9 +164,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -174,7 +174,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -195,7 +195,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -206,7 +206,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi5.xml b/conf/airframes/obsolete/funjetgfi5.xml
similarity index 96%
rename from conf/airframes/funjetgfi5.xml
rename to conf/airframes/obsolete/funjetgfi5.xml
index 1a3b49b3f1..124ed43e33 100644
--- a/conf/airframes/funjetgfi5.xml
+++ b/conf/airframes/obsolete/funjetgfi5.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi6.xml b/conf/airframes/obsolete/funjetgfi6.xml
similarity index 96%
rename from conf/airframes/funjetgfi6.xml
rename to conf/airframes/obsolete/funjetgfi6.xml
index 00164ea29d..ee3ee49778 100644
--- a/conf/airframes/funjetgfi6.xml
+++ b/conf/airframes/obsolete/funjetgfi6.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi7.xml b/conf/airframes/obsolete/funjetgfi7.xml
similarity index 96%
rename from conf/airframes/funjetgfi7.xml
rename to conf/airframes/obsolete/funjetgfi7.xml
index 9e54c23cc9..9b41476513 100644
--- a/conf/airframes/funjetgfi7.xml
+++ b/conf/airframes/obsolete/funjetgfi7.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi8.xml b/conf/airframes/obsolete/funjetgfi8.xml
similarity index 96%
rename from conf/airframes/funjetgfi8.xml
rename to conf/airframes/obsolete/funjetgfi8.xml
index feed57d508..971222b956 100644
--- a/conf/airframes/funjetgfi8.xml
+++ b/conf/airframes/obsolete/funjetgfi8.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/funjetgfi9.xml b/conf/airframes/obsolete/funjetgfi9.xml
similarity index 96%
rename from conf/airframes/funjetgfi9.xml
rename to conf/airframes/obsolete/funjetgfi9.xml
index a4ac1e6574..aaa85a1ca3 100644
--- a/conf/airframes/funjetgfi9.xml
+++ b/conf/airframes/obsolete/funjetgfi9.xml
@@ -37,7 +37,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -99,7 +99,7 @@
     <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"/>
@@ -165,9 +165,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -175,7 +175,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -196,7 +196,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -207,7 +207,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/glass_one1.xml b/conf/airframes/obsolete/glass_one1.xml
old mode 100755
new mode 100644
similarity index 95%
rename from conf/airframes/glass_one1.xml
rename to conf/airframes/obsolete/glass_one1.xml
index f836dcfc08..94e2163843
--- a/conf/airframes/glass_one1.xml
+++ b/conf/airframes/obsolete/glass_one1.xml
@@ -49,7 +49,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -84,10 +84,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -96,7 +96,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -109,9 +109,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -150,7 +150,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -190,9 +190,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -215,7 +215,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -224,7 +224,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/glass_one2.xml b/conf/airframes/obsolete/glass_one2.xml
old mode 100755
new mode 100644
similarity index 97%
rename from conf/airframes/glass_one2.xml
rename to conf/airframes/obsolete/glass_one2.xml
index 63aa4b1841..23e636a6fe
--- a/conf/airframes/glass_one2.xml
+++ b/conf/airframes/obsolete/glass_one2.xml
@@ -80,7 +80,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -93,9 +93,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -134,7 +134,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -164,9 +164,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -189,7 +189,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -198,7 +198,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/glass_one3.xml b/conf/airframes/obsolete/glass_one3.xml
old mode 100755
new mode 100644
similarity index 95%
rename from conf/airframes/glass_one3.xml
rename to conf/airframes/obsolete/glass_one3.xml
index 449e605a65..19cd019532
--- a/conf/airframes/glass_one3.xml
+++ b/conf/airframes/obsolete/glass_one3.xml
@@ -50,7 +50,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -85,10 +85,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -97,7 +97,7 @@
     <define name="VoltageOfAdc(adc)" value="(0.01787109375*adc)"/>
     <define name="LOW_BATTERY" value="9.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -110,9 +110,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -151,7 +151,7 @@
     <define name="PITCH_PGAIN" value="-8000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -191,9 +191,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -216,7 +216,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -225,7 +225,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
similarity index 90%
rename from conf/airframes/kalscott_easystar.xml
rename to conf/airframes/obsolete/kalscott_easystar.xml
index bfdf1ccad0..d1e84814b4 100644
--- a/conf/airframes/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -1,36 +1,36 @@
 <!DOCTYPE airframe SYSTEM "airframe.dtd">
 
-<!-- 
+<!--
 	Multiplex EasyStar, using rudder
 	TWOG v1 board
 	Tilted infrared sensor
-	XBee 2.4GHz modem in transparent mode		
+	XBee 2.4GHz modem in transparent mode
 -->
 
 <airframe name="EasyStar TWOG">
 <!-- commands section -->
   <servos>
-    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>  
+    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
     <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
     <servo name="RUDDER"        no="4" min="2050" neutral="1440" max="950"/>
   </servos>
-  
+
   <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>  
+    <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>  
+    <axis name="PITCH"    failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="ROLL"      value="@ROLL"/>
     <set command="PITCH"     value="@PITCH"/>
-    <set command="THROTTLE"  value="@THROTTLE"/> 
-  </rc_commands> 
+    <set command="THROTTLE"  value="@THROTTLE"/>
+  </rc_commands>
 
   <command_laws>
     <set servo="THROTTLE"    value="@THROTTLE"/>
-    <set servo="RUDDER"      value="@ROLL"/>  
-    <set servo="ELEVATOR"    value="@PITCH"/>      
+    <set servo="RUDDER"      value="@ROLL"/>
+    <set servo="ELEVATOR"    value="@PITCH"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -81,13 +81,13 @@
     <define name="CARROT" value="4." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="NO_XBEE_API_INIT" value="TRUE"/> 
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
     <define name="MIN_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
     <!-- outer loop -->
@@ -145,11 +145,11 @@
     <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
-  
+
   <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="PPRZ"/>
     <define name="DEVICE_ADDRESS" value="...."/>
-  </section>  
+  </section>
 
   <makefile>
 CONFIG = \"tiny_2_1_1.h\"
@@ -159,7 +159,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES 
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
 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
@@ -170,29 +170,29 @@ ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 # Radio configuration
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 # ADC configuration
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 # GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2 
+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
 
 ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 # Control loops
-ap.CFLAGS += -DNAV -DLOITER_TRIM 
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+ap.CFLAGS += -DNAV -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += nav_line.c
 ap.srcs += nav_survey_rectangle.c
@@ -200,8 +200,8 @@ ap.srcs += nav_survey_rectangle.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES 
-sim.srcs += nav_line.c nav_survey_rectangle.c 
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
+sim.srcs += nav_line.c nav_survey_rectangle.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/lila.xml b/conf/airframes/obsolete/lila.xml
similarity index 95%
rename from conf/airframes/lila.xml
rename to conf/airframes/obsolete/lila.xml
index d95e818453..9d170450a8 100644
--- a/conf/airframes/lila.xml
+++ b/conf/airframes/obsolete/lila.xml
@@ -36,7 +36,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -53,7 +53,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -85,7 +85,7 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -93,9 +93,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
@@ -111,7 +111,7 @@
     <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"/-->
@@ -178,9 +178,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
@@ -213,7 +213,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -223,7 +223,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/mac06a.xml b/conf/airframes/obsolete/mac06a.xml
old mode 100755
new mode 100644
similarity index 95%
rename from conf/airframes/mac06a.xml
rename to conf/airframes/obsolete/mac06a.xml
index 959ec37e6b..e18fec54dd
--- a/conf/airframes/mac06a.xml
+++ b/conf/airframes/obsolete/mac06a.xml
@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_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"/>
@@ -52,7 +52,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -82,10 +82,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="515"/>
-    <define name="ADC_TEMP_NEUTRAL" value="470"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="470"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -96,7 +96,7 @@
 
     <define name="LOW_BATTERY" value="6.0" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -106,7 +106,7 @@
 
     <define name="TRIGGER_DELAY" value="1."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.03"/>
@@ -143,7 +143,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -182,19 +182,19 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_GAZ" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_GAZ" value="0.3" unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" 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="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
 -->
-  
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -209,7 +209,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE  ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #XBEE  ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -219,7 +219,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
similarity index 95%
rename from conf/airframes/malolo_sim.xml
rename to conf/airframes/obsolete/malolo_sim.xml
index 16695de0ec..b215a1de42 100644
--- a/conf/airframes/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -34,7 +34,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -52,7 +52,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
 
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -80,13 +80,13 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -94,7 +94,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -108,7 +108,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <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"/>
@@ -184,12 +184,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -236,7 +236,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV
 
-sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c 
+sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/ivy_transport.c
 sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
diff --git a/conf/airframes/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
similarity index 94%
rename from conf/airframes/microjet5.xml
rename to conf/airframes/obsolete/microjet5.xml
index c1277f4de9..4b4059a709 100644
--- a/conf/airframes/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -33,7 +33,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -51,7 +51,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
 
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -79,13 +79,13 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -93,7 +93,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -106,7 +106,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <!-- outer loop proportional gain -->
@@ -164,9 +164,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
  <makefile>
@@ -185,13 +185,13 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
similarity index 94%
rename from conf/airframes/microjet5_tp_auto.xml
rename to conf/airframes/obsolete/microjet5_tp_auto.xml
index 2eccb1fe63..0e876087fb 100644
--- a/conf/airframes/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -29,7 +29,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -47,7 +47,7 @@
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_4"/>
     <define name="GYRO_TEMP" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -67,8 +67,8 @@
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_COEF" value="1"/>
     <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
     <define name="ROLL_DIRECTION" value="1"/>
   </section>
@@ -77,14 +77,14 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="11000"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
   </section>
- 
+
   <section name="ALT" prefix="CLIMB_">
     <define name="PITCH_PGAIN" value="-0.05"/>
     <define name="PITCH_IGAIN" value="0.075"/>
@@ -94,7 +94,7 @@
     <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
     <define name="THROTTLE_OF_CLIMB" value="0.15" unit="%/(m/s)"/>
   </section>
- 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.4"/>
     <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
@@ -107,7 +107,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
 
   </section>
 
@@ -158,12 +158,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
   <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -189,7 +189,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += actuators.c $(SRC_ARCH)/servos_4015_hw.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -199,7 +199,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c latlong.
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
@@ -209,11 +209,11 @@ ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
-ap.CFLAGS += -DINFRARED 
+ap.CFLAGS += -DINFRARED
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c 
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
diff --git a/conf/airframes/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
old mode 100755
new mode 100644
similarity index 95%
rename from conf/airframes/microjet6.xml
rename to conf/airframes/obsolete/microjet6.xml
index ddffdc3040..4611a96748
--- a/conf/airframes/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -31,7 +31,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_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"/>
@@ -49,7 +49,7 @@
     <define name="IR_TOP" value="ADC_6"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -77,17 +77,17 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -103,7 +103,7 @@
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -145,7 +145,7 @@
     <define name="PITCH_PGAIN" value="-12500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
@@ -182,12 +182,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -209,19 +209,19 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # API mode
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
similarity index 97%
rename from conf/airframes/microjetI.xml
rename to conf/airframes/obsolete/microjetI.xml
index 0887e93e89..af6e82931b 100644
--- a/conf/airframes/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -77,14 +77,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -113,7 +113,7 @@
     <define name="LIGHT_LED_1" value="4"/>
     <define name="LIGHT_LED_2" value="5"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -147,7 +147,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -197,18 +197,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.120MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 # 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
similarity index 97%
rename from conf/airframes/microjetII.xml
rename to conf/airframes/obsolete/microjetII.xml
index 23b2dcc2d2..78863488e0 100644
--- a/conf/airframes/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -78,14 +78,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -147,7 +147,7 @@
     <define name="PITCH_PGAIN" value="-9500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -197,18 +197,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.000MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 #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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
similarity index 97%
rename from conf/airframes/microjetIII.xml
rename to conf/airframes/obsolete/microjetIII.xml
index 2db89203f0..6abce9569b 100644
--- a/conf/airframes/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"       value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"   value="$elevator + $aileron"/>
@@ -46,7 +46,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -78,14 +78,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -135,7 +135,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
@@ -164,7 +164,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-   
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -186,18 +186,18 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
-# transparent 
+# transparent
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
similarity index 98%
rename from conf/airframes/minimag_fs.xml
rename to conf/airframes/obsolete/minimag_fs.xml
index 01a6937743..af6e79790b 100644
--- a/conf/airframes/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -84,7 +84,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -97,7 +97,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="Digital camera telecommand">
     <!-- ADC 4 and ADC 5 pins are used. They are seen as LEDs -->
     <!-- ADC 4 -->
@@ -111,7 +111,7 @@
     <define name="DC_SHUTTER_LED" value="4"/>
     <define name="DC_ZOOM_LED" value="5"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -151,7 +151,7 @@
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="ELEVATOR_OF_ROLL" value="2000"/>    
+    <define name="ELEVATOR_OF_ROLL" value="2000"/>
   </section>
 
   <section name="NAV">
@@ -176,7 +176,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 </section>
- 
+
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
@@ -191,7 +191,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+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=B57600
@@ -199,7 +199,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/miniwing.xml b/conf/airframes/obsolete/miniwing.xml
similarity index 96%
rename from conf/airframes/miniwing.xml
rename to conf/airframes/obsolete/miniwing.xml
index 7b9951cb12..ccf21962e7 100644
--- a/conf/airframes/miniwing.xml
+++ b/conf/airframes/obsolete/miniwing.xml
@@ -35,7 +35,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -79,9 +79,9 @@
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="2100."/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="6.2" unit="V"/>
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -95,7 +95,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
@@ -161,9 +161,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -171,7 +171,7 @@
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- 
+
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
@@ -194,7 +194,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UA
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/mmlaas_N1.xml b/conf/airframes/obsolete/mmlaas_N1.xml
similarity index 97%
rename from conf/airframes/mmlaas_N1.xml
rename to conf/airframes/obsolete/mmlaas_N1.xml
index 2fef2ecd99..0343b3d48c 100644
--- a/conf/airframes/mmlaas_N1.xml
+++ b/conf/airframes/obsolete/mmlaas_N1.xml
@@ -86,7 +86,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -99,7 +99,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -141,7 +141,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -187,12 +187,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -216,13 +216,13 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/mmlaas_N2.xml b/conf/airframes/obsolete/mmlaas_N2.xml
similarity index 97%
rename from conf/airframes/mmlaas_N2.xml
rename to conf/airframes/obsolete/mmlaas_N2.xml
index 97896fab7f..7136d3f06c 100644
--- a/conf/airframes/mmlaas_N2.xml
+++ b/conf/airframes/obsolete/mmlaas_N2.xml
@@ -87,7 +87,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -100,7 +100,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="60."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -188,12 +188,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -220,13 +220,13 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/mmlaas_N3.xml b/conf/airframes/obsolete/mmlaas_N3.xml
similarity index 97%
rename from conf/airframes/mmlaas_N3.xml
rename to conf/airframes/obsolete/mmlaas_N3.xml
index 0d88011d56..70c36309af 100644
--- a/conf/airframes/mmlaas_N3.xml
+++ b/conf/airframes/obsolete/mmlaas_N3.xml
@@ -87,7 +87,7 @@
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -100,7 +100,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="40."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
   </section>
 
   <section name="NAV">
@@ -188,12 +188,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -217,13 +217,13 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/nova.xml b/conf/airframes/obsolete/nova.xml
similarity index 95%
rename from conf/airframes/nova.xml
rename to conf/airframes/obsolete/nova.xml
index 11ae945eba..46cde2578c 100644
--- a/conf/airframes/nova.xml
+++ b/conf/airframes/obsolete/nova.xml
@@ -11,7 +11,7 @@ timu.ARCH = arm7tdmi
 timu.TARGET = timu
 timu.TARGETDIR = timu
 
-timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)' 
+timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
 timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 timu.CFLAGS += -DLED  -DLED -DTIME_LED=1
diff --git a/conf/airframes/red_one.xml b/conf/airframes/obsolete/red_one.xml
old mode 100755
new mode 100644
similarity index 96%
rename from conf/airframes/red_one.xml
rename to conf/airframes/obsolete/red_one.xml
index c7e914df2a..3e3542f543
--- a/conf/airframes/red_one.xml
+++ b/conf/airframes/obsolete/red_one.xml
@@ -57,7 +57,7 @@
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_4"/>
     <define name="SUPPLY_CURRENT" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -89,10 +89,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="518"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="1.0"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
@@ -106,7 +106,7 @@
     <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
     <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -119,9 +119,9 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
     <define name="LIGHT_PIN_1" value="3"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->  
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="8.4" unit="volt"/-->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
@@ -160,7 +160,7 @@
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="4000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="0"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -200,9 +200,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.15" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
 
@@ -236,7 +236,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -245,7 +245,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
similarity index 95%
rename from conf/airframes/slayer1.xml
rename to conf/airframes/obsolete/slayer1.xml
index d554d3d1a5..0bc85ef25a 100644
--- a/conf/airframes/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -30,7 +30,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_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"/>
@@ -78,15 +78,15 @@
     <define name="ADC_ROLL_NEUTRAL" value="467"/>
     <define name="ADC_PITCH_NEUTRAL" value="471"/>
     <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
     <define name="PITCH_SCALE" value="1.3846"/>
-    <define name="PITCH_DIRECTION" value="1."/> 
+    <define name="PITCH_DIRECTION" value="1."/>
   </section>
 
  <section name="BAT">
     <define name="CATASTROPHIC_BAT_LEVEL" 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"/>
@@ -142,7 +142,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
@@ -175,13 +175,13 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="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="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -201,7 +201,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
@@ -211,7 +211,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
@@ -244,7 +244,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += bomb.c nav_survey_rectangle.c nav_line.c 
+sim.srcs += bomb.c nav_survey_rectangle.c nav_line.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
old mode 100755
new mode 100644
similarity index 95%
rename from conf/airframes/slayer3.xml
rename to conf/airframes/obsolete/slayer3.xml
index 8bb17e67b0..97b3a7090a
--- a/conf/airframes/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_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"/>
@@ -76,10 +76,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="478"/>
-    <define name="ADC_TEMP_NEUTRAL" value="802"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="802"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
  <section name="BAT">
@@ -89,7 +89,7 @@
     <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"/>
@@ -143,7 +143,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="2000"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
@@ -176,13 +176,13 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="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="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -203,7 +203,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -213,7 +213,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
similarity index 96%
rename from conf/airframes/slayerJH.xml
rename to conf/airframes/obsolete/slayerJH.xml
index 6fbbc1ea59..9d212d1752 100644
--- a/conf/airframes/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -27,7 +27,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
@@ -73,7 +73,7 @@
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="452"/>
     <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
  <section name="BAT">
@@ -82,7 +82,7 @@
     <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
     <define name="LOW_BAT_LEVEL" value="10." unit="V"/>
   </section>
- 
+
  <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
@@ -157,9 +157,9 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.6" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="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>
 
@@ -184,7 +184,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #MAXSTREAM
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
@@ -196,7 +196,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -213,7 +213,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c snav.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c 
+ap.srcs += gyro.c
 
 
 # Video switch
diff --git a/conf/airframes/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
similarity index 97%
rename from conf/airframes/slicer1.xml
rename to conf/airframes/obsolete/slicer1.xml
index 462c8a9384..e191489c74 100644
--- a/conf/airframes/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -39,7 +39,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -59,7 +59,7 @@
     <define name="IR_TOP" value="ADC_2"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -91,14 +91,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -145,7 +145,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
@@ -167,7 +167,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
- 
+
   <section name="CAM" prefix="CAM_">
     <define name="TILT_MAX"      value="30" unit="deg"/>
     <define name="TILT_NEUTRAL"  value="0" unit="deg"/>
@@ -196,14 +196,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 72MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
similarity index 97%
rename from conf/airframes/slicer2.xml
rename to conf/airframes/obsolete/slicer2.xml
index 65b95b510f..bdf835c724 100644
--- a/conf/airframes/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -34,7 +34,7 @@
 
   <command_laws>
     <let var="aileron"         value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator"        value="- @PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -52,7 +52,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -85,14 +85,14 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/> 
+    <define name="ROLL_DIRECTION" value="1."/>
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -139,7 +139,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
@@ -178,14 +178,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 72MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/spirit.xml b/conf/airframes/obsolete/spirit.xml
old mode 100755
new mode 100644
similarity index 96%
rename from conf/airframes/spirit.xml
rename to conf/airframes/obsolete/spirit.xml
index f4dfb08c7b..7895604b5f
--- a/conf/airframes/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -8,7 +8,7 @@
     <servo name="AILERON_LEFT" no="2" min="1300" neutral="1150" max="940"/> <!-- safety settings ok-->
     <servo name="AILERON_RIGHT" no="3" min="1250" neutral="1393" max="1556"/>
     <servo name="ELEVATOR" no="1" min="1340" neutral="1673" max="1950"/>
-    <!-- no rudder on this model <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/> --> 
+    <!-- no rudder on this model <servo name="RUDDER" no="3" min="1270" neutral="1510" max="1790"/> -->
   </servos>
 
   <commands>
@@ -57,7 +57,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_6"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
  </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -85,8 +85,8 @@
   <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_COEF" value="1"/>
     <define name="ADC_ROLL_NEUTRAL" value="512"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
     <define name="ROLL_DIRECTION" value="1"/>
   </section>
@@ -96,7 +96,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -144,7 +144,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
@@ -173,7 +173,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-  
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -195,14 +195,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
old mode 100755
new mode 100644
similarity index 98%
rename from conf/airframes/spirit_proto.xml
rename to conf/airframes/obsolete/spirit_proto.xml
index 0845fd51a8..cc28f09604
--- a/conf/airframes/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -85,7 +85,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="12" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -133,7 +133,7 @@
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <define name="ROLL_SLEW" value="0.1"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
@@ -162,7 +162,7 @@
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
   </section>
-  
+
  <section name="SIMU">
     <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
  </section>
@@ -183,14 +183,14 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
 
 # 41.200MHz
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 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 $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/storm1.xml b/conf/airframes/obsolete/storm1.xml
old mode 100755
new mode 100644
similarity index 97%
rename from conf/airframes/storm1.xml
rename to conf/airframes/obsolete/storm1.xml
index f82c52b7fa..ba0df05a65
--- a/conf/airframes/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -38,7 +38,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -106,7 +106,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="19." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -127,7 +127,7 @@
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
 
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -169,7 +169,7 @@
     <define name="PITCH_PGAIN" value="-12500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -210,12 +210,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
+	<define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
+	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+	<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <!--
 <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -238,7 +238,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
 ap.srcs += $(SRC_ARCH)/servos_4015_hw_new.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
 #ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -255,7 +255,7 @@ ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
similarity index 97%
rename from conf/airframes/tiny2.xml
rename to conf/airframes/obsolete/tiny2.xml
index 7eef908d30..2afaff58bd 100644
--- a/conf/airframes/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -83,7 +83,7 @@
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -96,7 +96,7 @@
     <define name="TRIGGER_DELAY" value="1."/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -138,7 +138,7 @@
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5." unit="rad/s/rad"/>
@@ -179,12 +179,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -208,7 +208,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
 #XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -218,7 +218,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
diff --git a/conf/airframes/tl.xml b/conf/airframes/obsolete/tl.xml
similarity index 95%
rename from conf/airframes/tl.xml
rename to conf/airframes/obsolete/tl.xml
index abdc554d6c..b1c73ac1a4 100644
--- a/conf/airframes/tl.xml
+++ b/conf/airframes/obsolete/tl.xml
@@ -3,8 +3,8 @@
   <servos min="0" neutral="0" max="0xff">
     <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
-    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1810"/>   
- 
+    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1810"/>
+
     <servo name="MOTOR_LEFT"   no="3" min="1250" neutral="1250" max="1810"/>
     <servo name="CAM" no="0" min="900" neutral="1500" max="2100"/>
    </servos>
@@ -23,10 +23,10 @@
           <let var="yaw"      value="1.0 * @YAW"/>
           <let var="throttle" value="1.0 * @THROTTLE"/>
           <let var="right" value="$throttle + $yaw"/><!-- add trim term for Right -->
-          <let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->  
+          <let var="left" value="$throttle - $yaw"/><!-- .06*thrsubtract trim term for Right -->
           <set servo="AILERON" value="$roll"/>
           <set servo="ELEVATOR"  value="$pitch"/>
-          <set servo="MOTOR_LEFT"  value="$left - Max(0, $right - MAX_PPRZ)"/> 
+          <set servo="MOTOR_LEFT"  value="$left - Max(0, $right - MAX_PPRZ)"/>
           <set servo="MOTOR_RIGHT" value="$right - Max(0, $left - MAX_PPRZ)"/>
           <set servo="CAM" value="@CAM"/>
    </command_laws>
@@ -67,7 +67,7 @@
     <define name="TL_BARO_W4" value="0xB259"/>
   </section>
 
-  
+
 
   <section name="horizontal_control">
     <define name="NAV_GOTO_H_PGAIN" value="-1000" unit="pprz/m"/>
@@ -100,9 +100,9 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-# transparent 
+# transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
 
@@ -112,7 +112,7 @@ ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl
 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
-ap.srcs += $(TL)/tl_imu.c 
+ap.srcs += $(TL)/tl_imu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
 
@@ -136,7 +136,7 @@ tmm.ARCH = arm7tdmi
 tmm.TARGET = tmm
 tmm.TARGETDIR = tmm
 
-tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' 
+tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 tmm.CFLAGS += -DLED  -DLED -DTIME_LED=1
@@ -154,14 +154,14 @@ timu.ARCH = arm7tdmi
 timu.TARGET = timu
 timu.TARGETDIR = timu
 
-timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' 
+timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 timu.CFLAGS += -DLED  -DLED -DTIME_LED=1
 timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
 timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
 
-timu.srcs += $(TL)/tl_imu.c 
+timu.srcs += $(TL)/tl_imu.c
 timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
 timu.srcs += $(SRC_ARCH)/adc_hw.c
 timu.srcs += $(TL)/tl_baro.c
diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
similarity index 97%
rename from conf/airframes/twinjet1.xml
rename to conf/airframes/obsolete/twinjet1.xml
index d926a7af26..20e828db3f 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -73,12 +73,12 @@
 
   <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="316"/>
-    <define name="ADC_TEMP_NEUTRAL" value="328"/>   
-    <define name="ADC_TEMP_SLOPE" value="-0.36"/>   
+    <define name="ADC_TEMP_NEUTRAL" value="328"/>
+    <define name="ADC_TEMP_SLOPE" value="-0.36"/>
     <define name="ROLL_DIRECTION" value="1."/>
-    <define name="ROLL_SCALE" value="0.44"/>   
+    <define name="ROLL_SCALE" value="0.44"/>
   </section>
- 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
@@ -89,7 +89,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
@@ -123,7 +123,7 @@
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
   </section>
- 
+
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
     <define name="VOLTAGE_ADC_A" value="0.0156"/>
@@ -133,14 +133,14 @@
     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
     <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
     <define name="LIGHT_LED_1" value="3"/>
   </section>
- 
+
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
@@ -181,7 +181,7 @@ fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK
 fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 fbw.CFLAGS += -DRADIO_CONTROL
-fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
+fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
 fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
diff --git a/conf/airframes/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
similarity index 99%
rename from conf/airframes/twinstar1.xml
rename to conf/airframes/obsolete/twinstar1.xml
index 05c6cbcb40..793ac767fa 100644
--- a/conf/airframes/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -57,7 +57,7 @@
     <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="10000."/>
     <define name="PITCH_OF_ROLL" value="0.0"/>
@@ -65,7 +65,7 @@
     <define name="MAX_ROLL" value="0.55"/>
     <define name="MAX_PITCH" value="0.35"/>
     <define name="MIN_PITCH" value="-0.35"/>
-    <define name="AILERON_OF_GAZ" value="0"/>    
+    <define name="AILERON_OF_GAZ" value="0"/>
     <define name="CRUISE_THROTTLE" value="0.45"/>
   </section>
 
@@ -78,7 +78,7 @@
     <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
     <define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
   </section>
- 
+
 
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -93,7 +93,7 @@
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-5.5"/>
diff --git a/conf/airframes/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
similarity index 99%
rename from conf/airframes/twinstar6.xml
rename to conf/airframes/obsolete/twinstar6.xml
index f43d69f5eb..fd1aae9dc9 100644
--- a/conf/airframes/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -116,7 +116,7 @@
     <define name="DC_SHUTTER_LED" value="4"/>
     <define name="DC_ZOOM_LED" value="5"/>
   </section>
- 
+
  <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.05"/>
@@ -140,7 +140,7 @@
   <section name="NAV">
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
   </section>
- 
+
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
     <define name="VOLTAGE_ADC_A" value="0.0156"/>
@@ -148,7 +148,7 @@
     <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -189,7 +189,7 @@ fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK
 fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 fbw.CFLAGS += -DRADIO_CONTROL
-fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
+fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
 fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
@@ -250,5 +250,3 @@ sim.srcs += nav_line.c nav_survey_rectangle.c dc.c
 
   </makefile>
 </airframe>
-
-
diff --git a/conf/airframes/twinstarmm.xml b/conf/airframes/obsolete/twinstarmm.xml
similarity index 98%
rename from conf/airframes/twinstarmm.xml
rename to conf/airframes/obsolete/twinstarmm.xml
index 1bec520e5c..56ca7f1c0d 100644
--- a/conf/airframes/twinstarmm.xml
+++ b/conf/airframes/obsolete/twinstarmm.xml
@@ -103,9 +103,9 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
                                         <!-- 0.0247311828 -->
                                         <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>    
+    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
@@ -124,7 +124,7 @@
 
 
   <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="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.06"/>
     <!-- outer loop saturation -->
@@ -164,7 +164,7 @@
     <define name="PITCH_DGAIN" value="-1700."/>
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
-    
+
     <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/-->
  </section>
@@ -213,7 +213,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
 ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
 ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
@@ -224,7 +224,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
@@ -261,5 +261,3 @@ sim.srcs += bomb.c
 
   </makefile>
 </airframe>
-
-
diff --git a/conf/airframes/twisted.xml b/conf/airframes/obsolete/twisted.xml
similarity index 95%
rename from conf/airframes/twisted.xml
rename to conf/airframes/obsolete/twisted.xml
index 804d0cdc4e..a9db415bc8 100644
--- a/conf/airframes/twisted.xml
+++ b/conf/airframes/obsolete/twisted.xml
@@ -5,7 +5,7 @@
   <servos>
     <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
-    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1850"/>    
+    <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1850"/>
     <servo name="MOTOR_LEFT"   no="3" min="1250" neutral="1250" max="1850"/>
   </servos>
 
@@ -38,7 +38,7 @@
 	  <set servo="AILERON" value="$roll"/>
 	  <set servo="ELEVATOR"  value="$pitch"/>
 	  <set servo="MOTOR_LEFT"  value="$throttle - $yaw - .06*$throttle"/> <!-- add trim term for Right -->
-	  <set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->  
+	  <set servo="MOTOR_RIGHT" value="$throttle + $yaw + .06*$throttle"/> <!-- subtract trim term for Right -->
   </command_laws>
 
 <makefile>
@@ -53,7 +53,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
 ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c commands.c
 
 ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+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=B19200
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
diff --git a/conf/airframes/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
old mode 100755
new mode 100644
similarity index 94%
rename from conf/airframes/tyto1.xml
rename to conf/airframes/obsolete/tyto1.xml
index 6538dd211b..619491c586
--- a/conf/airframes/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -36,7 +36,7 @@
 
   <command_laws>
 	<let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-	<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+	<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 	<set servo="GAZ_LEFT" value="@THROTTLE"/>
 	<set servo="GAZ_RIGHT" value="@THROTTLE"/>
 	<set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
@@ -59,7 +59,7 @@
 
     <define name="GYRO_ROLL" value="ADC_3"/>
     <define name="GYRO_TEMP" value="ADC_7"/> <!-- NOT PLUGGED !!! -->
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -87,10 +87,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="538"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.44"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -101,7 +101,7 @@
 
     <define name="LOW_BATTERY" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -115,7 +115,7 @@
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <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"/>
@@ -157,7 +157,7 @@
     <define name="PITCH_PGAIN" value="5000."/>
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0.2"/>
-    
+
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
@@ -180,12 +180,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
 <!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
@@ -214,7 +214,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 # ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -224,7 +224,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+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
diff --git a/conf/airframes/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
similarity index 95%
rename from conf/airframes/xxx1.xml
rename to conf/airframes/obsolete/xxx1.xml
index 14acae3af2..462c6f0fd0 100644
--- a/conf/airframes/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -32,7 +32,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="THROTTLE"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -53,7 +53,7 @@
 
     <define name="GYRO_ROLL" value="ADC_5"/>
     <define name="GYRO_TEMP" value="ADC_7"/> <!-- NOT PLUGGED !!! -->
-    <define name="GYRO_NB_SAMPLES" value="16"/> 
+    <define name="GYRO_NB_SAMPLES" value="16"/>
 
   </section>
 
@@ -82,10 +82,10 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="512"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="ROLL_SCALE" value="0.237"/>  <!-- deg/s / (3.3V / 1024) -->
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -93,7 +93,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="22." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
@@ -111,7 +111,7 @@
     <define name="CAM_PHI_MAX_DEG" value="45"/>
     <define name="VIDEO_SWITCH_PIN" value="20"/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -153,7 +153,7 @@
     <define name="PITCH_PGAIN" value="-5000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    
+
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
     <define name="ROLL_RATE_SETPOINT_PGAIN" value="-10." unit="rad/s/rad"/>
@@ -194,12 +194,12 @@
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
 	<define name="DELAY_WITHOUT_GPS" value="1" 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"/>
+	<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"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
+
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="PPRZ"/>
     <define name="DEVICE_ADDRESS" value="...."/>
@@ -219,7 +219,7 @@ 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
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -230,7 +230,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c 
+ap.srcs += inter_mcu.c
 
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -277,7 +277,7 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
 
 
 
-# a test program to setup actuators 
+# a test program to setup actuators
 setup_actuators.ARCHDIR = $(ARCHI)
 setup_actuators.ARCH = arm7tdmi
 setup_actuators.TARGET = setup_actuators