diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index 3080bad597..cdd1e0db15 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
+   settings_modules="modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
    gui_color="#00009e93ffff"
   />
 </conf>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index edd4648d58..f2b0782430 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml   settings/control/stabilization_indi.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml   settings/control/stabilization_indi.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_colorfilter.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
+   settings_modules="modules/digital_cam_video.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="green"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_superbitrf_from_hand.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules=""
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/superbitrf.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
    gui_color="blue"
   />
   <aircraft
@@ -105,8 +105,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index 36db34fdb5..cc734d6a83 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/imu_quality_assessment.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml  settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/switch_servo.xml modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
+   settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/configure_actuators_mkk_v2.xml modules/imu_quality_assessment.xml"
+   settings_modules="modules/imu_quality_assessment.xml modules/configure_actuators_mkk_v2.xml modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index a95e601c32..0452ac9813 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -6,9 +6,9 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_safety.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml] "
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml [settings/estimation/ins_float_invariant.xml]"
+   settings_modules="modules/ins_extended.xml modules/ahrs_float_invariant.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
-   settings_modules=""
   />
   <aircraft
    name="ARD2_103"
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_safety.xml"
    settings="settings/rotorcraft_basic.xml [settings/control/rotorcraft_guidance.xml] [settings/control/stabilization_att_int.xml] settings/estimation/ins_float_invariant.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="yellow"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ins_float_invariant.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="pink"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml  [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]"
-   settings_modules=""
+   settings="settings/rotorcraft_basic.xml [settings/control/stabilization_att_int_quat.xml] settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml]"
+   settings_modules="modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_adaptive.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/light.xml"
+   settings_modules="modules/light.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#3cf2d51335a7"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules=""
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="#0000fffff0ed"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml"
+   settings_modules="modules/rotorcraft_cam.xml modules/switch_servo.xml modules/ins_extended.xml modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/estimation/ins_float_invariant.xml settings/control/ctl_new.xml [settings/nps.xml]"
-   settings_modules="modules/airspeed_adc.xml [modules/gps_ubx_ucenter.xml]"
+   settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff7f7f0000"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="[modules/infrared_adc.xml]"
+   settings_modules="modules/gps.xml [modules/infrared_adc.xml]"
    gui_color="#feed4f854f85"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#ffffac1f0000"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules=""
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="#f08d1ff61ff6"
   />
 </conf>
diff --git a/conf/airframes/ESDEN/esden_conf.xml b/conf/airframes/ESDEN/esden_conf.xml
index 639928d201..1c2624d82e 100644
--- a/conf/airframes/ESDEN/esden_conf.xml
+++ b/conf/airframes/ESDEN/esden_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#def7def7def7"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/dummy.xml"
    settings=""
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#c7e3fa4b8806"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#e83db09cffff"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ce5cfffff686"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#a12addc1ffff"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffb9e04a1b"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffb139b139"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#fffffd519223"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffaf0e575e"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffdca7a2aa"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -138,8 +138,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -149,8 +149,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -160,8 +160,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml
index b9ac1b6e1a..6968af9e02 100644
--- a/conf/airframes/FLIXR/flixr_conf.xml
+++ b/conf/airframes/FLIXR/flixr_conf.xml
@@ -72,8 +72,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -83,8 +83,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml "
-   settings_modules=""
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -94,8 +94,8 @@
    radio="radios/TGY9x_jeti.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -116,8 +116,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml "
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_conf.xml b/conf/airframes/HOOPERFLY/hooperfly_conf.xml
index 48ea4a13c6..6358e99f41 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_conf.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="purple"
   />
   <aircraft
@@ -28,8 +28,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="green"
   />
   <aircraft
@@ -39,8 +39,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="lime"
   />
   <aircraft
@@ -61,32 +61,10 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="cyan"
   />
-  <aircraft
-   name="Teensy_Fly_Quad_Elle0_v1_2_216"
-   ac_id="216"
-   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
-   gui_color="yellow"
-  />
-  <aircraft
-   name="Teensy_Fly_Quad_Elle0_v1_2_215"
-   ac_id="215"
-   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
-   gui_color="orange"
-  />
   <aircraft
    name="Teensy_Fly_Quad_Elle0_v1_2_214"
    ac_id="214"
@@ -94,10 +72,32 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/nav_survey_rectangle_rotorcraft.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="orangered"
   />
+  <aircraft
+   name="Teensy_Fly_Quad_Elle0_v1_2_215"
+   ac_id="215"
+   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="orange"
+  />
+  <aircraft
+   name="Teensy_Fly_Quad_Elle0_v1_2_216"
+   ac_id="216"
+   airframe="airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/HOOPERFLY/hooperfly_gsa_one.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/nav_survey_rectangle_rotorcraft.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="yellow"
+  />
   <aircraft
    name="setup_elle0"
    ac_id="15"
diff --git a/conf/airframes/KS/kirk_conf.xml b/conf/airframes/KS/kirk_conf.xml
index c6daef1480..7132a25d8a 100644
--- a/conf/airframes/KS/kirk_conf.xml
+++ b/conf/airframes/KS/kirk_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff00000000"
   />
 </conf>
diff --git a/conf/airframes/OPENUAS/openuas_conf.xml b/conf/airframes/OPENUAS/openuas_conf.xml
index 93f5114f71..5e9b8c8ed6 100644
--- a/conf/airframes/OPENUAS/openuas_conf.xml
+++ b/conf/airframes/OPENUAS/openuas_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
    gui_color="#fffffe72b9fd"
   />
   <aircraft
@@ -17,8 +17,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml  settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffe8b36503"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -50,8 +50,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#fffffe72b9fd"
   />
   <aircraft
@@ -61,8 +61,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml  settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/infrared_adc.xml"
+   settings_modules="modules/infrared_adc.xml modules/gps_ubx_ucenter.xml modules/gps.xml"
    gui_color="#ffffeb519c78"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
    settings="settings/control/ctl_energy.xml settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/airspeed_adc.xml modules/tune_airspeed.xml modules/photogrammetry_calculator.xml modules/digital_cam_uart.xml modules/nav_survey_poly_osam.xml modules/nav_smooth.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#fffffac7c07a"
   />
 </conf>
diff --git a/conf/airframes/OPENUAS/openuas_obc2014_conf.xml b/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
index 0bb9f067cd..67516c6b8f 100644
--- a/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
+++ b/conf/airframes/OPENUAS/openuas_obc2014_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/OPENUAS/openuas_obc2014_kingaroy.xml"
    settings="settings/control/ctl_energy.xml settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
-   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/airspeed_adc.xml modules/tune_airspeed.xml modules/photogrammetry_calculator.xml modules/digital_cam_uart.xml modules/nav_survey_poly_osam.xml modules/nav_smooth.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/digital_cam_uart.xml modules/photogrammetry_calculator.xml modules/tune_airspeed.xml modules/airspeed_adc.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#fffffac7c07a"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_KM_conf.xml b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
index 605c5d9e4a..d7dac7897f 100644
--- a/conf/airframes/TUDELFT/tudelft_KM_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_KM_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml "
-   settings_modules="modules/gps_ubx_ucenter.xml modules/video_thread.xml modules/cv_opticflow.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_opticflow.xml modules/video_capture.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules=""
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index 69ee95baca..b6eea892f1 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffd633d633"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcd49cd49"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffc457c457"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/video_capture.xml"
+   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffccc2ccc2"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#fffff996b847"
   />
   <aircraft
@@ -62,30 +62,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/time_countdown.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
-  />
-  <aircraft
-   name="Bebop_Smeur"
-   ac_id="21"
-   airframe="airframes/TUDELFT/tudelft_bebop_indi.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] modules/air_data.xml"
-   gui_color="#ffffcccaccca"
-  />
-  <aircraft
-   name="Bebop_Chris"
-   ac_id="151"
-   airframe="airframes/CDW/cdw_bebop.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
-   gui_color="#f84eb57ae827"
   />
   <aircraft
    name="BebopMavlink"
@@ -95,9 +73,31 @@
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/cv_blob_locator.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] modules/video_capture.xml modules/digital_cam_video.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff0689b7a1"
   />
+  <aircraft
+   name="Bebop_Chris"
+   ac_id="151"
+   airframe="airframes/CDW/cdw_bebop.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="#f84eb57ae827"
+  />
+  <aircraft
+   name="Bebop_Smeur"
+   ac_id="21"
+   airframe="airframes/TUDELFT/tudelft_bebop_indi.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
+   gui_color="#ffffcccaccca"
+  />
   <aircraft
    name="Bebop_actuators"
    ac_id="24"
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] modules/air_data.xml"
+   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/TUDELFT/tudelft_outback.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/opa_controller.xml modules/geo_mag.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/logger_sd_spi_direct.xml modules/temp_adc.xml modules/air_data.xml modules/geo_mag.xml modules/opa_controller.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffdffac31f"
   />
   <aircraft
@@ -150,7 +150,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#c99fb4caebdd"
   />
   <aircraft
@@ -161,7 +161,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml [settings/control/stabilization_att_int.xml] settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#c99fb4caebdd"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#c99fb4caebdd"
   />
   <aircraft
@@ -183,7 +183,7 @@
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/superbitrf.xml]"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/logger_sd_spi_direct.xml"
+   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#9b69e5ce9e7a"
   />
   <aircraft
@@ -205,7 +205,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffdffac31f"
   />
   <aircraft
@@ -227,7 +227,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -238,7 +238,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/geo_mag.xml]"
+   settings_modules="[modules/geo_mag.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffd5c5aead"
   />
   <aircraft
@@ -249,7 +249,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/switch_servo.xml"
+   settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#e66affffaa08"
   />
   <aircraft
@@ -260,7 +260,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#8c63ffff8e00"
   />
   <aircraft
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -282,7 +282,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -293,7 +293,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/control/stabilization_rate.xml] settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#f1d3c1b7ffff"
   />
   <aircraft
@@ -304,7 +304,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -315,7 +315,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
-   settings_modules="modules/gps.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml"
    gui_color="#b748fe64fe64"
   />
   <aircraft
@@ -326,7 +326,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
-   settings_modules="modules/gps.xml modules/light.xml"
+   settings_modules="modules/light.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -337,7 +337,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="orange"
   />
   <aircraft
@@ -348,7 +348,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="green"
   />
   <aircraft
@@ -359,7 +359,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/geo_mag.xml modules/air_data.xml modules/cv_opticflow.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -370,7 +370,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml [settings/control/stabilization_att_int_quat.xml]"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#baa3d698b729"
   />
   <aircraft
@@ -381,7 +381,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_indi.xml [settings/control/stabilization_att_int_quat.xml]"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#f6d5baaaffff"
   />
   <aircraft
@@ -392,7 +392,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#baa3d698b729"
   />
   <aircraft
@@ -403,7 +403,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#7d7fd7e7ffff"
   />
   <aircraft
@@ -414,7 +414,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] modules/air_data.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/video_capture.xml modules/digital_cam_video.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#68f5eb116e0c"
   />
   <aircraft
@@ -425,7 +425,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#b777d813cd0b"
   />
   <aircraft
@@ -436,7 +436,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_indi.xml settings/modules/config_asctec_v2_new.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#ffff9027e8ad"
   />
   <aircraft
@@ -447,7 +447,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -458,7 +458,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="#b29eb22cffff"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_course2016_conf.xml b/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
index 58805b8bc7..398eeaa354 100644
--- a/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_course2016_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_course2016_avoid_orange_cyberzoo.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml ../conf/modules/cv_colorfilter.xml"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_colorfilter.xml"
+   settings_modules="modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#db67fffffaeb"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_indi.xml]"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml modules/cv_colorfilter.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/digital_cam_video.xml"
+   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffb1c0b1c0"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_guido_conf.xml b/conf/airframes/TUDELFT/tudelft_guido_conf.xml
index 8c1eb9a7fb..c47865b72c 100644
--- a/conf/airframes/TUDELFT/tudelft_guido_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_guido_conf.xml
@@ -6,8 +6,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps.xml modules/cv_opticflow.xml modules/optical_flow_landing.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#fffff996b847"
   />
 </conf>
diff --git a/conf/airframes/TUDELFT/tudelft_rm_conf.xml b/conf/airframes/TUDELFT/tudelft_rm_conf.xml
index d0851dc8ae..6ca4aa13c9 100644
--- a/conf/airframes/TUDELFT/tudelft_rm_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_rm_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml] settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_oa_avoid.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_indi.xml] settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 047afc7508..068085e9ca 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_euler.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_euler.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/tune_airspeed.xml modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/nav_modules.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
+   settings_modules="modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -150,7 +150,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -161,7 +161,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft
@@ -183,7 +183,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_rate.xml] settings/control/stabilization_indi.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#710080"
   />
   <aircraft
@@ -194,7 +194,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml"
+   settings_modules="modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ba6293"
   />
   <aircraft
@@ -205,7 +205,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
-   settings_modules="modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -227,7 +227,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -238,7 +238,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -249,7 +249,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -260,7 +260,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] modules/air_data.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
+   settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -282,7 +282,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index ffd210cbdb..73be1bbeb4 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_euler.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml modules/nav_catapult.xml modules/air_data.xml modules/imu_common.xml modules/gps.xml modules/ahrs_float_dcm.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
    gui_color="blue"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_euler.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_dcm.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_dcm.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -150,7 +150,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -161,7 +161,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/tune_airspeed.xml modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/nav_modules.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -183,7 +183,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -194,7 +194,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
+   settings_modules="modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft
@@ -227,7 +227,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -238,7 +238,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_cmpl_rmat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_float_cmpl_rmat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -249,7 +249,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -260,7 +260,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft
@@ -282,7 +282,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#710080"
   />
   <aircraft
@@ -293,7 +293,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -304,7 +304,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/infrared_adc.xml"
+   settings_modules="modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ba6293"
   />
   <aircraft
@@ -315,7 +315,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
-   settings_modules="modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -326,7 +326,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -337,7 +337,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -348,7 +348,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
-   settings_modules="modules/gps.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -359,7 +359,7 @@
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/imu_common.xml modules/ahrs_float_dcm.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -370,7 +370,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -381,7 +381,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
+   settings_modules="modules/opticflow_hover.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -392,7 +392,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/geo_mag.xml modules/air_data.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -403,7 +403,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
+   settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -414,7 +414,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -425,7 +425,7 @@
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_secondary.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -436,7 +436,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
   <aircraft
@@ -469,7 +469,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml
index 67dd47f038..16492857ad 100644
--- a/conf/conf_tests_coverity.xml
+++ b/conf/conf_tests_coverity.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/nps.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml modules/nav_catapult.xml modules/air_data.xml modules/gps.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
    gui_color="blue"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
    gui_color="#ffff7d7d0000"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -95,7 +95,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -117,7 +117,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -128,7 +128,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -139,7 +139,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -150,7 +150,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/gps.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -161,7 +161,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/tune_airspeed.xml modules/gps.xml modules/infrared_adc.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml modules/tune_airspeed.xml"
    gui_color="#6293ba"
   />
   <aircraft
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/nav_modules.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
-   settings_modules="modules/gps.xml modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
+   settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -183,7 +183,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -194,7 +194,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/nav_survey_poly_osam.xml modules/nav_skid_landing.xml"
+   settings_modules="modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft
@@ -226,8 +226,8 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -238,7 +238,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_float_cmpl_rmat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -248,8 +248,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -259,8 +259,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml  settings/nps.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
   />
   <aircraft
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam.xml modules/rotorcraft_cam.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft
@@ -281,8 +281,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/nps.xml settings/control/stabilization_indi.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/nps.xml settings/control/stabilization_indi.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#710080"
   />
   <aircraft
@@ -293,7 +293,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -304,7 +304,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml modules/infrared_adc.xml"
+   settings_modules="modules/infrared_adc.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ba6293"
   />
   <aircraft
@@ -315,7 +315,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energyadaptive.xml"
-   settings_modules="modules/gps.xml modules/air_data.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -326,7 +326,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -337,7 +337,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -348,7 +348,7 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
-   settings_modules="modules/gps.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml"
    gui_color="blue"
   />
   <aircraft
@@ -359,7 +359,7 @@
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/gps.xml"
+   settings_modules="modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -369,8 +369,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml  settings/nps.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
   <aircraft
@@ -381,7 +381,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
+   settings_modules="modules/opticflow_hover.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
   <aircraft
@@ -391,8 +391,8 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml  settings/control/stabilization_att_int_quat.xml settings/nps.xml"
-   settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
+   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
   />
 </conf>