diff --git a/conf/airframes/AGGIEAIR/El_Captain.xml b/conf/airframes/AGGIEAIR/El_Captain.xml
index e9e079c200..e8bba0224d 100644
--- a/conf/airframes/AGGIEAIR/El_Captain.xml
+++ b/conf/airframes/AGGIEAIR/El_Captain.xml
@@ -296,10 +296,8 @@
     <define name="TUNE_AGRESSIVE_CLIMB"/>
     <define name="WIND_INFO"/>
     <define name="WIND_INFO_RET"/>
-  </firmware>
 
 <!-- Modules -->
-  <modules>
     <module name="nav" type="line"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="survey_poly_osam"/>
@@ -337,6 +335,7 @@
 
     <!-- System Monitor -->
     <module name="sys_mon"/>
-  </modules>
+
+  </firmware>
 
 </airframe>
diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
index 911285eccf..43ecdd3ee9 100644
--- a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
@@ -53,9 +53,7 @@ Aggie Air ARK
       <configure name="VN_PORT" value="UART2"/>
       <configure name="VN_BAUD" value="B921600"/>
     </module>
-  </firmware>
 
-  <modules>
     <module name="sys_mon"/>
     <module name="copilot"/>
     <module name="extra_dl">
@@ -71,7 +69,7 @@ Aggie Air ARK
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+  </firmware>
 
   <!--These values are set for the Castle Creations HV Lite 60A ESCs-->
   <servos driver="Pwm">
diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml b/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
index 6367691b14..e12783d839 100644
--- a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml
@@ -47,10 +47,6 @@
     </module>
 
     <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
-
-
-  <modules>
     <module name="sys_mon"/>
     <module name="extra_dl">
       <!-- in order to use uart1 without chibios we need to remap the peripheral-->
@@ -67,7 +63,7 @@
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+  </firmware>
 
     <servos driver="Pwm">
     <servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
index a033a8576b..5f158590ba 100644
--- a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
@@ -12,7 +12,7 @@ AggieAir Atomic Tangerine
       </module>
       <configure name="HAS_LUFTBOOT" value="1"/>
       <configure name="FLASH_MODE" value="DFU"/>
-      <module name="telemetry"   type="transparent_gec">
+      <module name="telemetry"   type="transparent">
         <configure name="MODEM_PORT"        value="UART3"/>
         <configure name="MODEM_BAUD"        value="B57600"/>
         <define name="GEC_STATUS_LED" value="5"/>
@@ -29,14 +29,14 @@ AggieAir Atomic Tangerine
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="radio_control" type="spektrum"/>
-      <module name="telemetry"   type="transparent_gec"/>
+      <module name="telemetry"   type="transparent"/>
     </target>
 
     <target name="hitl" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="radio_control" type="spektrum"/>
       <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B921600"/>
+      <configure name="INS_BAUD" value="B230400"/>
       <configure name="AP_DEV" value="/dev/ttyUSB2"/>
       <configure name="AP_BAUD" value="B921600"/>
       <module name="telemetry"   type="transparent"/>
@@ -47,21 +47,19 @@ AggieAir Atomic Tangerine
 
     <module name="ins"       type="vectornav">
       <configure name="VN_PORT" value="UART2"/>
-      <configure name="VN_BAUD" value="B921600"/>
+      <configure name="VN_BAUD" value="B230400"/>
     </module>
 
     <define name="AGR_CLIMB" />
     <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
     <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
 
-  <modules>
     <module name="nav" type="line"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="survey_poly_osam"/>
     <module name="nav" type="launcher"/>
     <module name="nav" type="skid_landing"/>
-
+    <module name="nav" type="line_osam"/>
     <module name="sys_mon"/>
     <module name="copilot">
       <define name="FORWARD_PAYLOAD" value="TRUE"/>
@@ -82,7 +80,9 @@ AggieAir Atomic Tangerine
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+    <module name="air_data"/>
+
+  </firmware>
 
   <!-- commands section -->
   <!-- Servo Configuration -->
@@ -90,12 +90,12 @@ AggieAir Atomic Tangerine
     <servo name="THROTTLE"	no="5" min="1100" neutral="1100" max="1900"/>
     <servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_LEFT"	no="2" min="2100" neutral="1500" max="900"/>
-    <servo name="ELEVATOR"      no="3" min="975" neutral="1500" max="2100"/>
+    <servo name="ELEVATOR"      no="3" min="1900" neutral="1500" max="1100"/>
     <servo name="RUDDER"        no="4" min="2100" neutral="1500" max="900"/>
     <servo name="FLAP"		no="0" min="990" neutral="1945" max="1945"/>
   </servos>
 
-  <!-- Servo Command Structure -->
+  <!-- Servo Command Structure  -->
   <commands>
     <axis name="THROTTLE"   failsafe_value="0"/>
     <axis name="ROLL"       failsafe_value="0"/>
@@ -161,24 +161,25 @@ AggieAir Atomic Tangerine
   </section>
 
 
-  <!-- Define current estimator and Battery Level Warnings -->
+  <!-- Define current estimator and Battery Level Warnings  -->
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
     <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
 
     <!-- Flight values -->
-    <!--
-    <define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
-    <define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
-    -->
+
+    <define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
 
     <!-- Simulator values -->
+<!--
     <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
     <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
     <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+-->
   </section>
 
   <section name="MISC">
@@ -197,7 +198,7 @@ AggieAir Atomic Tangerine
     <define name="ALTITUDE_MAX_CLIMB" value="3."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -230,7 +231,7 @@ AggieAir Atomic Tangerine
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="1.135"/>
     <define name="COURSE_DGAIN" value="0.35"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
     <define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
     <define name="PITCH_PGAIN" value="12900."/>
@@ -249,7 +250,7 @@ AggieAir Atomic Tangerine
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_THROTTLE" value="0.85"/><!-- Gaz for Aggressive Climb -->
     <define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
     <define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
@@ -269,9 +270,13 @@ AggieAir Atomic Tangerine
   <section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
     <define name="PITCH" value="0.23" unit="rad"/>
     <define name="HEIGHT" value="70" unit="m"/>
+    <define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
     <define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
     <define name="DISTANCE" value="30" unit="m"/>
     <define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
+    <define name="CIRCLE_ALT" value="100" unit="m"/>
+    <define name="CIRCLE_RADIUS" value="200" unit="m"/>
+    <define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
   </section>
 
   <!-- Skid Landing Configuration -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay.xml b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
index 03bb8dab7e..62187d05a1 100644
--- a/conf/airframes/AGGIEAIR/aggieair_blujay.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
@@ -48,9 +48,7 @@ AggieAir Blujayujay
     <define name="AGR_CLIMB" />
     <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
     <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
 
-  <modules>
     <module name="nav" type="line"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="survey_poly_osam"/>
@@ -74,7 +72,8 @@ AggieAir Blujayujay
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+
+  </firmware>
 
   <!-- commands section -->
   <!-- Servo Configuration -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml b/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
index c0924ed5f1..dc635c1ece 100644
--- a/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
@@ -11,7 +11,7 @@ AggieAir Blujayujay
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>
-      <configure name="HAS_LUFTBOOT" value="0"/>
+      <configure name="HAS_LUFTBOOT" value="1"/>
       <configure name="FLASH_MODE" value="DFU"/>
     </target>
 
@@ -42,20 +42,18 @@ AggieAir Blujayujay
 
     <module name="telemetry"   type="transparent">
       <configure name="MODEM_PORT"        value="UART3"/>
-      <configure name="MODEM_BAUD"        value="B115200"/>
+      <configure name="MODEM_BAUD"        value="B57600"/>
     </module>
 
     <module name="ins"       type="vectornav">
       <configure name="VN_PORT" value="UART2"/>
-      <configure name="VN_BAUD" value="B921600"/>
+      <configure name="VN_BAUD" value="B230400"/>
     </module>
 
     <define name="AGR_CLIMB" />
     <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
     <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
 
-  <modules>
     <module name="nav" type="line"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="survey_poly_osam"/>
@@ -79,16 +77,17 @@ AggieAir Blujayujay
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+
+  </firmware>
 
   <!-- commands section -->
   <!-- Servo Configuration -->
   <servos>
-    <servo name="FLAP" no="0" min="900" neutral="1500" max="2100"/>
+    <servo name="FLAP" no="0" min="2000" neutral="900" max="900"/>
     <servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
     <servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
-    <servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
+    <servo name="RUDDER" no="4" min="900" neutral="1500" max="2100"/>
     <servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
   </servos>
 
@@ -162,7 +161,7 @@ AggieAir Blujayujay
     <define name="NOMINAL_AIRSPEED"   value="16."     unit="m/s"/> <!-- GCS only -->
     <define name="CARROT"             value="5."  unit="s"/>   <!-- GCS only -->
     <define name="KILL_MODE_DISTANCE"   value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="200."/>
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -241,7 +240,7 @@ AggieAir Blujayujay
     <define name="DEFAULT_THROTTLE" value="0" unit="%"/>
     <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
+    <define name="HOME_RADIUS" value="200" unit="m"/>
   </section>
 
   <!-- Launcher Takeoff Configuration -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index 1cc389dcbe..6f39bdd51b 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -1,4 +1,15 @@
 <conf>
+  <aircraft
+   name="AAMinionSim"
+   ac_id="11"
+   airframe="airframes/AGGIEAIR/aggieair_minionsim_lia.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
+   flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
+   settings="settings/fixedwing_basic.xml [settings/nps.xml]"
+   settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#0000c5caffff"
+  />
   <aircraft
    name="Ark_Hexa_1.8"
    ac_id="4"
@@ -27,9 +38,9 @@
    airframe="airframes/AGGIEAIR/aggieair_atomic_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
-   flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml"
+   flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#ffff42870000"
   />
   <aircraft
@@ -68,13 +79,13 @@
   <aircraft
    name="El_Captain"
    ac_id="8"
-   airframe="airframes/AGGIEAIR/El_Captain.xml"
-   radio="radios/AGGIEAIR/AggieAir_Specktrum_PPM_MeekPE.xml"
+   airframe="airframes/AGGIEAIR/aggieair_el_captitan_lia.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
-   flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
-   settings="settings/fixedwing_basic.xml settings/control/tune_agr_climb.xml settings/control/ctl_basic.xml settings/nps.xml"
-   settings_modules="modules/AOA_adc.xml modules/airspeed_adc.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
-   gui_color="blue"
+   flight_plan="flight_plans/AGGIEAIR/BasicTuning_BlueRoom2.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#d37d000004fc"
   />
   <aircraft
    name="Iris"
@@ -98,4 +109,15 @@
    settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#00009e93ffff"
   />
+  <aircraft
+   name="Minty"
+   ac_id="10"
+   airframe="airframes/AGGIEAIR/aggieair_minty_lia.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
+   flight_plan="flight_plans/AGGIEAIR/CachJct_Gallo_temp_rect_survey.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/air_data.xml modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#0113b8510000"
+  />
 </conf>
diff --git a/conf/airframes/AGGIEAIR/aggieair_control_panel.xml b/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
index 36df79ed53..52c75f403d 100644
--- a/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
@@ -7,6 +7,8 @@
     <program name="Altitude Update" command="altitude_update.sh"/>
     <program name="uGear Sim" command="start_ugear_sim.sh"/>
     <program name="ADS-B" command="start_adsb.sh"/>
+    <program name="Payload Config" command="../AggieAir-Sidekick/payloadMonitor.py" />
+    <program name="AggieCap3 Sidekick" command="../AggieAir-Sidekick/payloadMonitor.py"/>
 
     <!-- default programs -->
     <program name="Server" command="sw/ground_segment/tmtc/server"/>
@@ -105,16 +107,45 @@
       <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
      </program>
      <program name="Messages"/>
-     <program name="Real-time Plotter"/>
+     <program name="Real-time Plotter">
+       <arg flag="-c" constant="*:telemetry:CAMERA_SNAPSHOT:array_temp"/>
+       <arg flag="-t" constant="Thermal FPA temperature"/>
+     </program>
+     <program name="AggieCap3 Sidekick"/>
    </session>
 
-   <session name="Secure Flight USB-serial@57600">
+   <session name="Secure Flight v1.0 USB-serial@57600">
      <program name="Secure Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
        <arg flag="-a" constant="@AC_ID"/>
        <arg flag="-n" constant="@AIRCRAFT"/>
        <arg flag="-c" />
+       <arg flag="-v" constant="1.0"/>
+       <arg flag="--ping_period" constant="1000"/>
+     </program>
+     <program name="Server"/>
+     <program name="GCS">
+       <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
+     </program>
+     <program name="Messages">
+       <arg flag="-c" constant="telemetry:*"/>
+     </program>
+     <program name="Real-time Plotter">
+       <arg flag="-c" constant="*:telemetry:CAMERA_SNAPSHOT:array_temp"/>
+       <arg flag="-t" constant="Thermal FPA temperature"/>
+     </program>
+     <program name="AggieCap3 Sidekick"/>
+   </session>
+
+   <session name="Secure Flight v2.0 USB-serial@57600">
+     <program name="Secure Link">
+       <arg flag="-d" constant="/dev/ttyUSB0"/>
+       <arg flag="-s" constant="57600"/>
+       <arg flag="-a" constant="@AC_ID"/>
+       <arg flag="-n" constant="@AIRCRAFT"/>
+       <arg flag="-c" />
+       <arg flag="-v" constant="2.0"/>
      </program>
      <program name="Server"/>
      <program name="GCS">
@@ -122,6 +153,7 @@
      </program>
      <program name="Messages"/>
      <program name="Real-time Plotter"/>
+     <program name="AggieCap3 Sidekick"/>
    </session>
 
    <session name="Secure Simulation">
@@ -149,6 +181,10 @@
      <program name="Environment Simulator"/>
    </session>
 
+   <session name="AggieCap3 Configuration">
+     <program name="Payload Config" />
+   </session>
+
    <session name="Flight USB-serial@115200">
      <program name="Data Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
@@ -177,9 +213,10 @@
       <arg flag="--fg_fdm" constant=""/>
       <arg flag="-t" constant="hitl"/>
      </program>
+     <program name="AggieCap3 Sidekick"/>
    </session>
 
-   <session name="Secure HITL USB-serial@57600">
+   <session name="Secure HITL v2.0 USB-serial@57600">
      <program name="Secure Link">
        <arg flag="-d" constant="/dev/ttyUSB0"/>
        <arg flag="-s" constant="57600"/>
@@ -203,6 +240,34 @@
       <arg flag="-t" constant="hitl"/>
       <arg flag="--nodisplay"/>
      </program>
+     <program name="AggieCap3 Sidekick"/>
+   </session>
+
+   <session name="Secure HITL v1.0 USB-serial@57600">
+     <program name="Secure Link">
+       <arg flag="-d" constant="/dev/ttyUSB0"/>
+       <arg flag="-s" constant="57600"/>
+       <arg flag="-a" constant="@AC_ID"/>
+       <arg flag="-n" constant="@AIRCRAFT"/>
+       <arg flag="-c" />
+       <arg flag="-v" constant="1.0"/>
+     </program>
+     <program name="Server">
+      <arg flag="" constant="-no_md5_check"/>
+     </program>
+     <program name="GCS">
+      <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
+     </program>
+     <program name="Messages"/>
+     <program name="Simulator">
+      <arg flag="-a" constant="@AIRCRAFT"/>
+      <arg flag="-f" constant="127.0.0.1"/>
+      <arg flag="-b" constant="127.255.255.255"/>
+      <arg flag="--fg_fdm"/>
+      <arg flag="-t" constant="hitl"/>
+      <arg flag="--nodisplay"/>
+     </program>
+     <program name="AggieCap3 Sidekick"/>
    </session>
 
    <session name="HITL USB-serial@115200">
@@ -243,6 +308,7 @@
      </program>
      <program name="Messages"/>
      <program name="Environment Simulator"/>
+     <program name="AggieCap3 Sidekick"/>
    </session>
 
    <session name="HITL+SBUS USB-serial@57600">
@@ -372,6 +438,7 @@
       </program>
       <program name="Real-time Plotter"/>
       <program name="Environment Simulator"/>
+      <program name="AggieCap3 Sidekick"/>
     </session>
 
 
diff --git a/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml b/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
index c7a304895a..72d55bd67a 100644
--- a/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
@@ -29,12 +29,11 @@ Viking Motorsports ECU example
     <module name="ins"/>
     <module name="control"/>
     <module name="navigation"/>
-  </firmware>
 
-  <modules>
     <module name="sys_mon"/>
     <module name="vms_ecu_demo"/>
-  </modules>
+
+  </firmware>
 
   <!-- commands section -->
   <!-- Servo Configuration -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml b/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml
new file mode 100644
index 0000000000..a4744896cf
--- /dev/null
+++ b/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml
@@ -0,0 +1,311 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+AggieAir El Capitan
+-->
+
+<airframe name="AggieAir El Capitan">
+  <firmware name="fixedwing">
+    <target name="ap" board="lisa_mx_2.1">
+      <module name="radio_control" type="sbus">
+        <configure name="SBUS_PORT" value="UART5"/>
+      </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="FLASH_MODE" value="DFU"/>
+      <module name="telemetry"   type="transparent">
+        <configure name="MODEM_PORT"        value="UART3"/>
+        <configure name="MODEM_BAUD"        value="B57600"/>
+        <define name="GEC_STATUS_LED" value="5"/>
+      </module>
+    </target>
+
+    <!-- NOTE: if you want to use extra_dl module for HITL
+    you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
+    <define name="CONTROL_FREQUENCY" value="100"/>
+    <configure name="TELEMETRY_FREQUENCY" value="100"/>
+    <define name="SERVO_HZ" value="100"/>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <target name="hitl" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
+      <configure name="INS_BAUD" value="B230400"/>
+      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
+      <configure name="AP_BAUD" value="B921600"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <module name="control"/>
+    <module name="navigation"/>
+
+    <module name="ins"       type="vectornav">
+      <configure name="VN_PORT" value="UART2"/>
+      <configure name="VN_BAUD" value="B230400"/>
+    </module>
+
+    <define name="AGR_CLIMB" />
+    <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
+    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
+
+    <module name="nav" type="line"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="launcher"/>
+    <module name="nav" type="skid_landing"/>
+    <module name="nav" type="line_osam"/>
+    <module name="sys_mon"/>
+    <module name="copilot"/>
+    <module name="extra_dl">
+      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
+      <define name="REMAP_UART1" value="TRUE"/>
+      <configure name="EXTRA_DL_PORT" value="UART1"/>
+      <configure name="EXTRA_DL_BAUD" value="B921600"/>
+    </module>
+    <module name="lidar_sf11">
+      <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
+    </module>
+    <module name="battery_monitor.xml">
+      <define name="BATMON_REV4" value="1"/>
+      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
+      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
+      <define name="BATMON_TEMP_OFFSET" value="250"/>
+      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
+    </module>
+    <module name="air_data"/>
+
+  </firmware>
+
+  <!-- commands section -->
+  <!-- Servo Configuration -->
+  <servos>
+    <servo name="THROTTLE"	no="5" min="1100" neutral="1100" max="1900"/>
+    <servo name="AILERON_RIGHT" no="1" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILERON_LEFT"	no="2" min="1100" neutral="1500" max="1900"/>
+    <servo name="ELEVATOR"      no="3" min="1100" neutral="1500" max="1900"/>
+    <servo name="RUDDER"        no="4" min="1900" neutral="1500" max="1100"/>
+    <servo name="FLAP"		no="0" min="1880" neutral="1100" max="1100"/>
+  </servos>
+
+  <!-- Servo Command Structure -->
+  <commands>
+    <axis name="THROTTLE"   failsafe_value="0"/>
+    <axis name="ROLL"       failsafe_value="0"/>
+    <axis name="PITCH"      failsafe_value="0"/>
+    <axis name="YAW"          failsafe_value="0"/>
+    <axis name="FLAP"         failsafe_value="9600"/>
+  </commands>
+
+  <!-- RC Command Structure -->
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"	value="@YAW"/>
+    <set command="FLAP"     value="@FLAP"/>
+  </rc_commands>
+
+  <!-- Define RC commands to Servo in Auto Mode -->
+  <auto_rc_commands>
+    <set command="YAW"  value="@YAW"/>
+  </auto_rc_commands>
+
+  <!-- Define Mixing Parameters -->
+  <section name="MIXER">
+    <define name="AILERON_AILERON_RATE" value="0.9"/>
+    <define name="ELEV_ELEV_RATE" value="0.8"/>
+  </section>
+
+  <!-- Define RC commands to Servos in Manual -->
+  <command_laws>
+    <let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
+
+    <set servo="THROTTLE"       value="@THROTTLE"/>
+    <set servo="AILERON_RIGHT"      value="$aileron"/>  <!--flip signs if necessary -->
+    <set servo="AILERON_LEFT"     value=" - $aileron"/>
+    <set servo="ELEVATOR"       value="$elevator"/>
+    <set servo="RUDDER"         value="@YAW"/>
+    <set servo="FLAP"       value="@FLAP"/>
+  </command_laws>
+
+  <!-- Define Max Roll and Pitch setpoints in Auto1 -->
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+
+    <!-- Dummy Mag values for NPS -
+         replace with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+
+  <!-- Define current estimator and Battery Level Warnings -->
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
+    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
+
+    <!-- Flight values -->
+
+    <define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
+
+    <!-- Simulator values -->
+<!--
+    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+-->
+
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED"   value="16."     unit="m/s"/> <!-- GCS only -->
+    <define name="CARROT"             value="5."  unit="s"/>   <!-- GCS only -->
+    <define name="KILL_MODE_DISTANCE"   value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- TODO: double check the power controls settings, this value seems to be outdated -->
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.136"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN"           value="0.1"/>
+    <define name="AUTO_PITCH_IGAIN"             value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH"             value="0.31415"     unit="rad"/>
+    <define name="AUTO_PITCH_MIN_PITCH"             value="-0.31415"    unit="rad"/>
+
+    <!-- landing control loop -->
+    <define name="LANDING_THROTTLE_PGAIN"           value="600.0"/>
+    <define name="LANDING_THROTTLE_IGAIN"           value="10.0"/>
+    <define name="LANDING_THROTTLE_MAX"           value="0.65"/>
+    <define name="LANDING_DESIRED_SPEED"           value="18" unit="m/s"/>
+    <define name="LANDING_PITCH_PGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_IGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_LIMITS"           value="0.2" unit="rad"/>
+    <define name="LANDING_PITCH_FLARE"           value="0.06"/>
+    <define name="LANDING_ALT_THROTTLE_KILL"           value="15" unit="m"/>
+    <define name="LANDING_ALT_FLARE"           value="5" unit="m"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.135"/>
+    <define name="COURSE_DGAIN" value="0.35"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
+    <define name="PITCH_PGAIN" value="12900."/>
+    <!-- ORIGINAL GAIN     -->
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <!-- SIMULATOR GAIN-->
+    <!--define name="PITCH_DGAIN" value="151.5"/-->
+     
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000"/>
+    <define name="ROLL_RATE_GAIN" value="1600"/>
+    <define name="ROLL_SLEW"        value="0.1"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.85"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <!-- Launcher Takeoff Configuration -->
+  <section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
+    <define name="PITCH" value="0.23" unit="rad"/>
+    <define name="HEIGHT" value="70" unit="m"/>
+    <define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
+    <define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
+    <define name="DISTANCE" value="30" unit="m"/>
+    <define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
+    <define name="CIRCLE_ALT" value="100" unit="m"/>
+    <define name="CIRCLE_RADIUS" value="200" unit="m"/>
+    <define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
+  </section>
+
+  <!-- Skid Landing Configuration -->
+  <section name="LANDING" prefix="SKID_LANDING_">
+    <define name="AF_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_STAGE_TIME" value="10" unit="s"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_LAUNCHSPEED" value="25"/>
+    <define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
+    <define name="JS_AXIS_THROTTLE" value="0"/>
+    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_ROLL" value="1"/>
+
+    <define name="JS_AXIS_PITCH" value="2"/>
+    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_YAW" value="3"/>
+    <define name="JS_AXIS_YAW_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_FLAPS" value="5"/>
+    <define name="JS_AXIS_MODE" value="7"/>
+
+    <define name="JSBSIM_ROLL_TRIM" value="0.008"/>
+    <define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
+    <define name="JSBSIM_YAW_TRIM" value="0.001"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
index 54d997241b..a93fdc4ec3 100644
--- a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
@@ -52,9 +52,7 @@ AggieAir RP3 Minion
     <define name="AGR_CLIMB" />
     <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
     <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
 
-  <modules>
     <module name="nav" type="line"/>
     <module name="nav" type="flower"/>
     <module name="nav" type="survey_poly_osam"/>
@@ -79,7 +77,7 @@ AggieAir RP3 Minion
       <define name="BATMON_TEMP_OFFSET" value="250"/>
       <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
     </module>
-  </modules>
+  </firmware>
 
   <!-- commands section -->
   <!-- Servo Configuration -->
diff --git a/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml
new file mode 100644
index 0000000000..cfce77494e
--- /dev/null
+++ b/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml
@@ -0,0 +1,311 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+AggieAir Minion Sim
+-->
+
+<airframe name="AggieAir Minion Sim">
+  <firmware name="fixedwing">
+    <target name="ap" board="lisa_mx_2.1_chibios">
+      <module name="radio_control" type="sbus">
+        <configure name="SBUS_PORT" value="UART5"/>
+      </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="FLASH_MODE" value="DFU"/>
+      <module name="telemetry"   type="transparent">
+        <configure name="MODEM_PORT"        value="UART3"/>
+        <configure name="MODEM_BAUD"        value="B57600"/>
+        <define name="GEC_STATUS_LED" value="5"/>
+      </module>
+    </target>
+
+    <!-- NOTE: if you want to use extra_dl module for HITL
+    you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
+    <define name="CONTROL_FREQUENCY" value="100"/>
+    <configure name="TELEMETRY_FREQUENCY" value="100"/>
+    <define name="SERVO_HZ" value="100"/>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <target name="hitl" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
+      <configure name="INS_BAUD" value="B230400"/>
+      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
+      <configure name="AP_BAUD" value="B921600"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <module name="control"/>
+    <module name="navigation"/>
+
+    <module name="ins"       type="vectornav">
+      <configure name="VN_PORT" value="UART2"/>
+      <configure name="VN_BAUD" value="B230400"/>
+    </module>
+
+    <define name="AGR_CLIMB" />
+    <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
+    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
+
+    <module name="nav" type="line"/>
+    <module name="nav" type="line_osam"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="launcher"/>
+    <module name="nav" type="skid_landing"/>
+
+    <module name="sys_mon"/>
+    <module name="copilot"/>
+    <module name="extra_dl">
+      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
+      <define name="REMAP_UART1" value="TRUE"/>
+      <configure name="EXTRA_DL_PORT" value="UART1"/>
+      <configure name="EXTRA_DL_BAUD" value="B921600"/>
+    </module>
+    <module name="lidar_sf11">
+      <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
+    </module>
+    <module name="battery_monitor.xml">
+      <define name="BATMON_REV4" value="1"/>
+      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
+      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
+      <define name="BATMON_TEMP_OFFSET" value="250"/>
+      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
+    </module>
+    <module name="air_data"/>
+  </firmware>
+
+  <!-- commands section -->
+  <!-- Servo Configuration -->
+  <servos>
+    <servo name="THROTTLE"	no="5" min="1100" neutral="1100" max="1900"/>
+    <servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
+    <servo name="AILERON_LEFT"	no="2" min="2100" neutral="1500" max="900"/>
+    <servo name="ELEVATOR"      no="3" min="975" neutral="1500" max="2100"/>
+    <servo name="RUDDER"        no="4" min="2100" neutral="1500" max="900"/>
+    <servo name="FLAP"		no="0" min="990" neutral="1945" max="1945"/>
+  </servos>
+
+  <!-- Servo Command Structure -->
+  <commands>
+    <axis name="THROTTLE"   failsafe_value="0"/>
+    <axis name="ROLL"       failsafe_value="0"/>
+    <axis name="PITCH"      failsafe_value="0"/>
+    <axis name="YAW"          failsafe_value="0"/>
+    <axis name="FLAP"         failsafe_value="9600"/>
+  </commands>
+
+  <!-- RC Command Structure -->
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"	value="@YAW"/>
+    <set command="FLAP"     value="@FLAP"/>
+  </rc_commands>
+
+  <!-- Define RC commands to Servo in Auto Mode -->
+  <auto_rc_commands>
+    <set command="YAW"  value="@YAW"/>
+  </auto_rc_commands>
+
+  <!-- Define Mixing Parameters -->
+  <section name="MIXER">
+    <define name="AILERON_AILERON_RATE" value="0.9"/>
+    <define name="ELEV_ELEV_RATE" value="0.8"/>
+  </section>
+
+  <!-- Define RC commands to Servos in Manual -->
+  <command_laws>
+    <let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
+
+    <set servo="THROTTLE"       value="@THROTTLE"/>
+    <set servo="AILERON_RIGHT"      value="$aileron"/>  <!--flip signs if necessary -->
+    <set servo="AILERON_LEFT"     value=" - $aileron"/>
+    <set servo="ELEVATOR"       value="$elevator"/>
+    <set servo="RUDDER"         value="@YAW"/>
+    <set servo="FLAP"       value="@FLAP"/>
+  </command_laws>
+
+  <!-- Define Max Roll and Pitch setpoints in Auto1 -->
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+
+    <!-- Dummy Mag values for NPS -
+         replace with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+
+  <!-- Define current estimator and Battery Level Warnings -->
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
+    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
+
+    <!-- Flight values -->
+
+    <define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
+
+    <!-- Simulator values -->
+<!--
+    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+-->
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED"   value="16."     unit="m/s"/> <!-- GCS only -->
+    <define name="CARROT"             value="5."  unit="s"/>   <!-- GCS only -->
+    <define name="KILL_MODE_DISTANCE"   value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- TODO: double check the power controls settings, this value seems to be outdated -->
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.136"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN"           value="0.1"/>
+    <define name="AUTO_PITCH_IGAIN"             value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH"             value="0.31415"     unit="rad"/>
+    <define name="AUTO_PITCH_MIN_PITCH"             value="-0.31415"    unit="rad"/>
+
+    <!-- landing control loop -->
+    <define name="LANDING_THROTTLE_PGAIN"           value="600.0"/>
+    <define name="LANDING_THROTTLE_IGAIN"           value="10.0"/>
+    <define name="LANDING_THROTTLE_MAX"           value="0.65"/>
+    <define name="LANDING_DESIRED_SPEED"           value="18" unit="m/s"/>
+    <define name="LANDING_PITCH_PGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_IGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_LIMITS"           value="0.2" unit="rad"/>
+    <define name="LANDING_PITCH_FLARE"           value="0.06"/>
+    <define name="LANDING_ALT_THROTTLE_KILL"           value="15" unit="m"/>
+    <define name="LANDING_ALT_FLARE"           value="5" unit="m"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.135"/>
+    <define name="COURSE_DGAIN" value="0.35"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
+    <define name="PITCH_PGAIN" value="12900."/>
+
+    <!-- ORIGINAL GAIN     -->
+    <!--define name="PITCH_DGAIN" value="1.5"/-->
+
+    <!-- SIMULATOR GAIN-->
+    <define name="PITCH_DGAIN" value="151.5"/>
+     
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000"/>
+    <define name="ROLL_RATE_GAIN" value="1600"/>
+    <define name="ROLL_SLEW"        value="0.1"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.85"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <!-- Launcher Takeoff Configuration -->
+  <section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
+    <define name="PITCH" value="0.23" unit="rad"/>
+    <define name="HEIGHT" value="70" unit="m"/>
+    <define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
+    <define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
+    <define name="DISTANCE" value="30" unit="m"/>
+    <define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
+    <define name="CIRCLE_ALT" value="100" unit="m"/>
+    <define name="CIRCLE_RADIUS" value="200" unit="m"/>
+    <define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
+  </section>
+
+  <!-- Skid Landing Configuration -->
+  <section name="LANDING" prefix="SKID_LANDING_">
+    <define name="AF_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_STAGE_TIME" value="10" unit="s"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_LAUNCHSPEED" value="25"/>
+    <define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
+    <define name="JS_AXIS_THROTTLE" value="0"/>
+    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_ROLL" value="1"/>
+
+    <define name="JS_AXIS_PITCH" value="2"/>
+    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_YAW" value="3"/>
+    <define name="JS_AXIS_YAW_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_FLAPS" value="5"/>
+    <define name="JS_AXIS_MODE" value="7"/>
+
+    <define name="JSBSIM_ROLL_TRIM" value="0.008"/>
+    <define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
+    <define name="JSBSIM_YAW_TRIM" value="0.001"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml
new file mode 100644
index 0000000000..7e2e1928cf
--- /dev/null
+++ b/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml
@@ -0,0 +1,311 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+AggieAir Minty Fresh
+-->
+
+<airframe name="AggieAir Minty Fresh">
+  <firmware name="fixedwing">
+    <target name="ap" board="lisa_mx_2.1">
+      <module name="radio_control" type="sbus">
+        <configure name="SBUS_PORT" value="UART5"/>
+      </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="FLASH_MODE" value="DFU"/>
+      <module name="telemetry"   type="transparent">
+        <configure name="MODEM_PORT"        value="UART3"/>
+        <configure name="MODEM_BAUD"        value="B57600"/>
+        <define name="GEC_STATUS_LED" value="5"/>
+      </module>
+    </target>
+
+    <!-- NOTE: if you want to use extra_dl module for HITL
+    you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
+    <define name="CONTROL_FREQUENCY" value="100"/>
+    <configure name="TELEMETRY_FREQUENCY" value="100"/>
+    <define name="SERVO_HZ" value="100"/>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <target name="hitl" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
+      <configure name="INS_BAUD" value="B230400"/>
+      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
+      <configure name="AP_BAUD" value="B921600"/>
+      <module name="telemetry"   type="transparent"/>
+    </target>
+
+    <module name="control"/>
+    <module name="navigation"/>
+
+    <module name="ins"       type="vectornav">
+      <configure name="VN_PORT" value="UART2"/>
+      <configure name="VN_BAUD" value="B230400"/>
+    </module>
+
+    <define name="AGR_CLIMB" />
+    <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
+    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
+
+    <module name="nav" type="line"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="launcher"/>
+    <module name="nav" type="skid_landing"/>
+    <module name="nav" type="line_osam"/>
+    <module name="sys_mon"/>
+    <module name="copilot"/>
+    <module name="extra_dl">
+      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
+      <define name="REMAP_UART1" value="TRUE"/>
+      <configure name="EXTRA_DL_PORT" value="UART1"/>
+      <configure name="EXTRA_DL_BAUD" value="B921600"/>
+    </module>
+    <module name="lidar_sf11">
+      <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
+    </module>
+    <module name="battery_monitor.xml">
+      <define name="BATMON_REV4" value="1"/>
+      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
+      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
+      <define name="BATMON_TEMP_OFFSET" value="250"/>
+      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
+    </module>
+    <module name="air_data"/>
+
+  </firmware>
+
+  <!-- commands section -->
+  <!-- Servo Configuration -->
+  <servos>
+    <servo name="THROTTLE"	no="5" min="1100" neutral="1100" max="1900"/>
+    <servo name="AILERON_RIGHT" no="1" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILERON_LEFT"	no="2" min="1100" neutral="1500" max="1900"/>
+    <servo name="ELEVATOR"      no="3" min="1100" neutral="1500" max="1900"/>
+    <servo name="RUDDER"        no="4" min="1100" neutral="1500" max="1900"/>
+    <servo name="FLAP"		no="0" min="1900" neutral="1100" max="1100"/>
+  </servos>
+
+  <!-- Servo Command Structure -->
+  <commands>
+    <axis name="THROTTLE"   failsafe_value="0"/>
+    <axis name="ROLL"       failsafe_value="0"/>
+    <axis name="PITCH"      failsafe_value="0"/>
+    <axis name="YAW"          failsafe_value="0"/>
+    <axis name="FLAP"         failsafe_value="9600"/>
+  </commands>
+
+  <!-- RC Command Structure -->
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"	value="@YAW"/>
+    <set command="FLAP"     value="@FLAP"/>
+  </rc_commands>
+
+  <!-- Define RC commands to Servo in Auto Mode -->
+  <auto_rc_commands>
+    <set command="YAW"  value="@YAW"/>
+  </auto_rc_commands>
+
+  <!-- Define Mixing Parameters -->
+  <section name="MIXER">
+    <define name="AILERON_AILERON_RATE" value="0.9"/>
+    <define name="ELEV_ELEV_RATE" value="0.8"/>
+  </section>
+
+  <!-- Define RC commands to Servos in Manual -->
+  <command_laws>
+    <let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
+
+    <set servo="THROTTLE"       value="@THROTTLE"/>
+    <set servo="AILERON_RIGHT"      value="$aileron"/>  <!--flip signs if necessary -->
+    <set servo="AILERON_LEFT"     value=" - $aileron"/>
+    <set servo="ELEVATOR"       value="$elevator"/>
+    <set servo="RUDDER"         value="@YAW"/>
+    <set servo="FLAP"       value="@FLAP"/>
+  </command_laws>
+
+  <!-- Define Max Roll and Pitch setpoints in Auto1 -->
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+
+    <!-- Dummy Mag values for NPS -
+         replace with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+
+  <!-- Define current estimator and Battery Level Warnings -->
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
+    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
+
+    <!-- Flight values -->
+
+    <define name="MAX_BAT_LEVEL" value="16.8" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="14.5" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="14.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="14.1" unit="V"/>
+
+    <!-- Simulator values -->
+<!--
+    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+-->
+
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED"   value="16."     unit="m/s"/> <!-- GCS only -->
+    <define name="CARROT"             value="5."  unit="s"/>   <!-- GCS only -->
+    <define name="KILL_MODE_DISTANCE"   value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- TODO: double check the power controls settings, this value seems to be outdated -->
+    <!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.136"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN"           value="0.1"/>
+    <define name="AUTO_PITCH_IGAIN"             value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH"             value="0.31415"     unit="rad"/>
+    <define name="AUTO_PITCH_MIN_PITCH"             value="-0.31415"    unit="rad"/>
+
+    <!-- landing control loop -->
+    <define name="LANDING_THROTTLE_PGAIN"           value="600.0"/>
+    <define name="LANDING_THROTTLE_IGAIN"           value="10.0"/>
+    <define name="LANDING_THROTTLE_MAX"           value="0.65"/>
+    <define name="LANDING_DESIRED_SPEED"           value="18" unit="m/s"/>
+    <define name="LANDING_PITCH_PGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_IGAIN"           value="0.1"/>
+    <define name="LANDING_PITCH_LIMITS"           value="0.2" unit="rad"/>
+    <define name="LANDING_PITCH_FLARE"           value="0.06"/>
+    <define name="LANDING_ALT_THROTTLE_KILL"           value="15" unit="m"/>
+    <define name="LANDING_ALT_FLARE"           value="5" unit="m"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.135"/>
+    <define name="COURSE_DGAIN" value="0.35"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
+    <define name="PITCH_PGAIN" value="12900."/>
+    <!-- ORIGINAL GAIN     -->
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <!-- SIMULATOR GAIN-->
+    <!--define name="PITCH_DGAIN" value="151.5"/-->
+     
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000"/>
+    <define name="ROLL_RATE_GAIN" value="1600"/>
+    <define name="ROLL_SLEW"        value="0.1"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.85"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <!-- Launcher Takeoff Configuration -->
+  <section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
+    <define name="PITCH" value="0.23" unit="rad"/>
+    <define name="HEIGHT" value="70" unit="m"/>
+    <define name="HEIGHT_THRESHOLD" value="10" unit="m"/>
+    <define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
+    <define name="DISTANCE" value="30" unit="m"/>
+    <define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
+    <define name="CIRCLE_ALT" value="100" unit="m"/>
+    <define name="CIRCLE_RADIUS" value="200" unit="m"/>
+    <define name="MAX_CIRCLE_DISTANCE" value="800" unit="m"/>
+  </section>
+
+  <!-- Skid Landing Configuration -->
+  <section name="LANDING" prefix="SKID_LANDING_">
+    <define name="AF_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_STAGE_TIME" value="10" unit="s"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_LAUNCHSPEED" value="25"/>
+    <define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
+    <define name="JS_AXIS_THROTTLE" value="0"/>
+    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_ROLL" value="1"/>
+
+    <define name="JS_AXIS_PITCH" value="2"/>
+    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_YAW" value="3"/>
+    <define name="JS_AXIS_YAW_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_FLAPS" value="5"/>
+    <define name="JS_AXIS_MODE" value="7"/>
+
+    <define name="JSBSIM_ROLL_TRIM" value="0.008"/>
+    <define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
+    <define name="JSBSIM_YAW_TRIM" value="0.001"/>
+  </section>
+
+</airframe>
diff --git a/conf/gcs/AGGIEAIR/vertical.xml b/conf/gcs/AGGIEAIR/vertical.xml
index bd6c0ca9ee..27f91072e7 100755
--- a/conf/gcs/AGGIEAIR/vertical.xml
+++ b/conf/gcs/AGGIEAIR/vertical.xml
@@ -1,56 +1,21 @@
 <!DOCTYPE layout SYSTEM "../layout.dtd">
 
-<layout width="1600" height="939">
+<layout width="1855" height="1056">
   <columns>
     <rows SIZE="600">
       <widget NAME="strips" size="225"/>
       <widget NAME="aircraft" size="350"/>
-      <widget NAME="alarms" size="350"/>
+      <widget NAME="alarms" size="467"/>
     </rows>
     <rows>
-      <widget NAME="map2d" size="937">
-        <papget type="message_field" display="text" x="145" y="11">
+      <widget NAME="map2d" size="1054">
+        <papget type="expression" display="gauge" x="66" y="680">
           <property name="scale" value="1"/>
-          <property name="field" value="CAMERA_SNAPSHOT:array_temp"/>
-          <property name="format" value="FPA Temp: %.2f"/>
-          <property name="size" value="15."/>
-          <property name="color" value="green"/>
-        </papget>
-        <papget type="message_field" display="gauge" x="60" y="176">
-          <property name="scale" value="1"/>
-          <property name="field" value="CAMERA_PAYLOAD:used_disk"/>
-          <property name="min" value="0."/>
-          <property name="max" value="100."/>
+          <property name="expr" value="(RSSI_COMBINED.remote_rssi-RSSI_COMBINED.remote_noise)"/>
+          <property name="min" value="100"/>
+          <property name="max" value="250"/>
           <property name="size" value="50."/>
-          <property name="text" value="Payload disk(%)"/>
-        </papget>
-        <papget type="message_field" display="led" x="465" y="22">
-          <property name="scale" value="1"/>
-          <property name="field" value="CAMERA_PAYLOAD:error_code"/>
-          <property name="size" value="15."/>
-          <property name="text" value="Payload status:"/>
-        </papget>
-        <papget type="message_field" display="text" x="144" y="57">
-          <property name="scale" value="1"/>
-          <property name="field" value="CAMERA_SNAPSHOT:snapshot_image_number"/>
-          <property name="format" value="Capture number: %.0f"/>
-          <property name="size" value="15."/>
-          <property name="color" value="green"/>
-        </papget>
-        <papget type="message_field" display="text" x="478" y="11">
-          <property name="scale" value="1"/>
-          <property name="field" value="CAMERA_PAYLOAD:error_code"/>
-          <property name="format" value="code: %.0f"/>
-          <property name="size" value="15."/>
-          <property name="color" value="green"/>
-        </papget>
-        <papget type="message_field" display="gauge" x="66" y="464">
-          <property name="scale" value="1."/>
-          <property name="field" value="COPILOT_STATUS:used_memory"/>
-          <property name="min" value="0."/>
-          <property name="max" value="100."/>
-          <property name="size" value="50."/>
-          <property name="text" value="Copilot mem(%)"/>
+          <property name="text" value="RSSI Remote(dB)"/>
         </papget>
         <papget type="message_field" display="gauge" x="64" y="367">
           <property name="scale" value="1."/>
@@ -65,6 +30,21 @@
           <property name="field" value="CAMERA_PAYLOAD:door_status"/>
           <property name="size" value="15."/>
           <property name="text" value="Door status:"/>
+          <property name="test_invert" value="true"/>
+        </papget>
+        <papget type="message_field" display="text" x="144" y="57">
+          <property name="scale" value="1"/>
+          <property name="field" value="CAMERA_SNAPSHOT:snapshot_image_number"/>
+          <property name="format" value="Capture number: %.0f"/>
+          <property name="size" value="15."/>
+        </papget>
+        <papget type="message_field" display="gauge" x="66" y="464">
+          <property name="scale" value="1."/>
+          <property name="field" value="COPILOT_STATUS:used_memory"/>
+          <property name="min" value="0."/>
+          <property name="max" value="100."/>
+          <property name="size" value="50."/>
+          <property name="text" value="Copilot mem(%)"/>
         </papget>
         <papget type="message_field" display="gauge" x="64" y="272">
           <property name="scale" value="1.0"/>
@@ -74,6 +54,43 @@
           <property name="size" value="50."/>
           <property name="text" value="Payload mem(%)"/>
         </papget>
+        <papget type="expression" display="gauge" x="187" y="681">
+          <property name="scale" value="1"/>
+          <property name="expr" value="(RSSI_COMBINED.local_rssi-RSSI_COMBINED.local_noise)"/>
+          <property name="min" value="100"/>
+          <property name="max" value="250"/>
+          <property name="size" value="50."/>
+          <property name="text" value="RSSI Local(dB)"/>
+        </papget>
+        <papget type="message_field" display="gauge" x="60" y="176">
+          <property name="scale" value="1"/>
+          <property name="field" value="CAMERA_PAYLOAD:used_disk"/>
+          <property name="min" value="0."/>
+          <property name="max" value="100."/>
+          <property name="size" value="50."/>
+          <property name="text" value="Payload disk(%)"/>
+        </papget>
+        <papget type="message_field" display="led" x="465" y="22">
+          <property name="scale" value="1"/>
+          <property name="field" value="CAMERA_PAYLOAD:error_code"/>
+          <property name="size" value="15."/>
+          <property name="text" value="Payload status:"/>
+	  <property name="test_invert" value="true"/>
+        </papget>
+        <papget type="message_field" display="text" x="478" y="11">
+          <property name="scale" value="1"/>
+          <property name="field" value="CAMERA_PAYLOAD:error_code"/>
+          <property name="format" value="code: %.0f"/>
+          <property name="size" value="15."/>
+          <property name="color" value="green"/>
+        </papget>
+        <papget type="message_field" display="text" x="145" y="11">
+          <property name="scale" value="1"/>
+          <property name="field" value="CAMERA_SNAPSHOT:array_temp"/>
+          <property name="format" value="FPA Temp: %.2f"/>
+          <property name="size" value="15."/>
+          <property name="color" value="blue"/>
+        </papget>
       </widget>
     </rows>
   </columns>
diff --git a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
index 8a335a5969..7b1d63bd2b 100644
--- a/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
+++ b/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml
@@ -7,6 +7,7 @@
       <message name="AUTOPILOT_VERSION"   period="11.1"/>
       <message name="ALIVE"               period="5.1"/>
       <message name="GPS_LLA"             period="0.25"/>
+      <message name="GPS_INT"             period="0.25"/>
       <message name="NAVIGATION"          period="1."/>
       <message name="ATTITUDE"            period="0.5"/>
       <message name="ESTIMATOR"           period="0.5"/>
@@ -24,7 +25,9 @@
       <message name="SECURE_LINK_STATUS"  period="2.1"/>
       <message name="COMMANDS"            period="1"/>
       <message name="FBW_STATUS"          period="2"/>
+      <message name="BATTERY_MONITOR"     period="2"/>
       <message name="VECTORNAV_INFO"      period="1.0"/>
+      <message name="I2C_ERRORS"          period="5.0"/>
     </mode>
     <mode name="minimal">
       <message name="ALIVE"               period="5"/>
@@ -108,9 +111,32 @@
   </process>
   <process name="Extra">
     <mode name="default">
-      <message name="COMMANDS"            period="0.01"/>
-      <message name="GPS_LLA"             period="1.25"/>
-      <message name="ATTITUDE"            period="1.1"/>
+      <message name="ACTUATORS"           period="0.01"/> <!-- For trimming & HITL, important! Do not change! The period must match CONTROL_FREQUENCY-->
+      <message name="AUTOPILOT_VERSION"   period="5.0"/>
+      <message name="ALIVE"               period="1.0"/>
+      <message name="NAVIGATION"          period="0.1"/>
+      <message name="GPS_LLA"             period="0.01"/>
+      <message name="GPS_INT"             period="0.01"/>
+      <message name="ATTITUDE"            period="0.01"/>
+      <message name="ESTIMATOR"           period="0.1"/>
+      <message name="WP_MOVED"            period="1.0"/>
+      <message name="CIRCLE"              period="1.0"/>
+      <message name="IMU_ACCEL"           period="0.01"/>
+      <message name="INS"             	  period="0.1"/>
+      <message name="INS_REF"             period="0.1"/>
+      <message name="DESIRED"             period="0.1"/>
+      <message name="BAT"                 period="1.0"/>
+      <message name="SEGMENT"             period="1.0"/> 
+      <message name="NAVIGATION_REF"      period="0.5"/>
+      <message name="PPRZ_MODE"           period="1.0"/>
+      <message name="SETTINGS"            period="1.0"/>
+      <message name="DATALINK_REPORT"     period="1.0"/>
+      <message name="DL_VALUE"            period="1.0"/>
+      <message name="IR_SENSORS"          period="1.0"/>
+      <message name="SECURE_LINK_STATUS"  period="1.0"/>
+      <message name="COMMANDS"            period="0.01"/> <!-- For HITL, important! Do not change! The period must match CONTROL_FREQUENCY -->
+      <message name="FBW_STATUS"          period="1.0"/>
+      <message name="BATTERY_MONITOR"     period="2"/>
       <message name="VECTORNAV_INFO"      period="1.0"/>
     </mode>
   </process>