diff --git a/conf/airframes/minimag1.xml b/conf/airframes/minimag1.xml
index 649371e706..38682b5358 100644
--- a/conf/airframes/minimag1.xml
+++ b/conf/airframes/minimag1.xml
@@ -60,8 +60,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="12" unit="deg"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
@@ -97,7 +97,7 @@
   </section>
  
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="11." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -106,25 +106,25 @@
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
   </section>
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.03"/>
+    <define name="ALTITUDE_PGAIN" value="-0.07"/>
     <!-- outer loop saturation -->
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
     <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="-500"/>
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.025"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
@@ -228,7 +228,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
 
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
@@ -246,8 +246,13 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
 # ap.srcs += gyro.c
 
 # Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
+# ap.CFLAGS += -DUSE_GPIO
+# ap.srcs += $(SRC_ARCH)/gpio.c
+
+# Chemo sensor
+ap.CFLAGS += -DUSE_ADC_5 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC=ADC_5 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+ap.srcs += adc_generic.c
+
 
 
 # Harware In The Loop