diff --git a/conf/airframes/flyingtux.xml b/conf/airframes/flyingtux.xml
index 6d41ace772..bbba08e714 100644
--- a/conf/airframes/flyingtux.xml
+++ b/conf/airframes/flyingtux.xml
@@ -121,15 +121,18 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
 fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
 
-fbw.CFLAGS += -DDOWNLINK -DUART0 
+fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
 fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
 
 fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
 fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
+ap.CFLAGS += -DMCU_SPI_LINK
+ap.srcs += inter_mcu.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_hw.c
+
 ap.CFLAGS += -DINFRARED -DGPS -DUBX -DRADIO_CONTROL
 # -DRADIO_CONTROL_CALIB
 # ap.EXTRA_SRCS += if_calib.c
diff --git a/conf/airframes/gorrazoptere_esc_3DMG_test.xml b/conf/airframes/gorrazoptere_esc_3DMG_test.xml
deleted file mode 100644
index ffa833a80a..0000000000
--- a/conf/airframes/gorrazoptere_esc_3DMG_test.xml
+++ /dev/null
@@ -1,97 +0,0 @@
-<airframe name="Gorrazoptere_esc_3dmg">
-  <servos>
-    <servo name="MOTOR_FRONT" no="0" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_BACK"  no="1" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_LEFT"  no="2" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_RIGHT" no="3" min="0" neutral="0" max="0x3ff"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE"  failsafe_value="0"/>
-    <axis name="ROLL_DOT"  failsafe_value="0"/>
-    <axis name="PITCH_DOT" failsafe_value="0"/>
-    <axis name="YAW_DOT"   failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXER">
-    <define name="ROLL_PART"  value="0.15"/>
-    <define name="PITCH_PART" value="0.15"/>
-    <define name="YAW_PART"   value="0.2"/>
-  </section>
-
-  <command_laws>
-    <let var="roll"     value="ROLL_PART * @ROLL_DOT"/>
-    <let var="pitch"    value="PITCH_PART * @PITCH_DOT"/>
-    <let var="yaw"      value="YAW_PART * @YAW_DOT"/>
-    <let var="throttle" value="@THROTTLE"/>
-    <set servo="MOTOR_FRONT" value="$throttle + $pitch + $yaw"/>
-    <set servo="MOTOR_BACK"  value="$throttle - $pitch + $yaw"/>
-    <set servo="MOTOR_RIGHT" value="$throttle + $roll  - $yaw"/>
-    <set servo="MOTOR_LEFT"  value="$throttle - $roll  - $yaw"/>
-  </command_laws>
-
-
-<control>
-  
- <level name="rate">
-    <loop name="rolldot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
-      data_type = "int16_t"
-      measure="estimator_rolldot" setpoint="control_rolldot_setpoint" output="control_commands[COMMAND_ROLL_DOT]"/>
-    <loop name="pitchdot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
-      data_type = "int16_t"
-      measure="estimator_pitchdot" setpoint="control_pitchdot_setpoint" output="control_commands[COMMAND_PITCH_DOT]"/>
-    <loop name="yawdot" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
-      data_type = "int16_t"
-      measure="estimator_yawdot" setpoint="control_yawdot_setpoint" output="control_commands[COMMAND_YAW_DOT]"/> 
- </level>
-
- 
- <level name="attitude">
-    <loop name="roll" loop_type="P" pgain="100" saturation = "444"
-       data_type = "int16_t"
-       measure="estimator_roll" setpoint="control_roll_setpoint" output="control_rolldot_setpoint"/>
-    <loop name="pitch" loop_type="PID" pgain="100" dgain="200" igain="300" saturation = "444" integral_saturation = "777"
-       data_type = "int16_t"
-       measure="estimator_pitch" setpoint="control_pitch_setpoint" output="control_pitchdot_setpoint"/>
- </level>
-
-
-  <mode name="MANUAL">
-    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
-    <input input="rc_values[RADIO_ROLL]" output="control_rolldot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
-    <input input="rc_values[RADIO_PITCH]" output="control_pitchdot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
-    <input input="rc_values[RADIO_YAW]" output="control_yawdot_setpoint" range="(1. * 32768000. / 8500. / 9600.)"/>
-    <run name="rate"/>
-  </mode>
-
-  <mode name="AUTO1">
-    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
-    <input input="rc_values[RADIO_ROLL]" output="control_roll_setpoint" range="1"/>
-    <input input="rc_values[RADIO_PITCH]" output="control_pitch_setpoint" range="1"/>
-    <input input="rc_values[RADIO_YAW]" output="control_yawdot_setpoint" range="1"/>
-    <run name="rate"/>
-    <run name="attitude"/>
-  </mode>
-
-<!--
-  <mode name="AUTO2">
-    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
-    <input input="rc_values[RADIO_ROLL]" output="control_setpoint_roll" range="1"/>
-    <input input="rc_values[RADIO_PITCH]" output="control_setpoint_pitch" range="1"/>
-    <input input="rc_values[RADIO_YAW]" output="control_setpoint_yawdot" range="1"/>
-  </mode>
--->
-
-</control>
-  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/disc_board.makefile
-ap.CFLAGS += -DRADIO_CONTROL
-ap.EXTRA_SRCS += radio_control.c $(SRC_ARCH)/ppm_hw.c
-ap.CFLAGS += -DACTUATORS=\"servos_esc_hw.h\"
-ap.EXTRA_SRCS += $(SRC_ARCH)/servos_esc_hw.c
-ap.CFLAGS += -DESTIMATOR=\"estimator_3dmg.h\"
-ap.EXTRA_SRCS += estimator_3dmg.c
-ap.CFLAGS += -D_3DMG
-ap.EXTRA_SRCS += 3dmg.c
- </makefile>
-</airframe>
\ No newline at end of file
diff --git a/conf/airframes/ladybug.xml b/conf/airframes/ladybug.xml
deleted file mode 100755
index 6bbac440a3..0000000000
--- a/conf/airframes/ladybug.xml
+++ /dev/null
@@ -1,98 +0,0 @@
-<!-- hacker A20-34S / apc 7*5 / 2 lipos 950 mah / 8a au sol -->
-<airframe name="Ladybug">
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="1"/>
-    <define name="IR2" value="0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-  </section>
-  <servos min="1000" neutral="1500" max="2000">
-    <servo name="GAZ"    no="0" min="1250" neutral="1250" max="1850"/>
-    <servo name="AILEVON_RIGHT"  no="2" min="1200" neutral="1495" max="2000"/>
-    <servo name="AILEVON_LEFT" no="4" min="1200" neutral="1540" max="2000"/>
-  </servos>
-  <command>
-    <set servo="GAZ" value="2 * @THROTTLE"/>
-    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
-    <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
-  </command>
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.55"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-  <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-5" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="9" unit="deg"/>
-    <define name="DEFAULT_CONTRAST" value="400"/>
-    <define name="RAD_OF_IR_CONTRAST" value="0.6"/>
-    <define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
-    <define name="RAD_OF_IR_MAX_VALUE" value="0.004"/>
-    <linear name="RollOfIrs" arity="2" coeff1="1" coeff2="-1"/>
-    <linear name="PitchOfIrs" arity="2" coeff1="1" coeff2="1"/>
-    <define name="ADC_ROLL_NEUTRAL" value="0"/>
-    <define name="ADC_PITCH_NEUTRAL" value="1020"/>
-  </section>
-  <section name="PID">
-    <define name="ROLL_PGAIN" value="6000."/>
-    <define name="PITCH_OF_ROLL" value="0.2"/>
-    <define name="PITCH_PGAIN" value="11000."/>
-    <define name="MAX_ROLL" value="0.4"/>
-    <define name="AUTO1_MAX_ROLL" value="0.8"/>
-    <define name="MAX_PITCH" value="0.25"/>
-    <define name="MIN_PITCH" value="-0.35"/>
-    <define name="AILERON_OF_GAZ" value="-0.04"/>
-   </section>
-  <section name="ALT" prefix="CLIMB_">
-      <define name="PITCH_PGAIN" value="-0.1"/>
-    <define name="PITCH_IGAIN" value="1.0"/>
-    <define name="PGAIN" value="-0.025"/>
-    <define name="IGAIN" value="0.01"/>
-    <define name="MAX" value="1."/>
-    <define name="LEVEL_GAZ" value="0.5"/>
-    <define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
-    <define name="PITCH_OF_VZ_PGAIN" value="0.08"/>
-  </section>
-  <section name="NAV">
-    <define name="COURSE_PGAIN" value="-0.3"/>
-    <define name="ALTITUDE_PGAIN" value="-0.05"/>
-    <define name="NAV_PITCH" value="0."/>
-  </section>
-  <section name="BAT" channel="3">
-    <define name="MILLIAMP_PER_PERCENT" value="1."/>
-    <define name="VOLTAGE_ADC_A" value="0.01753"/>
-    <define name="VOLTAGE_ADC_B" value="0.214462"/>
-    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
-    <define name="LOW_BATTERY" value="90" unit="1e-1V"/>
-  </section>
-  <section name="SERVOS" channel="6">
-    <define name="SERVOS_VOLTAGE_ADC_A" value="0.005661"/>
-    <define name="SERVOS_VOLTAGE_ADC_B" value="0.014948"/>
-    <define name="ServosVoltageOfAdc(adc)" value="(SERVOS_VOLTAGE_ADC_A * adc + SERVOS_VOLTAGE_ADC_B)"/>
-  </section>
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="9."/>
-    <define name="CARROT" value="5." unit="s"/>
-  </section>
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="5."/>
-    <define name="YAW_RESPONSE_FACTOR" value="1."/>
-    <define name="WEIGHT" value="0.45"/>
-  </section>
-    <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    <define name="DEFAULT_GAZ" value="CLIMB_LEVEL_GAZ+0.05" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-    <define name="HOME_RADIUS" value="50" unit="m"/>
-  </section>
-  <section name="CAM" prefix="CAM_">
-    <define name="THETA0" value="45" unit="deg"/>
-    <define name="PHI0" value="-45" unit="deg"/>
-  </section>
-  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
-
-ap.CFLAGS += -DUBX
-  </makefile>
-</airframe>
diff --git a/conf/airframes/microjet1.xml b/conf/airframes/microjet1.xml
index 497934c874..19ca40afb4 100644
--- a/conf/airframes/microjet1.xml
+++ b/conf/airframes/microjet1.xml
@@ -114,12 +114,18 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
 fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
 
-fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 
+fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
 fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 
+fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
+ap.CFLAGS += -DMCU_SPI_LINK
+ap.srcs += inter_mcu.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_hw.c
+
 ap.CFLAGS += -DGPS -DUBX -DINFRARED -DRADIO_CONTROL
 
   </makefile>
diff --git a/conf/airframes/twinstar2.xml b/conf/airframes/twinstar2.xml
index a1c9533789..3cc88226cc 100644
--- a/conf/airframes/twinstar2.xml
+++ b/conf/airframes/twinstar2.xml
@@ -123,12 +123,15 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
 fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
 
-fbw.CFLAGS += -DDOWNLINK -DUART0 
+fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
 fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
 
+fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
+
 fbw.CFLAGS += -Werror
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
 ap.CFLAGS += -DGPS -DUBX -DINFRARED -DRADIO_CONTROL
diff --git a/conf/airframes/twinstar4.xml b/conf/airframes/twinstar4.xml
index d8279736c7..093bb2850f 100755
--- a/conf/airframes/twinstar4.xml
+++ b/conf/airframes/twinstar4.xml
@@ -126,12 +126,13 @@ fbw.srcs += $(SRC_ARCH)/servos_4017.c
 fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
 
-fbw.CFLAGS += -DDOWNLINK -DUART0 
+fbw.CFLAGS += -DDOWNLINK -DUART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
 fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
 
 fbw.CFLAGS += -DDEBUG 
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
+
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
 ap.CFLAGS += -DINFRARED -DGPS -DUBX -DRADIO_CONTROL_CALIB
diff --git a/conf/airframes/twinstar5.xml b/conf/airframes/twinstar5.xml
index 69fc996dbd..0a022b5337 100644
--- a/conf/airframes/twinstar5.xml
+++ b/conf/airframes/twinstar5.xml
@@ -121,19 +121,22 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix_proto1.makefile
 
 fbw.srcs += commands.c
 
-fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 
-fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
-
 fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
 fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
 
 fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
 
-fbw.srcs += inter_mcu.c  $(SRC_ARCH)/adc_hw.c
+fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+fbw.srcs += inter_mcu.c $(SRC_ARCH)/spi_hw.c
+
+fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=uart0
+fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
+
+fbw.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=uart0
 ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
 
 #ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 
diff --git a/conf/airframes/twinstar_test.xml b/conf/airframes/twinstar_test.xml
deleted file mode 100644
index 16b405aa8f..0000000000
--- a/conf/airframes/twinstar_test.xml
+++ /dev/null
@@ -1,61 +0,0 @@
-<airframe name="TwinTest">
-  <servos>
-    <servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
-    <servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
-    <servo name="ELEVATOR" no="7" min="1000" neutral="1500" max="2000"/>
-    <servo name="RUDDER"   no="3" min="1270" neutral="1546" max="1850"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="9600"/>
-    <axis name="ROLL"     failsafe_value="20"/>
-    <axis name="PITCH"    failsafe_value="9600"/>
-    <axis name="YAW"      failsafe_value="0"/>
-  </commands>
-
-<!--
-<control>
-  <mode name="MANUAL">
-    <control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
-    <control type="direct" input="RADIO_ROLL" output="COMMAND_ROLL"/>
-    <control type="direct" input="RADIO_PITCH" output="COMMAND_PITCH"/>
-    <control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
-  </mode>
-
-  <mode name="AUTO1">
-    <control type="direct" input="RADIO_THROTTLE" output="COMMAND_THROTTLE"/>
-    <control type="P" setpoint="RADIO_ROLL" measure="estimator_roll" output="COMMAND_ROLL"/>
-    <control type="P" setpoint="RADIO_PITCH" measure="estimator_pitch" output="COMMAND_PITCH"/>
-    <control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
-  </mode>
-
-  <mode name="AUTO2">
-    <control type="nav" output="COMMAND_THROTTLE"/>
-    <control type="nav" output="COMMAND_ROLL"/>
-    <control type="nav" output="COMMAND_PITCH"/>
-    <control type="direct" input="RADIO_YAW" output="COMMAND_YAW"/>
-  </mode>
-</control>
- -->
-
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.66"/>
-    <define name="COMBI_SWITCH" value="1.0"/>
-  </section>
-
-  <command_laws>
-    <set servo="GAZ" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-  </command_laws>
-  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/test_v1_2_1.makefile
-fbw.CFLAGS += -DRADIO_CONTROL 
-fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c control_2.c
-  </makefile>
-</airframe>