diff --git a/conf/Makefile.avr b/conf/Makefile.avr
index fb64ea2f1a..a2a86c22df 100644
--- a/conf/Makefile.avr
+++ b/conf/Makefile.avr
@@ -115,7 +115,7 @@ $(OBJDIR)/%.hex: $(OBJDIR)/%.elf
 %.install: $(OBJDIR)/%.hex check_arch
 	# stk200 needs to be erased first
 	$(UISP) $(UISP_FLAGS) --erase
-	$(UISP) $(UISP_FLAGS) --upload --verify if=$<
+	$(UISP) $(UISP_FLAGS) --upload if=$<
 
 erase: check_arch
 	$(UISP) $(ISP_FLAGS) --erase
diff --git a/conf/airframes/gorazoptere_brushless_3DMG.xml b/conf/airframes/gorazoptere_brushless_3DMG.xml
new file mode 100644
index 0000000000..bb255e72ae
--- /dev/null
+++ b/conf/airframes/gorazoptere_brushless_3DMG.xml
@@ -0,0 +1,83 @@
+<airframe name="Gorazoptere_brushless_3DMG" ctl_board="V1_2_1" gps="SAM_LS">
+  <section name="imu" prefix="IMU_">
+    <define name="TYPE_3DMG" value="1"/>
+  </section>
+  <section name="rate_loop">
+    <define name="ROLL_DOT_PGAIN" value="-192."/>
+    <define name="ROLL_DOT_IGAIN" value="0."/>
+    <define name="ROLL_DOT_DGAIN" value="0."/>
+    <define name="PITCH_DOT_PGAIN" value="-192."/>
+    <define name="PITCH_DOT_IGAIN" value="0."/>
+    <define name="PITCH_DOT_DGAIN" value="0."/>
+    <define name="YAW_DOT_PGAIN" value="-100."/>
+    <define name="YAW_DOT_IGAIN" value="0."/>
+    <define name="YAW_DOT_DGAIN" value="0."/>
+  </section>
+  <section name="DESIRED_OF_RADIO" prefix="DESIRED_OF_RADIO_">
+    <define name="ROLL_DOT" value="0.015"/>
+    <define name="PITCH_DOT" value="0.015"/>
+    <define name="YAW_DOT" value="0.015"/>
+  </section>
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="0"/>
+    <define name="IR2" value="1"/>
+  </section>
+  <servos min="1000" neutral="1500" max="2000">
+    <servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_BACK"  no="2" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_LEFT"  no="3" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_RIGHT" no="4" min="1250" neutral="1250" max="1850"/>
+  </servos>
+  <command>
+    <let var="roll"     value="0.3  * @ROLL"/>
+    <let var="pitch"    value="0.3  * @PITCH"/>
+    <let var="yaw"      value="0.4  * @YAW"/>
+    <let var="throttle" value="2.0   * @THROTTLE"/>
+    <set servo="MOTOR_FRONT" value="$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>
+  <section name="INFRARED" prefix="IR_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-1024"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
+    <define name="DEFAULT_CONTRAST" value="200"/>
+    <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
+    <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
+    <linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
+  </section>
+  <section name="PID">
+    <define name="ROLL_PGAIN" value="15000."/>
+    <define name="PITCH_OF_ROLL" value="0.0"/>
+    <define name="PITCH_PGAIN" value="15000."/>
+    <define name="MAX_ROLL" value="0.35"/>
+    <define name="MAX_PITCH" value="0.35"/>
+    <define name="MIN_PITCH" value="-0.35"/>
+  </section>
+  <section name="ALT" prefix="CLIMB_">
+    <define name="PITCH_PGAIN" value="-0.1"/>
+    <define name="PITCH_IGAIN" value="0.025"/>
+    <define name="PGAIN" value="-0.03"/>
+    <define name="IGAIN" value="0.1"/>
+    <define name="MAX" value="1."/>
+    <define name="LEVEL_GAZ" value="0.31"/>
+    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+    <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
+  </section>
+  <section name="NAV">
+    <define name="COURSE_PGAIN" value="-0.2"/>
+    <define name="ALTITUDE_PGAIN" value="-0.025"/>
+    <define name="NAV_PITCH" value="0."/>
+  </section>
+  <section name="BAT">
+    <define name="MILLIAMP_PER_PERCENT" value="2.16"/>
+    <define name="VOLTAGE_ADC_A" value="0.0175"/>
+    <define name="VOLTAGE_ADC_B" value="0.088"/>
+    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
+    <define name="LOW_BATTERY" value="93" unit="1e-1V"/>
+  </section>
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+  </section>
+</airframe>
diff --git a/conf/airframes/gorazoptere_brushless_ANALOG.xml b/conf/airframes/gorazoptere_brushless_ANALOG.xml
new file mode 100644
index 0000000000..6b3781711c
--- /dev/null
+++ b/conf/airframes/gorazoptere_brushless_ANALOG.xml
@@ -0,0 +1,86 @@
+<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2_1" gps="SAM_LS">
+  <section name="imu" prefix="IMU_">
+    <define name="TYPE_ANALOG" value="1"/>
+    <define name="ADC_ROLL_DOT" value="1"/>
+    <define name="ADC_PITCH_DOT" value="2"/>
+    <define name="ADC_YAW_DOT" value="3"/>
+  </section>
+  <section name="rate_loop">
+    <define name="ROLL_DOT_PGAIN" value="-192."/>
+    <define name="ROLL_DOT_IGAIN" value="0."/>
+    <define name="ROLL_DOT_DGAIN" value="0."/>
+    <define name="PITCH_DOT_PGAIN" value="-192."/>
+    <define name="PITCH_DOT_IGAIN" value="0."/>
+    <define name="PITCH_DOT_DGAIN" value="0."/>
+    <define name="YAW_DOT_PGAIN" value="-100."/>
+    <define name="YAW_DOT_IGAIN" value="0."/>
+    <define name="YAW_DOT_DGAIN" value="0."/>
+  </section>
+  <section name="DESIRED_OF_RADIO" prefix="DESIRED_OF_RADIO_">
+    <define name="ROLL_DOT" value="0.015"/>
+    <define name="PITCH_DOT" value="0.015"/>
+    <define name="YAW_DOT" value="0.015"/>
+  </section>
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="IR1" value="0"/>
+    <define name="IR2" value="1"/>
+  </section>
+  <servos min="1000" neutral="1500" max="2000">
+    <servo name="MOTOR_FRONT" no="1" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_BACK"  no="2" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_LEFT"  no="3" min="1250" neutral="1250" max="1850"/>
+    <servo name="MOTOR_RIGHT" no="4" min="1250" neutral="1250" max="1850"/>
+  </servos>
+  <command>
+    <let var="roll"     value="0.3  * @ROLL"/>
+    <let var="pitch"    value="0.3  * @PITCH"/>
+    <let var="yaw"      value="0.4  * @YAW"/>
+    <let var="throttle" value="2.0   * @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>
+  <section name="INFRARED" prefix="IR_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-1024"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
+    <define name="DEFAULT_CONTRAST" value="200"/>
+    <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
+    <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
+    <linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
+  </section>
+  <section name="PID">
+    <define name="ROLL_PGAIN" value="15000."/>
+    <define name="PITCH_OF_ROLL" value="0.0"/>
+    <define name="PITCH_PGAIN" value="15000."/>
+    <define name="MAX_ROLL" value="0.35"/>
+    <define name="MAX_PITCH" value="0.35"/>
+    <define name="MIN_PITCH" value="-0.35"/>
+  </section>
+  <section name="ALT" prefix="CLIMB_">
+    <define name="PITCH_PGAIN" value="-0.1"/>
+    <define name="PITCH_IGAIN" value="0.025"/>
+    <define name="PGAIN" value="-0.03"/>
+    <define name="IGAIN" value="0.1"/>
+    <define name="MAX" value="1."/>
+    <define name="LEVEL_GAZ" value="0.31"/>
+    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+    <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
+  </section>
+  <section name="NAV">
+    <define name="COURSE_PGAIN" value="-0.2"/>
+    <define name="ALTITUDE_PGAIN" value="-0.025"/>
+    <define name="NAV_PITCH" value="0."/>
+  </section>
+  <section name="BAT">
+    <define name="MILLIAMP_PER_PERCENT" value="2.16"/>
+    <define name="VOLTAGE_ADC_A" value="0.0175"/>
+    <define name="VOLTAGE_ADC_B" value="0.088"/>
+    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
+    <define name="LOW_BATTERY" value="93" unit="1e-1V"/>
+  </section>
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+  </section>
+</airframe>
diff --git a/conf/conf.xml b/conf/conf.xml
index f7c974f317..9f007171b6 100644
--- a/conf/conf.xml
+++ b/conf/conf.xml
@@ -39,6 +39,22 @@
     radio="radios/mc3030.xml" 
     flight_plan="flight_plans/muret_mini.xml"
   />
+ 
+  <aircraft 
+    name="Gorazoptere_brushless_3DMG"
+    ac_id="1"
+    airframe="airframes/gorazoptere_brushless_3DMG.xml" 
+    radio="radios/mc3030.xml" 
+    flight_plan="flight_plans/muret_mini.xml"
+  />
+
+  <aircraft 
+    name="Gorazoptere_brushless_ANALOG"
+    ac_id="1"
+    airframe="airframes/gorazoptere_brushless_ANALOG.xml" 
+    radio="radios/mc3030.xml" 
+    flight_plan="flight_plans/muret_mini.xml"
+  />
 
   <ground name="desktop" ivy_bus="127.255.255.255:2010">
     <link name="downlink" port="/dev/ttyS0" protocol="pprz/modem"/>
diff --git a/conf/control_panel.xml b/conf/control_panel.xml
index f8245c988b..8f9e753cb0 100644
--- a/conf/control_panel.xml
+++ b/conf/control_panel.xml
@@ -121,7 +121,7 @@
     </session>
   
    <session name="flight microjet multimon">
-      <variable name="ivy_bus" value="192.168.1:2001"/>
+      <variable name="ivy_bus" value="127:2007"/>
       <program name="http server"/>     
       <program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
       <program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
diff --git a/conf/messages.xml b/conf/messages.xml
index 7a3745f81b..8e05cbf322 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -181,6 +181,16 @@
      <field name="Elev" type="int8" unit="deg"/>
      <field name="Azim" type="int16" unit="deg"/>
   </message>
+
+  <message name="IMU_3DMG" ID="26">
+    <field name="roll_dot" type="int16"/>
+    <field name="pitch_dot" type="int16"/>
+    <field name="yaw_dot" type="int16"/>
+    <field name="roll" type="int16"/>
+    <field name="pitch" type="int16"/>
+    <field name="yaw" type="int16"/>
+  </message>
+
 </class>
 
 <class name="telemetry_fbw" ID="0X41">