diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index be85ab5e0e..6b7b00e008 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -7,7 +7,7 @@
 <airframe name="Yapa v1">
 
   <servos>
-    <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
+    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILERON_LEFT" no="2" min="900" neutral="1500" max="2100"/>
     <servo name="AILERON_RIGHT" no="6" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="7" min="1900" neutral="1500" max="1100"/>
@@ -17,8 +17,8 @@
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
     <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
   </commands>
 
@@ -103,8 +103,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.205" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.232" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0.0" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.075" unit="rad"/>
   </section>
 
   <section name="MISC">
@@ -120,6 +120,9 @@
     <define name="GLIDE_AIRSPEED" value="10"/>
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
+
+    <define name="COMMAND_ROLL_TRIM" value="-2300" />
+    <define name="COMMAND_PITCH_TRIM" value="1800" />
   </section>
 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -191,16 +194,14 @@
 
 
   <modules>
-    <load name="ins_xsens_MTiG_fixedwing.xml">
-      <configure name="XSENS_UART_NR" value="0"/>
-    </load>
-
+<!--
     <load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="LIGHT_LED_NAV" value="2"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
+-->
 
 <!--    <load name="digital_cam_i2c.xml"/>  -->
   <!--    <load name="ins_ppzuavimu.xml"/>  -->
@@ -212,15 +213,15 @@
 
   <firmware name="fixedwing">
 
-    <target name="ap" board="tiny_2.11">
+    <target name="ap" board="tiny_2.11" />
+    <target name="sim" board="pc"/>
+
       <define name="STRONG_WIND"/>
       <define name="WIND_INFO"/>
       <define name="WIND_INFO_RET"/>
       <define name="LOITER_TRIM"/>
       <define name="TUNE_AGRESSIVE_CLIMB"/>
       <define name="AGR_CLIMB"/>
-    </target>
-    <target name="sim" board="pc"/>
 
     <subsystem name="radio_control" type="ppm"/>
 
@@ -233,7 +234,9 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="navigation"/>
-    <subsystem name="gps" type="xsens"/>
+    <subsystem name="ins" type="xsens">
+      <configure name="XSENS_UART_NR" value="0" />
+    </subsystem>
 
 
 </firmware>
diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
index fdd3976c3a..000a3c7c25 100644
--- a/conf/airframes/TU_Delft/skywalkerfiber.xml
+++ b/conf/airframes/TU_Delft/skywalkerfiber.xml
@@ -1,25 +1,91 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!--
-	YAPA + XSens + XBee
+<!-- 
+     Skywalker Fiberglass "GraySky" FPV 168 (http://www..com/)
+     YAPA v2  (http://paparazzi.enac.fr/wiki/Yapa#Yapa_v2)
+     With modified power routing
+     * Aspiring
+     * XBee 2.4Ghz
+     * uBlox LEA5H and Sarantel helix GPS antenna
+
+     Notes:
+     The two aileron servos are separately connected and have an additional spoileron function
 -->
 
-<airframe name="Yapa v2">
+<airframe name="Graysky">
 
+<!-- **************************** FIRMWARE ********************************* -->
+  <firmware name="fixedwing">
+    <target name="ap" board="tiny_2.11">
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+      <configure name="AHRS_ALIGNER_LED" value="3"/>
+    </target>
+
+    <target name="sim" board="pc"/>
+
+    <define name="LOITER_TRIM"/>
+    <define name="TUNE_AGRESSIVE_CLIMB"/>
+    <define name="AGR_CLIMB"/>
+    <define name="ALT_KALMAN"/>
+
+    <!-- Radio Control -->
+    <subsystem name="radio_control" type="ppm"/>
+
+    <!-- Communication -->
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+
+    <!-- Actuators -->
+    <subsystem name="control"/>
+
+    <!-- Navigation -->
+    <subsystem name="navigation"/>
+
+    <!-- Sensors -->
+    <subsystem name="imu" type="aspirin_i2c"/>
+    <subsystem name="ahrs" type="float_dcm"/>
+    <subsystem name="gps" type="ublox"/>
+  </firmware>
+
+<!-- **************************** MODULES ********************************** --> 
+  <modules>
+<!--    <load name="light.xml">
+      <define name="LIGHT_LED_STROBE" value="3"/>
+      <define name="LIGHT_LED_NAV" value="2"/>
+      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+    </load>
+-->
+
+<!--    <load name="digital_cam_i2c.xml"/>  -->
+  <!--    <load name="ins_ppzuavimu.xml"/>  -->
+    <load name="digital_cam.xml">
+      <define name="DC_SHUTTER_LED" value="3"/>
+    </load>
+  </modules>
+
+<!-- ***************************** SERVOS ********************************** --> 
   <servos>
-    <servo name="THROTTLE" no="9" min="1100" neutral="1100" max="1900"/>
-    <servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
+    <!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
+    <servo name="THROTTLE"      no="9" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
     <servo name="AILERON_RIGHT" no="8" min="1000" neutral="1500" max="2000"/>
-    <servo name="ELEVATOR" no="5" min="1900" neutral="1500" max="1100"/>
-    <servo name="RUDDER" no="1" min="1100" neutral="1500" max="1900"/>
+    <servo name="ELEVATOR"      no="5" min="1900" neutral="1500" max="1100"/>
+    <servo name="RUDDER"        no="1" min="1100" neutral="1500" max="1900"/>
   </servos>
 
+<!-- commands section -->
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="9600"/>	<!-- both elerons up as butterfly brake ? -->
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="YAW"      failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+<!-- both ailerons up as braking spoilerons -->
+    <axis name="BRAKE"    failsafe_value="9600"/>  
   </commands>
 
   <rc_commands>
@@ -30,6 +96,15 @@
     <set command="BRAKE" value="@FLAPS"/>
   </rc_commands>
 
+  <!-- To still be able to use rudder in autonomous fight YAW  can come in handy while tuning -->
+<!--
+  <auto_rc_commands>
+    <set command="YAW"      value="@YAW"/>
+    <set command="GAIN1"    value="@GAIN1"/>
+    <set command="CALIB"    value="@CALIB"/>
+  </auto_rc_commands>
+-->
+
   <section name="SERVO_MIXER_GAINS">
     <define name="AILERON_NEUTRAL" value="0.3f"/>
 
@@ -41,7 +116,7 @@
 
     <define name="PITCH_GAIN" value="0.9f"/>
 
-    <define name="BRAKE_AILEVON" value="-0.7f"/>
+    <define name="BRAKE_SPOILERON" value="-0.7f"/>
     <define name="BRAKE_PITCH" value="0.1f"/>
     <define name="MAX_BRAKE_RATE" value="130"/>
 
@@ -66,8 +141,8 @@
     <let var="aileron_down" value="(@ROLL  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
     <let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
     <let var="rightturn" value="(1 - $leftturn)"/>
-    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
-    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
+    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_SPOILERON) - (MAX_PPRZ * AILERON_NEUTRAL)"/>
+    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_SPOILERON) + (MAX_PPRZ *AILERON_NEUTRAL)"/>
 
     <set servo="RUDDER" value="@YAW + @ROLL * RUDDER_OF_AILERON"/>
     <set servo="THROTTLE" value="@THROTTLE"/>
@@ -91,9 +166,11 @@
   <section name="BAT">
 <!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/> -->
 
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+<!-- Note that 3S lipo 3.1*3=9.3 most of the time the cutof for the motor part of the ESC -->
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>   
     <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -102,10 +179,11 @@
     <define name="GYRO_Q_NEUTRAL" value="0"/>
     <define name="GYRO_R_NEUTRAL" value="0"/>
 
-    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
-    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.947" integer="16"/>
+    <!-- ITG3200: SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <!-- IMU3000: SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
+    <define name="GYRO_P_SENS" value="4.336" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.336" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.336" integer="16"/>
 
     <define name="GYRO_P_Q" value="0."/>
     <define name="GYRO_P_R" value="0"/>
@@ -115,12 +193,12 @@
     <define name="GYRO_R_Q" value="0."/>
 
     <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="-1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="-14"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+    <define name="ACCEL_X_NEUTRAL" value="-12"/>
+    <define name="ACCEL_Y_NEUTRAL" value="+3"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-30"/>
 
     <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
     <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
@@ -128,8 +206,8 @@
     <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>
 
     <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
 
     <define name="MAG_X_NEUTRAL" value="0"/>
     <define name="MAG_Y_NEUTRAL" value="0"/>
@@ -154,6 +232,10 @@
   </section>
 
   <section name="MISC">
+
+    <define name="COMMAND_ROLL_TRIM" value="1" />
+    <define name="COMMAND_PITCH_TRIM" value="-1" />
+
     <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -162,11 +244,13 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
 
+<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
     <define name="GLIDE_AIRSPEED" value="10"/>
     <define name="GLIDE_VSPEED" value="3."/>
     <define name="GLIDE_PITCH" value="45" unit="deg"/>
   </section>
 
+<!-- ******************* VERTICAL CONTROL ********************************** --> 
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
     <!-- outer loop proportional gain -->
@@ -188,6 +272,8 @@
     <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
   </section>
 
+<!-- ******************* HORIZONTAL CONTROL ******************************** --> 
+
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.16799998283"/>
     <define name="COURSE_DGAIN" value="0.280999988317"/>
@@ -208,6 +294,7 @@
     <define name="ROLL_RATE_GAIN" value="-820.312011719"/>
   </section>
 
+<!-- ***************************** AGGRESIVE ******************************* -->
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="30"/>
     <define name="BLEND_END" value="15"/>
@@ -219,6 +306,7 @@
     <define name="DESCENT_NAV_RATIO" value="0.834999978542"/>
   </section>
 
+<!-- ****************************** FAILSAFE ******************************* -->
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
     <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
@@ -229,62 +317,10 @@
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
   </section>
 
+<!-- ******************************* CAMERA ******************************** -->
   <section name="DIGITAL_CAMERA" prefix="DC_">
     <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
     <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
   </section>
 
-
-  <modules>
-
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="2"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </load>
-
-<!--    <load name="digital_cam_i2c.xml"/>  -->
-  <!--    <load name="ins_ppzuavimu.xml"/>  -->
-    <load name="digital_cam.xml">
-      <define name="DC_SHUTTER_LED" value="2"/>
-    </load>
-
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="tiny_2.11">
-      <configure name="PERIODIC_FREQUENCY" value="120"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-      <configure name="AHRS_ALIGNER_LED" value="3"/>
-    </target>
-
-    <target name="sim" board="pc"/>
-
-    <define name="LOITER_TRIM"/>
-    <define name="TUNE_AGRESSIVE_CLIMB"/>
-    <define name="AGR_CLIMB"/>
-    <define name="ALT_KALMAN"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="navigation"/>
-
-    <subsystem name="imu" type="aspirin_i2c"/>
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="gps" type="ublox"/>
-
-</firmware>
-
 </airframe>