diff --git a/conf/airframes/BR/3DplaneLisaS.xml b/conf/airframes/BR/3DplaneLisaS.xml
index 7e954241ee..2204562205 100644
--- a/conf/airframes/BR/3DplaneLisaS.xml
+++ b/conf/airframes/BR/3DplaneLisaS.xml
@@ -160,11 +160,6 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -201,5 +196,7 @@ Pin 6 on lisa/s is number 3 in airframefile = ELEVATOR
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
     </module>
     <module name="ins"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/DelFlyDualPWMservo.xml b/conf/airframes/BR/DelFlyDualPWMservo.xml
index febef9bdf9..29de2203e2 100644
--- a/conf/airframes/BR/DelFlyDualPWMservo.xml
+++ b/conf/airframes/BR/DelFlyDualPWMservo.xml
@@ -190,11 +190,6 @@
    <define name="IGAIN" value="24"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -230,5 +225,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
     </module>
     <module name="ins"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/DreamCacher_bart.xml b/conf/airframes/BR/DreamCacher_bart.xml
index 198c320874..d0d3e353cd 100644
--- a/conf/airframes/BR/DreamCacher_bart.xml
+++ b/conf/airframes/BR/DreamCacher_bart.xml
@@ -174,11 +174,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -222,5 +217,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
     </module>
     <module name="ins"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/asctec_br.xml b/conf/airframes/BR/asctec_br.xml
index ddd18ee4da..60f693274b 100644
--- a/conf/airframes/BR/asctec_br.xml
+++ b/conf/airframes/BR/asctec_br.xml
@@ -30,14 +30,12 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
-  </modules>
+  </firmware>
 
   <servos driver="Asctec_v2">
     <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
index fdb5376c26..87ca28fc21 100644
--- a/conf/airframes/BR/bebop_default.xml
+++ b/conf/airframes/BR/bebop_default.xml
@@ -22,9 +22,7 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="float_mlkf"/>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -55,7 +53,7 @@
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
     </module>
     <module name="video_exif"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index bed9450cbe..f80a52df46 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -28,9 +28,7 @@
       <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -62,7 +60,7 @@
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </module>
     <module name="video_exif"/>
-  </modules>
+  </firmware>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index 836d38b714..e0b26e2928 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -30,9 +30,7 @@
       <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
     </module>
     <module name="ins" type="extended"/>
-  </firmware>
 
-  <modules main_freq="512">
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
@@ -64,7 +62,9 @@
       <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
     </module>
     <module name="video_exif"/>
-  </modules>
+
+  </firmware>
+
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index 5e348f3ad2..b9b3969bd6 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
    gui_color="white"
   />
   <aircraft
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="#ffff0689b7a1"
   />
   <aircraft
@@ -51,7 +51,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_survey.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/digital_cam_video.xml modules/nav_survey_rectangle_rotorcraft.xml modules/video_rtp_stream.xml modules/video_capture.xml modules/cv_colorfilter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_colorfilter.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="green"
   />
   <aircraft
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="white"
   />
   <aircraft
@@ -73,7 +73,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
    release="3c20b30a61bf15a55fdf6d909c82615364e75751"
   />
@@ -85,7 +85,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_superbitrf_from_hand.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="white"
   />
   <aircraft
@@ -96,7 +96,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -107,7 +107,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -118,7 +118,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
   />
   <aircraft
@@ -129,7 +129,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
    gui_color="blue"
   />
   <aircraft
@@ -140,7 +140,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/quadshot_delft.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
    release="cdca4378a73ac8a9468fdc4ee9f4a966d6f90c16"
   />
diff --git a/conf/airframes/BR/ladybird_kit_bart.xml b/conf/airframes/BR/ladybird_kit_bart.xml
index 4727f251bb..0db524c82d 100644
--- a/conf/airframes/BR/ladybird_kit_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_bart.xml
@@ -179,11 +179,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -227,5 +222,7 @@
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
     </module>
     <module name="ins"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
index c01bd0ae86..302eca9d10 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
@@ -187,14 +187,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="send_imu_mag_current"/>
- <module name="stereocam">
-	<configure name="STEREO_UART" value="UART1"/>
-	<configure name="STEREO_BAUD" value="B115200"/>
-</module>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="datalink">
@@ -229,5 +221,10 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
+    <module name="send_imu_mag_current"/>
+    <module name="stereocam">
+      <configure name="STEREO_UART" value="UART1"/>
+      <configure name="STEREO_BAUD" value="B115200"/>
+    </module>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index 12471c368f..0a6e495c5e 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -184,13 +184,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-<module name="geo_mag"/>
-<module name="air_data"/>
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -234,5 +227,9 @@
       <define name="AHRS_USE_GPS_HEADING" value="0"/>
     </module>
     <module name="ins" type="extended"/>
+    <module name="geo_mag"/>
+    <module name="air_data"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/BR/mavtec4_br.xml b/conf/airframes/BR/mavtec4_br.xml
index 16a491f0d1..9f8354d1a7 100644
--- a/conf/airframes/BR/mavtec4_br.xml
+++ b/conf/airframes/BR/mavtec4_br.xml
@@ -30,14 +30,12 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs"          type="float_mlkf"/>
     <module name="ins" type="hff"/>
-  </firmware>
 
-  <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
-  </modules>
+  </firmware>
 
   <servos driver="Asctec_v2">
     <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
diff --git a/conf/airframes/CDW/cdw_asctec.xml b/conf/airframes/CDW/cdw_asctec.xml
index cd0f712c69..e2748020b8 100644
--- a/conf/airframes/CDW/cdw_asctec.xml
+++ b/conf/airframes/CDW/cdw_asctec.xml
@@ -30,6 +30,11 @@
     <module name="stabilization" type="int_euler"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins" type="hff"/>
+
+    <!--   <module name="logger_spi_link"/> -->
+    <module name="imu_quality_assessment"/>
+    <module name="gps" type="ubx_ucenter" />
+
   </firmware>
 
   <section name="AUTOPILOT">
@@ -38,13 +43,6 @@
     <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
   </section>
 
-  <!-- ************************* MODULES ************************* -->
-
-  <modules main_freq="512">
-    <!--   <module name="logger_spi_link"/> -->
-    <module name="imu_quality_assessment"/>
-    <module name="gps" type="ubx_ucenter" />
-  </modules>
 
   <!-- ************************* ACTUATORS ************************* -->
 
diff --git a/conf/airframes/CDW/cdw_bebop.xml b/conf/airframes/CDW/cdw_bebop.xml
deleted file mode 100644
index 781ba7ec6c..0000000000
--- a/conf/airframes/CDW/cdw_bebop.xml
+++ /dev/null
@@ -1,229 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop_indi">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop">
-      <define name="STABILIZATION_INDI_G2_R" value="0.1450"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="udp"/>
-      <define name="STABILIZATION_INDI_G2_R" value="0.0"/>
-    </target>
-
-    <!--define name="USE_SONAR" value="TRUE"/-->
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="bebop"/>
-    <module name="imu" type="bebop"/>
-    <module name="gps" type="furuno"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
-    <!--module name="logger_file">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </module-->
-    <module name="bebop_cam"/>
-
-    <module name="cv_blob_locator">
-      <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>
-    </module>
-
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
-    </module>
-
-    <module name="nav" type="survey_rectangle_rotorcraft">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </module>
-    <module name="nav" type="survey_poly_rotorcraft">
-      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
-    </module>
-    <module name="video_capture">
-      <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
-    </module>
-    <module name="digital_cam_video">
-      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
-    </module>
-    <module name="video_exif"/>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="AIR_DATA" prefix="AIR_DATA_">
-    <define name="CALC_AIRSPEED" value="FALSE"/>
-    <define name="CALC_TAS_FACTOR" value="FALSE"/>
-    <define name="CALC_AMSL_BARO" value="TRUE"/>
-  </section>
-
-  <include href="conf/airframes/tudelft/calibrations/bebop5.xml" />
-
-  <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"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.0639"/>
-    <define name="G1_Q" value="0.0361"/>
-    <define name="G1_R" value="0.0022"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="600.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="28.0"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="8.0"/>
-    <define name="FILT_CUTOFF_R" value="8.0"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="2.5"/>
-    <define name="DESCEND_VSPEED" value="-1.0"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index 631c1a25b1..157369202b 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
    gui_color="white"
    release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
@@ -19,7 +19,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/imu_quality_assessment.xml modules/configure_actuators_mkk_v2.xml modules/ahrs_int_cmpl_euler.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_euler.xml modules/configure_actuators_mkk_v2.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_quality_assessment.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/CDW/cdw_mavtec.xml b/conf/airframes/CDW/cdw_mavtec.xml
index 567936826d..2c9f302820 100644
--- a/conf/airframes/CDW/cdw_mavtec.xml
+++ b/conf/airframes/CDW/cdw_mavtec.xml
@@ -30,18 +30,7 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="float_mlkf"/>
     <module name="ins" type="hff"/>
-  </firmware>
 
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <!-- ************************* MODULES ************************* -->
-
-  <modules main_freq="512">
     <!--   <module name="logger_spi_link"/>
     <module name="imu_quality_assessment"/> -->
     <module name="switch" type="servo"/>
@@ -50,7 +39,15 @@
     <module name="nav" type="survey_rectangle_rotorcraft"/>
     <module name="nav" type="survey_poly_rotorcraft"/>
     <module name="geo_mag"/>
-  </modules>
+
+  </firmware>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+  </section>
 
   <!-- ************************* ACTUATORS ************************* -->
 
diff --git a/conf/airframes/CDW/cdw_tricopter.xml b/conf/airframes/CDW/cdw_tricopter.xml
index 996cdf7356..08bbf7303a 100644
--- a/conf/airframes/CDW/cdw_tricopter.xml
+++ b/conf/airframes/CDW/cdw_tricopter.xml
@@ -44,6 +44,10 @@ LiPo/LiIo-Zellen: 3
     <module name="stabilization" type="int_euler"/>
     <module name="ahrs" type="int_cmpl_euler"/>
     <module name="ins" type="hff"/>
+
+    <module name="configure_actuators_mkk_v2"/>
+    <module name="imu_quality_assessment"/>
+
   </firmware>
 
   <section name="AUTOPILOT">
@@ -52,13 +56,7 @@ LiPo/LiIo-Zellen: 3
     <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
   </section>
 
-  <!-- ************************* MODULES ************************* -->
-
-  <modules>
-    <module name="configure_actuators_mkk_v2"/>
-    <module name="imu_quality_assessment"/>
-  </modules>
-
+ 
   <!-- ************************* ACTUATORS ************************* -->
 
   <section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
diff --git a/conf/airframes/KS/kirk_conf.xml b/conf/airframes/KS/kirk_conf.xml
index 646d0cbe40..8607a2efc6 100644
--- a/conf/airframes/KS/kirk_conf.xml
+++ b/conf/airframes/KS/kirk_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
    gui_color="#ffff00000000"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffff00000000"
   />
 </conf>
diff --git a/conf/airframes/KS/ks_mavtec1.xml b/conf/airframes/KS/ks_mavtec1.xml
index c7633a22cd..52e145eaf3 100644
--- a/conf/airframes/KS/ks_mavtec1.xml
+++ b/conf/airframes/KS/ks_mavtec1.xml
@@ -37,9 +37,6 @@
     <module name="guidance"      type="indi"/>
   </firmware>
 
-  <modules>
-  </modules>
-
   <servos driver="Pwm">
     <servo name="MOTOR_0" no="0" min="1148" neutral="1200" max="1832"/>
     <servo name="MOTOR_1" no="1" min="1148" neutral="1200" max="1832"/>
diff --git a/conf/airframes/examples/quadshot_178_pylons.xml b/conf/airframes/examples/quadshot_178_pylons.xml
deleted file mode 100644
index 67a7be3b1a..0000000000
--- a/conf/airframes/examples/quadshot_178_pylons.xml
+++ /dev/null
@@ -1,363 +0,0 @@
-<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
-     More information on the Quadshot can be found at transition-robotics.com -->
-
-<airframe name="quadshot 178 pylons">
-
-  <servos driver="Pwm">
-    <servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
-    <servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
-    <servo name="B1"  no="2" min="1000" neutral="1100" max="2000"/>
-    <servo name="B2"  no="3" min="1000" neutral="1100" max="2000"/>
-<!--    <servo name="A1" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="A2" no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="B1"  no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="B2"  no="3" min="1000" neutral="1000" max="2000"/>-->
-<!--    <servo name="ELEVON_LEFT"  no="4" min="1150" neutral="1500" max="1850"/>
-    <servo name="ELEVON_RIGHT"  no="5" min="1150" neutral="1500" max="1850"/>-->
-    <servo name="ELEVON_LEFT"  no="4" min="1300" neutral="1500" max="1700"/>
-    <servo name="ELEVON_RIGHT"  no="5" min="1300" neutral="1500" max="1700"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="A1" value="motor_mixing.commands[0]"/>
-    <set servo="A2"  value="motor_mixing.commands[1]"/>
-    <set servo="B1" value="motor_mixing.commands[2]"/>
-    <set servo="B2"  value="motor_mixing.commands[3]"/>
-
- <!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
- <!-- First the correct feedback is stored in variables -->
-    <let var="aileron_feedback_left"  value="-@YAW"/>
-    <let var="aileron_feedback_right" value="-@YAW"/>
-
-    <let var="elevator_feedback_left"  value="-@PITCH"/>
-    <let var="elevator_feedback_right" value="+@PITCH"/>
-
- <!-- Here the gains are defined for the two feedback cases, hover and forward-->
-    <let var="hover_left"  value="15*$aileron_feedback_left"/>
-    <let var="hover_right" value="15*$aileron_feedback_right"/>
-
-<!--     if using INDI -->
-<!--    <let var="forward_left"  value="aileron_gain*$aileron_feedback_left+elevator_gain*$elevator_feedback_left"/>
-    <let var="forward_right" value="aileron_gain*$aileron_feedback_right+elevator_gain*$elevator_feedback_right"/>-->
-
-<!--     if using PID with gain scheduling -->
-    <let var="forward_left"  value="15*$aileron_feedback_left + 0*$elevator_feedback_left"/>
-    <let var="forward_right" value="15*$aileron_feedback_right + 0*$elevator_feedback_right"/>
-
-    <!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
-    <set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left  : $forward_left" />
-    <set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right  : $forward_right" />
-<!--     <set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? 9000 : -9000" /> -->
-  </command_laws>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="PITCH_COEF"  value="{-256, -256,  256,  256 }"/>
-    <define name="ROLL_COEF"   value="{ 256, -256,  109, -109 }"/>
-    <define name="YAW_COEF"    value="{ 256, -256, -109,  109 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
-<!--    <define name="PITCH_COEF"  value="{ 0, 0, 0, 0 }"/>
-    <define name="ROLL_COEF"   value="{ 0, 0, 0, 0 }"/>
-    <define name="YAW_COEF"    value="{ 0, 0, 0, 0 }"/>
-    <define name="THRUST_COEF" value="{ 0, 0, 0, 0 }"/>-->
-  </section>
-
-  <!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
-
-  <!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
-       The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Use default driver values for gyro -->
-
-    <!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-    <define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="104"/>
-    <define name="MAG_Y_NEUTRAL" value="9"/>
-    <define name="MAG_Z_NEUTRAL" value="15"/>
-    <define name="MAG_X_SENS" value="3.57880347067" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.54049742843" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.0620533034" integer="16"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
-
-<!--     <define name="USE_YAW_FOR_MOTOR_ARMING" value="TRUE"/> -->
-  </section>
-
-  <section name="BAT">
-    <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
-
-    <define name="GAIN_P" value="350"/>
-    <define name="GAIN_Q" value="250"/>
-    <define name="GAIN_R" value="350"/>
-
-    <define name="IGAIN_P" value="200"/>
-    <define name="IGAIN_Q" value="200"/>
-    <define name="IGAIN_R" value="200"/>
-  </section>
-
-  <!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
-  <section name ="GAIN_SETS">
-    <define name="NUMBER_OF_GAINSETS" value="2"/>
-    <define name="SCHEDULING_VARIABLE" value="guidance_hybrid_norm_ref_airspeed"/>
-    <define name="SCHEDULING_POINTS" value="{4, 10}"/>
-    <define name="SCHEDULING_VARIABLE_FRAC" value="8"/>
-
-
-    <define name="PHI_P" value="{150, 150}"/>
-    <define name="PHI_D" value="{150, 150}"/>
-    <define name="PHI_I" value="{30, 30}"/>
-    <define name="PHI_DD" value="{0, 0}"/>
-
-    <define name="THETA_P" value="{100, 100}"/>
-    <define name="THETA_D" value="{100, 100}"/>
-    <define name="THETA_I" value="{40, 40}"/>
-    <define name="THETA_DD" value="{0, 0}"/>
-
-    <define name="PSI_P" value="{300, 300}"/>
-    <define name="PSI_D" value="{150, 150}"/>
-    <define name="PSI_I" value="{0, 0}"/>
-    <define name="PSI_DD" value="{0, 0}"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="60." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="60." unit="deg"/>
-    <define name="SP_MAX_R"       value="180." unit="deg/s"/>
-    <define name="DEADBAND_R"     value="250"/>
-    <define name="DEADBAND_A"     value="250"/>
-    <define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="1500" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="1500" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_R"  value="1500" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="300." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="150"/>
-    <define name="PHI_DGAIN"  value="150"/>
-    <define name="PHI_IGAIN"  value="30"/>
-
-    <define name="THETA_PGAIN"  value="100"/>
-    <define name="THETA_DGAIN"  value="100"/>
-    <define name="THETA_IGAIN"  value="40"/>
-
-    <define name="PSI_PGAIN"  value="300"/>
-    <define name="PSI_DGAIN"  value="150"/>
-    <define name="PSI_IGAIN"  value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 0"/>
-    <define name="THETA_DDGAIN" value=" 0"/>
-    <define name="PSI_DDGAIN"   value=" 0"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="60." unit="deg"/>
-    <define name="SP_MAX_THETA" value="60." unit="deg"/>
-    <define name="SP_MAX_R" value="180." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-    <define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
-    <!-- control effectiveness -->
-    <define name="CONTROL_EFFECTIVENESS_P" value="40.0"/>
-    <define name="CONTROL_EFFECTIVENESS_Q" value="9.0"/>
-    <define name="CONTROL_EFFECTIVENESS_R" value="170.0"/>
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="70.0"/>
-    <define name="REF_ERR_Q" value="90.0"/>
-    <define name="REF_ERR_R" value="70.0"/>
-    <define name="REF_RATE_P" value="12.0"/>
-    <define name="REF_RATE_Q" value="12.0"/>
-    <define name="REF_RATE_R" value="12.0"/>
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="8.0"/>
-    <define name="FILT_CUTOFF_R" value="6.4"/>
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.03"/>
-    <define name="ACT_DYN_Q" value="0.03"/>
-    <define name="ACT_DYN_R" value="0.03"/>
-  </section>
-
-
- <!-- Gains for vertical navigation -->
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-    <define name="MAX_SUM_ERR" value="2000000"/>
-    <define name="HOVER_KP"    value="200"/>
-    <define name="HOVER_KD"    value="175"/>
-    <define name="HOVER_KI"    value="100"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value ="0.2"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!--     Delft magnetic field -->
-    <define name="H_X" value="0.39049610"/>
-    <define name="H_Y" value="0.00278894"/>
-    <define name="H_Z" value="0.92060036"/>
-  </section>
-
- <!-- Gains for horizontal navigation-->
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="50"/>
-    <define name="IGAIN" value="65"/>
-
-    <define name="MAX_BANK" value="RadOfDeg(55)"/>
-    <define name="FORWARD_MAX_BANK" value="RadOfDeg(35)"/>
-    <define name="USE_REF" value="FALSE"/>
-  </section>
-
-  <section name="NAV">
-    <define name="ARRIVED_AT_WAYPOINT" value="5" unit="m"/>
-  </section>
-
-  <section name="MISC">
-    <!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
-    <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
-    <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
-    <define name="TRANSITION_MAX_OFFSET" value="-85.0" unit="deg"/>
-
-    <define name="RC_LOST_MODE" value="MODE_AUTO2"/>
-
-    <define name="SWITCH_STICKS_FOR_RATE_CONTROL" value="TRUE"/>
-
-    <define name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
-
-    <define name="AHRS_MAG_UPDATE_ALL_AXES" value="FALSE"/>
-
-    <define name="THRESHOLD_GROUND_DETECT" value="25.0"/>
-    <define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
-    <define name="FAILSAFE_GROUND_DETECT" value="TRUE"/>
-    <define name="HYBRID_NAVIGATION" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-    <define name="ADAPTIVE_INDI" value="TRUE"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
-  </section>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_m_2.0">
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_KILL_SWITCH" value="6"/>
-      <!-- Put the mode on channel AUX1-->
-<!--      <define name="RADIO_MODE" value="RADIO_AUX1"/>-->
-<!--       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
-    </module>
-
-    <!-- ONLY if flashing via JTAG cable -->
-    <configure name="FLASH_MODE"   value="JTAG"/>
-    <configure name="BMP_PORT" value="/dev/ttyACM0" />
-
- <!-- To use an airspeed sensor on I2C, enable I2C2-->
-<!--      <define name="USE_I2C2"/> -->
-
-
-      <!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
-      <!--       <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-      <define name="USE_SERVOS_7AND8"/>
-    </module>
-
-    <module name="telemetry"     type="xbee_api"/>
-<!--    <module name="telemetry"     type="transparent"/> -->
-    <module name="imu"           type="aspirin_v2.1"/>
-    <module name="gps"           type="ublox"/>
-<!--     <module name="stabilization" type="int_quat"/> -->
-    <module name="stabilization" type="indi_simple"/>
-
-    <module name="ahrs"          type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="1"/>
-      <define name="AHRS_USE_GPS_HEADING" value="0"/>
-    </module>
-
-    <module name="ins"/>
-    
-    <load name="gps_ubx_ucenter.xml"/>
-
-    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
-    <load name="led_safety_status.xml">
-          <define name="USE_LED_BODY" value="1"/>
-          <define name="SAFETY_WARNING_LED" value="BODY"/>
-    </load>
-
-  <!--Use an airspeed sensor and get the measured airspeed in the messages-->
-<!--    <load name="airspeed_ets.xml">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
-    </load>-->
-
-<!--     <load name="high_speed_logger_spi_link.xml"/> -->
-
-<!--    <load name="AOA_adc.xml">
-      <configure name="ADC_AOA" value="ADC_2"/>
-      <define name="AOA_OFFSET" value="0"/>
-      <define name="AOA_FILTER" value="0"/>
-      <define name="USE_AOA"/>
-      <define name="AOA_SENS" value="2.0*M_PI/1024/4"/>
-    </load>-->
-
-  <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
-<!--     <load name="gain_scheduling.xml"/> -->
-  </firmware>
-</airframe>
diff --git a/conf/airframes/tudelft/quadshot_pylons.xml b/conf/airframes/examples/quadshot_pylons.xml
similarity index 99%
rename from conf/airframes/tudelft/quadshot_pylons.xml
rename to conf/airframes/examples/quadshot_pylons.xml
index 16771b7b9c..0011e89802 100644
--- a/conf/airframes/tudelft/quadshot_pylons.xml
+++ b/conf/airframes/examples/quadshot_pylons.xml
@@ -205,25 +205,6 @@
 <!--     <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/> -->
   </section>
 
-  <modules main_freq="512">
-    <module name="gps" type="ubx_ucenter"/>
-
-    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
-    <module name="led_safety_status">
-      <define name="USE_LED_BODY" value="1"/>
-      <define name="SAFETY_WARNING_LED" value="BODY"/>
-    </module>
-
-    <!--Use an airspeed sensor and get the measured airspeed in the messages-->
-    <module name="airspeed_ets">
-      <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
-    </module>
-
-    <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
-    <!--module name="gain_scheduling"/-->
-  </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="spektrum">
@@ -257,5 +238,22 @@
     </module>
 
     <module name="ins"/>
+
+    <module name="gps" type="ubx_ucenter"/>
+
+    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="BODY"/>
+    </module>
+
+    <!--Use an airspeed sensor and get the measured airspeed in the messages-->
+    <module name="airspeed_ets">
+      <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
+      <define name="AIRSPEED_ETS_SYNC_SEND"/>
+    </module>
+
+    <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
+    <!--module name="gain_scheduling"/-->
   </firmware>
 </airframe>
diff --git a/conf/airframes/examples/trashcan.xml b/conf/airframes/examples/trashcan.xml
index d1da65ea7b..6fb20a8d0d 100644
--- a/conf/airframes/examples/trashcan.xml
+++ b/conf/airframes/examples/trashcan.xml
@@ -85,7 +85,7 @@
         </module>
 
         <!-- not all are tested or tuned -->
-       <!-- <module name="stabilization" type="rate"/>--><!-- not working yet..)
+       <!-- <module name="stabilization" type="rate"/>--><!-- not working yet..) -->
         <!-- <module name="stabilization" type="rate_indi"/> -->
 
         <module name="stabilization" type="int_quat"/>
@@ -196,7 +196,7 @@
         <define name="TYPE" value="QUAD_X"/>
     </section>
 
-   <!-- in case we need much more precise mixing use the table here instead of motor_mixing_run
+   <!-- in case we need much more precise mixing use the table here instead of motor_mixing_run -->
   <!-- section name="MIXING" prefix="MOTOR_MIXING_">
     <define name="TRIM_ROLL" value="0"/>
     <define name="TRIM_PITCH" value="0"/>
diff --git a/conf/airframes/tudelft/IMAV2013/calibrations/182_calib.xml b/conf/airframes/tudelft/IMAV2013/calibrations/182_calib.xml
deleted file mode 100644
index 3a14a4338e..0000000000
--- a/conf/airframes/tudelft/IMAV2013/calibrations/182_calib.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<!-- ARDrone calibration file -->
-
-<airframe>
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="99"/>
-    <define name="MAG_Y_NEUTRAL" value="59"/>
-    <define name="MAG_Z_NEUTRAL" value="-65"/>
-    <define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
-    <define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
-    <define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
-  </section>
-</airframe>
\ No newline at end of file
diff --git a/conf/airframes/tudelft/bebop2_detect_gate_front.xml b/conf/airframes/tudelft/bebop2_detect_gate_front.xml
deleted file mode 100644
index f17cefe859..0000000000
--- a/conf/airframes/tudelft/bebop2_detect_gate_front.xml
+++ /dev/null
@@ -1,260 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop2_optitrack_visionfront">
-  <description>Bebop2: Detects Autonomous-Drone-Race-Gates</description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop2">
-	<define name="SIMULATE" value="FALSE"/>
-        <define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
-    </target>
-    <target name="nps" board="pc">
-      <module name="fdm" type="gazebo"/>
-        <define name="CAMERA_ROTATED_90DEG_RIGHT" value="FALSE" />
-    </target>
-
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="bebop"/>
-    <module name="imu" type="bebop"/>
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="FALSE"/>
-      <!-- <define name="AHRS_USE_GPS_HEADING" value="TRUE"/> -->
-    </module>
-    <define name="USE_SONAR" value="TRUE"/>
-    <module name="ins" type="extended"/>
-
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
-    <module name="logger_file">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </module>
-
-    <module name="bebop_cam"/>
-
-    <module name="video_capture">
-      <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
-      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
-    </module>
-
-    <module name="pose_history">
-		  <define name="POSE_HISTORY_SIZE" value="128" />
-	  </module>
-
-    <!-- For tuning the color filter: -->
-    <!--
-    <module name="cv_colorfilter">
-	  <define name="COLORFILTER_CAMERA" value="front_camera"/>
-	  <define name="COLORFILTER_FPS" value="0"/>
-    </module>
-    -->
-
-    <module name="ctrl_module_outerloop_demo"/> 
-
-    <module name="cv_detect_gate">
-     <define name="DETECT_GATE_CAMERA" value="front_camera"/>
-     <define name="DETECT_GATE_FPS" value="0"/>
-     <define name="DETECT_GATE_Y_MIN" value="31"/>
-     <define name="DETECT_GATE_Y_MAX" value="130"/>
-     <define name="DETECT_GATE_U_MIN" value="62"/>
-     <define name="DETECT_GATE_U_MAX" value="138"/>
-     <define name="DETECT_GATE_V_MIN" value="148"/>
-     <define name="DETECT_GATE_V_MAX" value="221"/>
-    </module>
-
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
-      <!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
-    </module>
-
-    <!--<module name="bebop_ae_awb"/>-->
-  </firmware>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
-    <servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="REVERSE" value="TRUE"/>
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
-    <define name="OUTPUT_HEIGHT" value="640" />
-    <define name="OUTPUT_WIDTH" value="640" />
-    <define name="OFFSET_X" value="0.15" />
-    <define name="TARGET_EXPOSURE" value="30" />
-    <define name="ZOOM" value="1.25"/>
-  </section>
-
-  <section name="AIR_DATA" prefix="AIR_DATA_">
-    <define name="CALC_AIRSPEED" value="FALSE"/>
-    <define name="CALC_TAS_FACTOR" value="FALSE"/>
-    <define name="CALC_AMSL_BARO" value="TRUE"/>
-  </section>
-
-  <!-- Magnetometer still needs to be calibrated -->
-  <section name="IMU" prefix="IMU_">
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-    <define name="MAG_X_SENS" value="7.28514789391" integer="16"/>
-    <define name="MAG_Y_SENS" value="7.33022132691" integer="16"/>
-    <define name="MAG_Z_SENS" value="7.57102035692" integer="16"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-    <!-- Use GPS heading instead of magneto -->
-    <define name="USE_GPS_HEADING" value="FALSE"/>
-    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <!-- Use GPS altitude measurments and set the R gain -->
-    <define name="USE_GPS_ALT" value="0"/>
-    <!-- <define name="VFF_R_GPS" value="0.01"/> -->
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
- <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.0397"/>
-    <define name="G1_Q" value="0.0299"/>
-    <define name="G1_R" value="0.0014"/>
-    <define name="G2_R" value="0.1219"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="600.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="28.0"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!--Maxium yaw rate, to avoid instability-->
-    <define name="MAX_R" value="120.0" unit="deg/s"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="8.0"/>
-    <define name="ESTIMATION_FILT_CUTOFF" value="8.0"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="350"/>
-    <define name="HOVER_KD" value="85"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
-    <define name="MAX_BANK" value="32" unit="deg"/>
-    <define name="PGAIN" value="220"/>
-    <define name="DGAIN" value="160"/>
-    <define name="IGAIN" value="15"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="1.0"/>
-    <define name="DESCEND_VSPEED" value="-1.0"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-  <include href="conf/simulator/gazebo/airframes/bebop.xml"/>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
-    <!-- <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> -->
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
index 02dd78efec..eb1f5fd9c9 100644
--- a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+++ b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
@@ -5,11 +5,14 @@
   </description>
 
   <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
+    <target name="ap" board="bebop">
+        <define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
+    </target>
 
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="udp"/>
+        <define name="CAMERA_ROTATED_90DEG_RIGHT" value="TRUE" />
     </target>
 
     <define name="USE_SONAR" value="TRUE"/>
@@ -36,6 +39,7 @@
 
       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/>
     </module>
+    <define name="USE_SONAR" value="TRUE"/>
     <module name="ins" type="extended"/>
 
     <!--module name="guidance" type="indi">
@@ -53,8 +57,46 @@
     <module name="ctrl_module_outerloop_demo"/>
     <module name="sonar_bebop"/>
 
-    <module name="jevois_mavlink"/>
+    <!--module name="jevois_mavlink"/-->
 
+    <module name="bebop_cam"/>
+
+    <module name="video_capture">
+      <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
+      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
+    </module>
+
+    <module name="pose_history">
+      <define name="POSE_HISTORY_SIZE" value="128" />
+    </module>
+
+    <!-- For tuning the color filter: -->
+    <!--
+    <module name="cv_colorfilter">
+	  <define name="COLORFILTER_CAMERA" value="front_camera"/>
+	  <define name="COLORFILTER_FPS" value="0"/>
+    </module>
+    -->
+
+    <module name="cv_detect_gate">
+     <define name="DETECT_GATE_CAMERA" value="front_camera"/>
+     <define name="DETECT_GATE_FPS" value="0"/>
+     <define name="DETECT_GATE_Y_MIN" value="31"/>
+     <define name="DETECT_GATE_Y_MAX" value="130"/>
+     <define name="DETECT_GATE_U_MIN" value="62"/>
+     <define name="DETECT_GATE_U_MAX" value="138"/>
+     <define name="DETECT_GATE_V_MIN" value="148"/>
+     <define name="DETECT_GATE_V_MAX" value="221"/>
+    </module>
+
+    <module name="video_rtp_stream">
+      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
+      <!-- <define name="VIEWVIDEO_CAMERA2" value="bottom_camera"/> -->
+      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4"/>
+      <define name="VIEWVIDEO_QUALITY_FACTOR" value="50"/>
+    </module>
+
+    <!--<module name="bebop_ae_awb"/>-->
   </firmware>
 
   <commands>
@@ -86,6 +128,14 @@
     <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
+  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
+    <define name="OUTPUT_HEIGHT" value="640" />
+    <define name="OUTPUT_WIDTH" value="640" />
+    <define name="OFFSET_X" value="0.15" />
+    <define name="TARGET_EXPOSURE" value="30" />
+    <define name="ZOOM" value="1.25"/>
+  </section>
+
   <section name="AIR_DATA" prefix="AIR_DATA_">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>
diff --git a/conf/airframes/tudelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/tudelft/chouchou_lisa_s.xml
similarity index 98%
rename from conf/airframes/tudelft/IMAV2013/chouchou_lisa_s.xml
rename to conf/airframes/tudelft/chouchou_lisa_s.xml
index 0869feaa3a..68f69f7f14 100644
--- a/conf/airframes/tudelft/IMAV2013/chouchou_lisa_s.xml
+++ b/conf/airframes/tudelft/chouchou_lisa_s.xml
@@ -159,11 +159,6 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -192,5 +187,8 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
+
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/guido_conf.xml b/conf/airframes/tudelft/guido_conf.xml
deleted file mode 100644
index 8d0c5729bc..0000000000
--- a/conf/airframes/tudelft/guido_conf.xml
+++ /dev/null
@@ -1,46 +0,0 @@
-<conf>
-  <aircraft
-   name="ARDrone2_Guido_optitrack"
-   ac_id="29"
-   airframe="airframes/tudelft/guido_ardrone2_optitrack.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#fffff996b847"
-  />
-  <aircraft
-   name="Bebop2_opticflow"
-   ac_id="4"
-   airframe="airframes/tudelft/bebop2_opticflow.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/optical_flow_landing.xml modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="Bebop2_undistort_front"
-   ac_id="5"
-   airframe="airframes/tudelft/bebop2_undistort_front.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_undistort_image.xml modules/video_capture.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="Bebop_opticflow"
-   ac_id="14"
-   airframe="airframes/tudelft/bebop_opticflow.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-</conf>
diff --git a/conf/airframes/tudelft/mavshot.xml b/conf/airframes/tudelft/mavshot.xml
index 4a03a9a78e..6692f72ccd 100644
--- a/conf/airframes/tudelft/mavshot.xml
+++ b/conf/airframes/tudelft/mavshot.xml
@@ -239,19 +239,6 @@
     <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
-  <modules main_freq="512">
-    <module name="gps" type="ubx_ucenter"/>
-
-    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
-    <module name="led_safety_status">
-      <define name="USE_LED_BODY" value="1"/>
-      <define name="SAFETY_WARNING_LED" value="BODY"/>
-    </module>
-
-    <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
-    <!--module name="gain_scheduling"/-->
-  </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <module name="radio_control" type="spektrum">
@@ -287,5 +274,16 @@
     </module>
 
     <module name="ins"/>
+
+    <module name="gps" type="ubx_ucenter"/>
+
+    <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
+    <module name="led_safety_status">
+      <define name="USE_LED_BODY" value="1"/>
+      <define name="SAFETY_WARNING_LED" value="BODY"/>
+    </module>
+
+    <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
+    <!--module name="gain_scheduling"/-->
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/mavtec4.xml b/conf/airframes/tudelft/mavtec4.xml
deleted file mode 100644
index 7aca435572..0000000000
--- a/conf/airframes/tudelft/mavtec4.xml
+++ /dev/null
@@ -1,196 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
-     * IMU:         Integrated Aspirin 2.2    http://wiki.paparazziuav.org/wiki/AspirinIMU
-     * Actuators:   Asctec motor controllers  http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
-     * GPS:         UBlox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
-     * RC:          one Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="MAVTec4">
-  <description>MavTec with UBlox
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_mx_2.1"/>
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_KILL_SWITCH" value="RADIO_AUX2"/>
-      <define name="RADIO_MODE" value="RADIO_GEAR"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="asctec_v2"/>
-    <module name="actuators"     type="pwm"/>
-    <module name="telemetry"     type="xbee_api"/>
-    <module name="imu"           type="lisa_mx_v2.1"/>
-    <module name="gps"           type="piksi">
-      <define name="USE_PIKSI_EXT_ANTENNA" value="TRUE"/>
-    </module>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-    <module name="guidance"      type="indi"/>
-
-
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="switch" type="servo"/>
-    <!--module name="gps" type="ubx_ucenter"/-->
-  </firmware>
-
-  <servos driver="Asctec_v2">
-    <servo name="FRONT"   no="0" min="0" neutral="3" max="200"/>
-    <servo name="RIGHT"   no="1" min="0" neutral="3" max="200"/>
-    <servo name="BACK"    no="2" min="0" neutral="3" max="200"/>
-    <servo name="LEFT"    no="3" min="0" neutral="3" max="200"/>
-  </servos>
-
-  <servos driver="Pwm">
-     <servo name="DROP" no="4" min="900" neutral="1500" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
-  <section name="SWITCH_SERVO">
-    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
-    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="SwitchServoOn()"/>
-    <define name="DropClose()" value="SwitchServoOff()"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT"   value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="RIGHT"   value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BACK"    value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="LEFT"    value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="MISC">
-    <define name="NAV_CLIMB_VSPEED" value="2.5"/>
-    <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="-2"/>
-    <define name="MAG_Y_NEUTRAL" value="484"/>
-    <define name="MAG_Z_NEUTRAL" value="53"/>
-    <define name="MAG_X_SENS" value="4.02836351262" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.97184580645" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.08689235615" integer="16"/>
-
-
-    <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="-90." unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="900"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="900"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="900"/>
-    <define name="PSI_DGAIN" value="200"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE" value="4"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/splash3.xml b/conf/airframes/tudelft/splash_pixracer.xml
similarity index 100%
rename from conf/airframes/tudelft/splash3.xml
rename to conf/airframes/tudelft/splash_pixracer.xml
diff --git a/conf/airframes/tudelft/splash.xml b/conf/airframes/tudelft/splash_px4.xml
similarity index 100%
rename from conf/airframes/tudelft/splash.xml
rename to conf/airframes/tudelft/splash_px4.xml
diff --git a/conf/airframes/tudelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/tudelft/walkera_V120D02S.xml
similarity index 98%
rename from conf/airframes/tudelft/IMAV2013/walkera_V120D02S.xml
rename to conf/airframes/tudelft/walkera_V120D02S.xml
index 9623233f62..6585bbd114 100644
--- a/conf/airframes/tudelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/tudelft/walkera_V120D02S.xml
@@ -142,10 +142,6 @@
    <define name="IGAIN" value="6"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -169,5 +165,8 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
+
+    <module name="gps" type="ubx_ucenter"/>
+
   </firmware>
 </airframe>
diff --git a/conf/airframes/tudelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/tudelft/walkera_genius_v1.xml
similarity index 98%
rename from conf/airframes/tudelft/IMAV2013/walkera_genius_v1.xml
rename to conf/airframes/tudelft/walkera_genius_v1.xml
index c8cdef913b..5f4748e0e2 100644
--- a/conf/airframes/tudelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/tudelft/walkera_genius_v1.xml
@@ -147,11 +147,6 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
       <module name="radio_control" type="superbitrf_rc">
@@ -175,5 +170,8 @@
     <module name="stabilization" type="int_quat"/>
     <module name="ahrs" type="int_cmpl_quat"/>
     <module name="ins"/>
+
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="send_imu_mag_current"/>
   </firmware>
 </airframe>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index 69c77585ec..1ac434eec3 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/optical_flow_hover.xml [modules/cv_opticflow.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/cv_opticflow.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
    gui_color="red"
    release="ac5eaa8da36b999a135f979e598930a9d40f6401"
   />
@@ -19,8 +19,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffd633d633"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
   />
   <aircraft
    name="ARDrone2_indi"
@@ -30,7 +30,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffffc457c457"
   />
   <aircraft
@@ -41,7 +41,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_capture.xml"
    gui_color="#ffffccc2ccc2"
   />
   <aircraft
@@ -52,7 +52,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#fffff996b847"
   />
   <aircraft
@@ -63,20 +63,9 @@
    telemetry="telemetry/default_rotorcraft_mavlink.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_survey_delft.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/cv_blob_locator.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml [modules/nav_survey_poly_rotorcraft.xml] [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml"
    gui_color="#ffff0689b7a1"
   />
-  <aircraft
-   name="Bebop_Chris"
-   ac_id="151"
-   airframe="airframes/CDW/cdw_bebop.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/bebop_cam.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#f84eb57ae827"
-  />
   <aircraft
    name="Bebop_Smeur"
    ac_id="21"
@@ -118,7 +107,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/bebop_cam.xml modules/air_data.xml modules/geo_mag.xml modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
    gui_color="blue"
   />
   <aircraft
@@ -129,7 +118,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffbc3bce5b"
    release="934f0e14c09da0a3bfe199b7685abd2f4b6badbe"
   />
@@ -141,7 +130,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -152,18 +141,18 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/cyclone_valkenburg.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/ins_ekf2.xml modules/gps.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffff7f7f0000"
   />
   <aircraft
    name="ChouChou_LisaS"
    ac_id="135"
-   airframe="airframes/tudelft/IMAV2013/chouchou_lisa_s.xml"
+   airframe="airframes/tudelft/chouchou_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -174,7 +163,7 @@
    telemetry="telemetry/tudelft/outback.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/heli_throttle_curve.xml modules/gps_ubx_ucenter.xml modules/logger_sd_spi_direct.xml modules/temp_adc.xml modules/air_data.xml modules/geo_mag.xml modules/opa_controller.xml modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/heli_throttle_curve.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_basic_rotorcraft.xml modules/opa_controller.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml modules/temp_adc.xml"
    gui_color="#ffffdffac31f"
    release="7c6064c5c3522e3286af8ecbc7498773b421ba7d"
   />
@@ -186,7 +175,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
    release="dfba3220f5b3500611231d02fca8799f9f045cb8"
   />
@@ -198,7 +187,7 @@
    telemetry="telemetry/fixedwing_flight_recorder.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
    gui_color="blue"
    release="57fa5506ad03c85215b0ff7659d9f2a26131db1f"
   />
@@ -210,7 +199,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="white"
    release="65aa9a711dc4a66ed2d7cf73c0f5872bbeeb821d"
   />
@@ -222,7 +211,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings=""
-   settings_modules="modules/heli_throttle_curve.xml modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/heli_throttle_curve.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
    gui_color="blue"
   />
   <aircraft
@@ -233,19 +222,31 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="[modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffffcccaccca"
    release="433c2150022275f26fb4619e536903676d7e2c9e"
   />
+  <aircraft
+   name="LadyLisaBluegiga"
+   ac_id="114"
+   airframe="airframes/tudelft/ladylisa_bluegiga_stereoboard.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft_slow.xml"
+   flight_plan="flight_plans/rotorcraft_optitrack.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
+   gui_color="blue"
+   release="4f95168b07005474c8fedf3be5c2f2b4f4c7c393"
+  />
   <aircraft
    name="LadybirdMXS"
-   ac_id="15"
+   ac_id="156"
    airframe="airframes/tudelft/ladybird_lisa_mxs.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="blue"
   />
   <aircraft
@@ -256,7 +257,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/heli_throttle_curve.xml modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/heli_throttle_curve.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="#ffffdffac31f"
    release="0fba1ce80a46d8dce23c570e6547595c89988fad"
   />
@@ -268,7 +269,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffff00000000"
    release="e688107d8a1f9c933cb0931eebb0e7b009ccc445"
   />
@@ -280,21 +281,10 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/stabilization_int_quat.xml modules/switch_servo.xml"
    gui_color="blue"
    release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
-  <aircraft
-   name="MAVTec4_Bart"
-   ac_id="34"
-   airframe="airframes/tudelft/mavtec4.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/guidance_indi.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#e66affffaa08"
-  />
   <aircraft
    name="MAVTec5_Freek"
    ac_id="35"
@@ -303,7 +293,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/switch_servo.xml"
    gui_color="#8c63ffff8e00"
    release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
@@ -315,7 +305,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/air_data.xml modules/ahrs_int_cmpl_quat.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="white"
    release="997fa535902c4d8f73bc34c02c862652cd47cae5"
   />
@@ -327,10 +317,22 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="white"
    release="997fa535902c4d8f73bc34c02c862652cd47cae5"
   />
+  <aircraft
+   name="OrigamiMXS_wifi_indi_stereocam"
+   ac_id="15"
+   airframe="airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/range_forcefield.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml"
+   gui_color="blue"
+   release="c11f888de1eba08d751f1ff0b03bf4a5bec8e8fa"
+  />
   <aircraft
    name="Quadplane"
    ac_id="222"
@@ -339,7 +341,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/nps.xml settings/rotorcraft_basic.xml"
-   settings_modules="modules/sys_id_chirp.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/sys_id_chirp.xml"
    gui_color="blue"
    release="f739a81cfa2c633e33f31ab5f095d8f617276974"
   />
@@ -351,7 +353,7 @@
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="[modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffffcccaccca"
    release="677c4c77398cfbabffae3efdcafdacfd04a0b9ab"
   />
@@ -363,30 +365,30 @@
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
+   settings_modules="modules/digital_cam.xml modules/gps.xml modules/guidance_basic_fw.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="#b748fe64fe64"
    release="46b814ea46496cfc3f6a874bb5013db1a350bfcf"
-   settings_modules="modules/digital_cam.xml modules/light.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
   />
   <aircraft
    name="Splash"
    ac_id="67"
-   airframe="airframes/tudelft/splash.xml"
+   airframe="airframes/tudelft/splash_px4.xml"
    radio="radios/spektrum.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/delft_basic.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/spektrum_soft_bind.xml [modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml [modules/air_data.xml] modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/spektrum_soft_bind.xml modules/stabilization_indi_simple.xml"
    gui_color="#fff0cccaccca"
   />
   <aircraft
    name="Splash3"
    ac_id="17"
-   airframe="airframes/tudelft/splash3.xml"
+   airframe="airframes/tudelft/splash_pixracer.xml"
    radio="radios/crossfire_sbus.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/lidar_tfmini.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/lidar_tfmini.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
    gui_color="blue"
   />
   <aircraft
@@ -397,29 +399,29 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/estimation/ins_neutrals.xml"
-   settings_modules="modules/light.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules="modules/gps.xml modules/guidance_basic_fw.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
    gui_color="blue"
   />
   <aircraft
    name="Walkera_GeniusV1"
    ac_id="134"
-   airframe="airframes/tudelft/IMAV2013/walkera_genius_v1.xml"
+   airframe="airframes/tudelft/walkera_genius_v1.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="orange"
   />
   <aircraft
    name="Walkera_V120D02S"
    ac_id="133"
-   airframe="airframes/tudelft/IMAV2013/walkera_V120D02S.xml"
+   airframe="airframes/tudelft/walkera_V120D02S.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
    gui_color="green"
   />
   <aircraft
@@ -430,7 +432,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml [modules/geo_mag.xml] modules/air_data.xml [modules/ins_extended.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml [modules/ins_extended.xml] modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
    gui_color="red"
   />
   <aircraft
@@ -441,7 +443,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/ctrl_module_outerloop_demo.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/ctrl_module_outerloop_demo.xml modules/cv_detect_gate.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="#ffffbc3bce5b"
   />
   <aircraft
@@ -452,21 +454,10 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_bebop.xml"
    settings="settings/rotorcraft_basic.xml [settings/estimation/ahrs_secondary.xml]"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/ins_ekf2.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#baa3d698b729"
    release="cde043338785efbaa7aac97e90cb272099a0c7ec"
   />
-  <aircraft
-   name="bebop2_detect_gate_front"
-   ac_id="218"
-   airframe="airframes/tudelft/bebop2_detect_gate_front.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/tudelft/rotorcraft_autonomous_drone_race.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/cv_detect_gate.xml modules/ctrl_module_outerloop_demo.xml modules/video_capture.xml modules/bebop_cam.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#ffffbf17bf17"
-  />
   <aircraft
    name="bebop2_no_dampers"
    ac_id="26"
@@ -475,7 +466,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#baa3d698b729"
   />
   <aircraft
@@ -486,7 +477,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_optitrack_path.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
   />
   <aircraft
@@ -497,7 +488,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/optical_flow_landing.xml modules/cv_opticflow.xml modules/video_capture.xml modules/bebop_cam.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="#ffffbf17bf17"
   />
   <aircraft
@@ -508,7 +499,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/optical_flow_hover.xml modules/cv_opticflow.xml modules/bebop_cam.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_hover.xml modules/stabilization_indi_simple.xml"
    gui_color="red"
   />
   <aircraft
@@ -519,7 +510,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#7d7fd7e7ffff"
   />
   <aircraft
@@ -530,7 +521,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_cyberzoo_no_gps.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml modules/video_rtp_stream.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="blue"
    release="398071ca8f7c8dc24becbe76bc5628b6ea604248"
   />
@@ -542,7 +533,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/fan_demo.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
    gui_color="#ffffcccaccca"
    release="f580c07814aa1068bf3f6960318b2417fc069cbe"
   />
@@ -554,7 +545,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_blob_locator.xml modules/digital_cam_video.xml [modules/geo_mag.xml] modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
    gui_color="#68f5eb116e0c"
   />
   <aircraft
@@ -565,7 +556,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2_new.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml [modules/imu_common.xml] modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="#ffff9027e8ad"
   />
   <aircraft
@@ -576,19 +567,19 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
    release="93a9608c3bc34eca6a0dcde4123d55dac7d7b448"
   />
   <aircraft
    name="quadshot_pylons"
    ac_id="178"
-   airframe="airframes/tudelft/quadshot_pylons.xml"
+   airframe="airframes/examples/quadshot_pylons.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
    gui_color="#b29eb22cffff"
   />
 </conf>
diff --git a/conf/userconf/tudelft/control_panel.xml b/conf/userconf/tudelft/control_panel.xml
index 48bef42910..0254ddbd02 100644
--- a/conf/userconf/tudelft/control_panel.xml
+++ b/conf/userconf/tudelft/control_panel.xml
@@ -255,6 +255,42 @@
         <arg flag="-speech"/>
       </program>
     </session>
+    <session name="Bluegiga">
+      <program name="Data Link">
+        <arg flag="-udp"/>
+        <arg flag="-udp_port" constant="4242"/>
+        <arg flag="-udp_uplink_port" constant="4252"/>
+      </program>
+      <program name="Server"/>
+      <program name="Messages"/>
+      <program name="GCS">
+        <arg flag="-speech" />
+      </program>
+      <program name="NatNet">
+        <arg flag="-ac" constant="7"/>
+        <arg flag="114"/>
+        <arg flag="-small"/>
+        <arg flag="-tf" constant="5"/>
+      </program>
+      <program name="Joystick">
+        <arg flag="-d" constant="2"/>
+        <arg flag="-ac" constant="@AIRCRAFT"/>
+        <arg flag="hobbyking.xml"/>
+      </program>
+      <program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
+        <arg flag="/dev/ttyACM2"/>
+        <arg flag="00:07:80:2d:e0:4b" />
+        <arg flag="4242" />
+        <arg flag="4252" />
+      </program>
+    </session>
+    <session name="Flight UDP/WiFi">
+      <program name="Server"/>
+      <program name="GCS"/>
+      <program name="Data Link">
+        <arg flag="-udp"/>
+      </program>
+    </session>
     <session name="Raw Sensors">
       <program name="Real-time Plotter">
         <arg flag="-g" constant="1000x250-0+0"/>
diff --git a/conf/userconf/tudelft/delfly_conf.xml b/conf/userconf/tudelft/delfly_conf.xml
index 959b34586d..feef552f84 100644
--- a/conf/userconf/tudelft/delfly_conf.xml
+++ b/conf/userconf/tudelft/delfly_conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
    gui_color="blue"
   />
   <aircraft
@@ -18,7 +18,7 @@
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/tudelft/delfly_nimble_cyberzoo.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/logger_sd_spi_direct.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_euler.xml"
    gui_color="blue"
    release="bd49f8763f106f69dc87ad735c8bd6ff277a3f62"
   />
diff --git a/conf/userconf/tudelft/guido_conf.xml b/conf/userconf/tudelft/guido_conf.xml
new file mode 100644
index 0000000000..f96decd625
--- /dev/null
+++ b/conf/userconf/tudelft/guido_conf.xml
@@ -0,0 +1,46 @@
+<conf>
+  <aircraft
+   name="ARDrone2_Guido_optitrack"
+   ac_id="29"
+   airframe="airframes/tudelft/guido_ardrone2_optitrack.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
+   settings="settings/rotorcraft_basic.xml"
+   gui_color="#fffff996b847"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml"
+  />
+  <aircraft
+   name="Bebop2_opticflow"
+   ac_id="4"
+   airframe="airframes/tudelft/bebop2_opticflow.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/optical_flow_landing.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="Bebop2_undistort_front"
+   ac_id="5"
+   airframe="airframes/tudelft/bebop2_undistort_front.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_undistort_image.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml modules/video_rtp_stream.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="Bebop_opticflow"
+   ac_id="14"
+   airframe="airframes/tudelft/bebop_opticflow.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml modules/video_capture.xml"
+   gui_color="blue"
+  />
+</conf>
diff --git a/conf/airframes/tudelft/guido_control_panel.xml b/conf/userconf/tudelft/guido_control_panel.xml
similarity index 100%
rename from conf/airframes/tudelft/guido_control_panel.xml
rename to conf/userconf/tudelft/guido_control_panel.xml
diff --git a/conf/userconf/tudelft/km_conf.xml b/conf/userconf/tudelft/km_conf.xml
deleted file mode 100644
index 8418f18a02..0000000000
--- a/conf/userconf/tudelft/km_conf.xml
+++ /dev/null
@@ -1,48 +0,0 @@
-<conf>
-  <aircraft
-   name="ARDrone2_opticflow"
-   ac_id="12"
-   airframe="airframes/tudelft/ardrone2_opticflow.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="Bebop_opticflow"
-   ac_id="14"
-   airframe="airframes/tudelft/bebop_opticflow.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="LadyLisaBluegiga"
-   ac_id="114"
-   airframe="airframes/tudelft/ladylisa_bluegiga_stereoboard.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft_slow.xml"
-   flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/stereocam.xml"
-   gui_color="blue"
-   release="4f95168b07005474c8fedf3be5c2f2b4f4c7c393"
-  />
-  <aircraft
-   name="OrigamiMXS_wifi_indi_stereocam"
-   ac_id="15"
-   airframe="airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_guided_flightplan.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/range_forcefield.xml modules/air_data.xml modules/ins_hff_extended.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml modules/stabilization_int_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
-   gui_color="blue"
-   release="c11f888de1eba08d751f1ff0b03bf4a5bec8e8fa"
-  />
-</conf>
diff --git a/conf/userconf/tudelft/km_control_panel.xml b/conf/userconf/tudelft/km_control_panel.xml
deleted file mode 100644
index f3c8035bd0..0000000000
--- a/conf/userconf/tudelft/km_control_panel.xml
+++ /dev/null
@@ -1,96 +0,0 @@
-<control_panel name="paparazzi control panel">
-  <section name="programs">
-    <program name="Server" command="sw/ground_segment/tmtc/server"/>
-    <program name="Data Link" command="sw/ground_segment/tmtc/link">
-      <arg flag="-d" constant="/dev/ttyUSB0"/>
-    </program>
-    <program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
-    <program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
-    <program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
-      <arg flag="-edit"/>
-    </program>
-    <program name="Messages" command="sw/ground_segment/tmtc/messages"/>
-    <program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
-    <program name="Settings" command="sw/ground_segment/tmtc/settings">
-      <arg flag="-ac" constant="@AIRCRAFT"/>
-    </program>
-    <program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>
-    <program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
-    <program name="Log Plotter" command="sw/logalizer/logplotter"/>
-    <program name="Real-time Plotter" command="sw/logalizer/plotter"/>
-    <program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>
-    <program name="Log File Player" command="sw/logalizer/play"/>
-    <program name="Simulator" command="sw/simulator/pprzsim-launch"/>
-    <program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>
-    <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
-      <arg flag="-ac" constant="@AIRCRAFT"/>
-      <arg flag="xbox_gamepad.xml"/>
-    </program>
-    <program name="Hardware in the Loop" command="sw/simulator/simhitl"/>
-    <program name="Environment Simulator" command="sw/simulator/gaia"/>
-    <program name="Http Server" command="$python">
-      <arg flag="-m" constant="SimpleHTTPServer"/>
-      <arg flag="8889"/>
-    </program>
-    <program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
-    <program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
-      <arg flag="-d" constant="/dev/ttyUSB1"/>
-    </program>
-    <program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>
-    <program name="App Server" command="sw/ground_segment/tmtc/app_server"/>
-    <program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
-    <program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
-      <arg flag="--port" constant="/dev/ttyUSB1"/>
-      <arg flag="--id" constant="1"/>
-    </program>
-    <program name="BluegigaUsbDongleScanner" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
-      <arg flag="/dev/ttyACM2"/>
-      <arg flag="scan" />
-    </program>
-    <program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
-      <arg flag="/dev/ttyACM2"/>
-      <arg flag="00:07:00:2d:d6:bb" />
-      <arg flag="4242" />
-      <arg flag="4252" />
-    </program>
-  </section>
-
-  <section name="sessions">
-    <session name="Bluegiga">
-      <program name="Data Link">
-        <arg flag="-udp"/>
-        <arg flag="-udp_port" constant="4242"/>
-        <arg flag="-udp_uplink_port" constant="4252"/>
-      </program>
-      <program name="Server"/>
-      <program name="Messages"/>
-      <program name="GCS">
-        <arg flag="-speech" />
-      </program>
-      <program name="NatNet">
-        <arg flag="-ac" constant="7"/>
-        <arg flag="114"/>
-        <arg flag="-small"/>
-        <arg flag="-tf" constant="5"/>
-      </program>
-      <program name="Joystick">
-        <arg flag="-d" constant="2"/>
-        <arg flag="-ac" constant="@AIRCRAFT"/>
-        <arg flag="hobbyking.xml"/>
-      </program>
-    <program name="BluegigaUsbDongle" command="sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver">
-      <arg flag="/dev/ttyACM2"/>
-      <arg flag="00:07:80:2d:e0:4b" />
-      <arg flag="4242" />
-      <arg flag="4252" />
-    </program>
-    </session>
-   <session name="Flight UDP/WiFi">
-      <program name="Server"/>
-      <program name="GCS"/>
-      <program name="Data Link">
-        <arg flag="-udp"/>
-      </program>
-    </session>
-  </section>
-</control_panel>
diff --git a/conf/userconf/tudelft/mk_conf.xml b/conf/userconf/tudelft/mk_conf.xml
deleted file mode 100644
index 5e729277f8..0000000000
--- a/conf/userconf/tudelft/mk_conf.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<conf>
-  <aircraft
-   name="DelFly_LisaS"
-   ac_id="111"
-   airframe="airframes/tudelft/delfly_lisas.xml"
-   radio="radios/delfly_Rx31_DEVO10.xml"
-   telemetry="telemetry/rotorcraft_with_logger.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="DelFly_Nimble"
-   ac_id="124"
-   airframe="airframes/tudelft/delfly_nimble.xml"
-   radio="radios/delfly_nimble_Rx31_Devo10.xml"
-   telemetry="telemetry/rotorcraft_with_logger.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="blue"
-  />
-</conf>