diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index a5f3c09804..2695606b78 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -153,11 +153,6 @@
   </section>
 
   <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="500"/>
     <define name="HOVER_KD" value="200"/>
     <define name="HOVER_KI" value="100"/>
diff --git a/conf/airframes/CDW/tricopter_cdw.xml b/conf/airframes/CDW/tricopter_cdw.xml
index 40aff5429e..d153c82228 100644
--- a/conf/airframes/CDW/tricopter_cdw.xml
+++ b/conf/airframes/CDW/tricopter_cdw.xml
@@ -185,11 +185,6 @@ LiPo/LiIo-Zellen: 2-3
   </section>
 
   <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="500"/>
     <define name="HOVER_KD" value="200"/>
     <define name="HOVER_KI" value="100"/>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 0ee461237c..81d6606772 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -198,11 +198,6 @@
 
   <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="REF_MIN_ZDD"  value="-0.5*9.81"/>
    <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
    <define name="REF_MIN_ZD"   value="-1.5"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index ee0d20f1c7..1ec9879ba9 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -189,11 +189,6 @@
   </section>
 
   <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="REF_MIN_ZDD"  value="-0.8*9.81"/>
     <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
     <define name="REF_MIN_ZD"   value="-1.5"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
index 0db0d60d84..126095f253 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
@@ -159,11 +159,6 @@
   </section>
 
   <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="283"/>
     <define name="HOVER_KD" value="82"/>
     <define name="HOVER_KI" value="13"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
index 927e4ebfdf..14221898e1 100644
--- a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
@@ -149,11 +149,6 @@
   </section>
 
  <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="531"/>
    <define name="HOVER_KD" value="356"/>
    <define name="HOVER_KI" value="0"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
index 0543b111d8..db7fb296f9 100644
--- a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
@@ -151,11 +151,6 @@
   </section>
 
  <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="400"/>
    <define name="HOVER_KD" value="350"/>
    <define name="HOVER_KI" value="144"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
index dda82949ae..b7ced391ce 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
@@ -133,11 +133,6 @@
   </section>
 
  <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="281"/>
    <define name="HOVER_KD" value="66"/>
    <define name="HOVER_KI" value="0"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
index 87aaa9edd9..e602b2d845 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
@@ -138,11 +138,6 @@
   </section>
 
  <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="281"/>
    <define name="HOVER_KD" value="66"/>
    <define name="HOVER_KI" value="0"/>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index 353ca1de91..4e32181821 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -202,11 +202,6 @@
     </section>
 
     <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="150"/>
         <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 62d6bb7f89..832fb52742 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -212,11 +212,6 @@
     </section>
 
     <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="150"/>
         <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 2546c48c7a..e0cd57c210 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -180,11 +180,6 @@
   </section>
 
   <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="283"/>
     <define name="HOVER_KD" value="82"/>
     <define name="HOVER_KI" value="13"/>
diff --git a/conf/airframes/ardrone2_raw_optitrack.xml b/conf/airframes/ardrone2_raw_optitrack.xml
index bcf8922822..4e68c0b5e4 100644
--- a/conf/airframes/ardrone2_raw_optitrack.xml
+++ b/conf/airframes/ardrone2_raw_optitrack.xml
@@ -187,11 +187,6 @@
   </section>
 
   <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="283"/>
     <define name="HOVER_KD" value="82"/>
     <define name="HOVER_KI" value="13"/>
diff --git a/conf/airframes/ardrone2_sdk.xml b/conf/airframes/ardrone2_sdk.xml
index cc4e08a018..2974e70926 100644
--- a/conf/airframes/ardrone2_sdk.xml
+++ b/conf/airframes/ardrone2_sdk.xml
@@ -72,11 +72,6 @@
   </section>
 
   <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="425" />
     <define name="HOVER_KD" value="200" />
     <define name="HOVER_KI" value="125" />
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index 722b05bae2..566ae32d9e 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -173,11 +173,6 @@ B2L -> CW
   </section>
 
  <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="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index 60221d05e0..a3c121e6ba 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -156,11 +156,6 @@
   </section>
 
  <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="72"/>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index 90911fc5dc..704f0e30c5 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -170,11 +170,6 @@
   </section>
 
  <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="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 9160076a41..1feb0722f6 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -131,11 +131,6 @@
   </section>
 
  <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="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index b9a2ee519e..e9c505b7bc 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -138,11 +138,6 @@
   </section>
 
  <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="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index cadea06ccc..680d7d5eb3 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -164,11 +164,6 @@
   </section>
 
  <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="72"/>
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index 55afb62c87..54b77e4606 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -166,11 +166,6 @@
   </section>
 
  <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="830"/>
    <define name="HOVER_KD"    value="650"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index ec046a5a78..6aaf8cc615 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -127,11 +127,6 @@
   </section>
 
  <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="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index 08259405b6..0b431bff9d 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -130,11 +130,6 @@
   </section>
 
  <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="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 2751547787..654a035e87 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -127,11 +127,6 @@
   </section>
 
  <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="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
diff --git a/conf/airframes/esden/quady_ls10pwm.xml b/conf/airframes/esden/quady_ls10pwm.xml
index c4aef6a7d0..14251a25a1 100644
--- a/conf/airframes/esden/quady_ls10pwm.xml
+++ b/conf/airframes/esden/quady_ls10pwm.xml
@@ -130,11 +130,6 @@
   </section>
 
  <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="400"/>
    <define name="HOVER_KD"    value="350"/>
    <define name="HOVER_KI"    value="144"/>
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 84503f7805..890293c717 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -151,11 +151,6 @@
   </section>
 
   <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="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index 668558ee6e..a9ef2525b9 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -150,11 +150,6 @@
   </section>
 
  <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="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
index b371183c44..692eaafdb5 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
@@ -188,11 +188,6 @@
   </section>
 
   <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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 -->
     <define name="REF_MAX_ZDD" value="0.2*9.81"/>  <!-- max climb acceleration in m/s2 -->
     <define name="REF_MIN_ZD" value="-3."/>        <!-- max descent speed in m/s -->
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
index 013d5e6ba8..d20c6958cf 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
@@ -188,11 +188,6 @@
   </section>
 
   <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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 -->
     <define name="REF_MAX_ZDD" value="0.2*9.81"/>  <!-- max climb acceleration in m/s2 -->
     <define name="REF_MIN_ZD" value="-3."/>        <!-- max descent speed in m/s -->
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
index 53ba08a685..ee0dfca4e8 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
@@ -193,11 +193,6 @@
   </section>
 
   <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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 -->
     <define name="REF_MAX_ZDD" value="0.2*9.81"/>  <!-- max climb acceleration in m/s2 -->
     <define name="REF_MIN_ZD" value="-3."/>        <!-- max descent speed in m/s -->
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
index af466e7f2f..c35543bb20 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
@@ -189,11 +189,6 @@
   </section>
 
   <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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration in m/s2 -->
     <define name="REF_MAX_ZDD" value="0.2*9.81"/>  <!-- max climb acceleration in m/s2 -->
     <define name="REF_MIN_ZD" value="-3."/>        <!-- max descent speed in m/s -->
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
index cb7b41fd23..f94247771f 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
@@ -181,11 +181,6 @@
   </section>
 
   <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="REF_MIN_ZDD" value="-0.2*9.81"/> <!-- max descent acceleration -->
     <define name="REF_MAX_ZDD" value="0.2*9.81"/>  <!-- max climb acceleration -->
     <define name="REF_MIN_ZD" value="-3."/> <!-- max descent speed -->
diff --git a/conf/airframes/examples/ladybird_lisa_s.xml b/conf/airframes/examples/ladybird_lisa_s.xml
index f395ab189e..c972af39d5 100644
--- a/conf/airframes/examples/ladybird_lisa_s.xml
+++ b/conf/airframes/examples/ladybird_lisa_s.xml
@@ -173,11 +173,6 @@
   </section>
 
  <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="276"/>
    <define name="HOVER_KD" value="455"/>
    <define name="HOVER_KI" value="100"/>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 1dadbabf70..c456b0fed4 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -149,11 +149,6 @@
   </section>
 
  <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="500"/>
    <define name="HOVER_KD"    value="200"/>
    <define name="HOVER_KI"    value="100"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index a8d5013f4f..02fec5d391 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -175,11 +175,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 5d05a63f10..a1397f98d5 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -167,11 +167,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_mx.xml b/conf/airframes/examples/quadrotor_lisa_mx.xml
index 6127b09573..23ab521a19 100644
--- a/conf/airframes/examples/quadrotor_lisa_mx.xml
+++ b/conf/airframes/examples/quadrotor_lisa_mx.xml
@@ -184,11 +184,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index 805d4e8db9..116ccebe2c 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -171,11 +171,6 @@
   </section>
 
  <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="276"/>
    <define name="HOVER_KD" value="455"/>
    <define name="HOVER_KI" value="100"/>
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index c45371c2fb..5304d556be 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -174,11 +174,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 666fae1a67..839d7f761c 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -195,11 +195,6 @@
 
   <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="REF_MIN_ZDD"  value="-0.5*9.81"/>
    <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
    <define name="REF_MIN_ZD"   value="-1.5"/>
diff --git a/conf/airframes/examples/quadrotor_px4fmu.xml b/conf/airframes/examples/quadrotor_px4fmu.xml
index 30e7bbe992..1b656c675b 100644
--- a/conf/airframes/examples/quadrotor_px4fmu.xml
+++ b/conf/airframes/examples/quadrotor_px4fmu.xml
@@ -171,11 +171,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index b5afe0d6e7..5e92086bf8 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -186,11 +186,6 @@
 
   <!-- 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="72"/>
diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index 101f50ac18..afde12ae96 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -177,11 +177,6 @@
   </section>
 
   <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="150"/>
     <define name="HOVER_KD"    value="80"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 0a90e306e5..88cfa5e9cf 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -202,11 +202,6 @@
   </section>
 
   <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="120"/>
     <define name="HOVER_KD"    value="100"/>
     <define name="HOVER_KI"    value="20"/>
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 55fdbc4104..ca3137666f 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -74,6 +74,25 @@ PRINT_CONFIG_VAR(GUIDANCE_V_ADAPT_THROTTLE_ENABLED)
 #define GUIDANCE_V_MAX_RC_DESCENT_SPEED GUIDANCE_V_REF_MAX_ZD
 #endif
 
+#ifndef GUIDANCE_V_MIN_ERR_Z
+#define GUIDANCE_V_MIN_ERR_Z POS_BFP_OF_REAL(-10.)
+#endif
+
+#ifndef GUIDANCE_V_MAX_ERR_Z
+#define GUIDANCE_V_MAX_ERR_Z POS_BFP_OF_REAL(10.)
+#endif
+
+#ifndef GUIDANCE_V_MIN_ERR_ZD
+#define GUIDANCE_V_MIN_ERR_ZD SPEED_BFP_OF_REAL(-10.)
+#endif
+
+#ifndef GUIDANCE_V_MAX_ERR_ZD
+#define GUIDANCE_V_MAX_ERR_ZD SPEED_BFP_OF_REAL(10.)
+#endif
+
+#ifndef GUIDANCE_V_MAX_SUM_ERR
+#define GUIDANCE_V_MAX_SUM_ERR 2000000
+#endif
 
 uint8_t guidance_v_mode;
 int32_t guidance_v_ff_cmd;