diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 558226830c..624613693b 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -213,7 +213,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -262,7 +262,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index 8d1e2ca662..53e3a0e3e9 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -217,7 +217,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index daddc4fc3a..57bc526541 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -204,7 +204,7 @@
   <makefile>
 
 # Config for SITL simulation with JSBSim
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
 
 sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 sim.LDFLAGS += -L/home/cocoleon/usr/lib/
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 454e24bb65..6e0f247347 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -187,7 +187,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -259,7 +259,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A
 
 # Config for SITL simulation
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index cf30dd8658..2b8fd204f6 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -202,7 +202,7 @@
  <makefile>
 CONFIG = \"tiny_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -251,7 +251,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 ap.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index a36cb2fa2f..243e881365 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -208,7 +208,7 @@
  <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -251,7 +251,7 @@ ap.srcs += gyro.c
 ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
 
 # Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
@@ -261,7 +261,7 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Config for JSBSim simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
 
 jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
 jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index 9766aaf447..973bfe6de4 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -175,7 +175,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -218,7 +218,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv
 ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index abd5e75a47..678dec3509 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -318,7 +318,7 @@ overo_sfb.srcs    += $(SRC_BETH)/overo_sfb_controller.c
 #
 #
 #
-include $(PAPARAZZI_SRC)/conf/autopilot/obsolete/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/obsolete/lisa_test_progs.makefile
 
   </makefile>
 
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 6c489be107..7816695120 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -155,7 +155,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -202,7 +202,7 @@ ap.srcs += adc_generic.c
 # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index c6c3678804..db0e872238 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -1,15 +1,6 @@
 <!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
 <airframe name="booz2_a6">
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
-    <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
-    <servo name="CENTER_LEFT"  no="3" min="0" neutral="0" max="255"/>
-    <servo name="FRONT_RIGHT"  no="4" min="0" neutral="0" max="255"/>
-    <servo name="FRONT_LEFT"   no="5" min="0" neutral="0" max="255"/>
-  </servos>
-
   <commands>
     <axis name="PITCH"  failsafe_value="0"/>
     <axis name="ROLL"   failsafe_value="0"/>
@@ -153,7 +144,6 @@
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.2"/>
   </section>
 
 
diff --git a/conf/airframes/examples/airframe.dtd b/conf/airframes/examples/airframe.dtd
new file mode 120000
index 0000000000..29639095e4
--- /dev/null
+++ b/conf/airframes/examples/airframe.dtd
@@ -0,0 +1 @@
+../airframe.dtd
\ No newline at end of file
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
new file mode 100644
index 0000000000..4fed1a2abe
--- /dev/null
+++ b/conf/airframes/examples/booz2.xml
@@ -0,0 +1,213 @@
+<airframe name="BOOZ2_a1">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"  no="3" min="0" neutral="0" max="255"/>
+  </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>
+
+<!-- not needed anymore - in subsystem -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+<!--  -->
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
+    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
+    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="33924"/>
+    <define name="GYRO_Q_NEUTRAL" value="33417"/>
+    <define name="GYRO_R_NEUTRAL" value="32809"/>
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
+
+
+    <define name="MAG_X_CHAN" value="4"/>
+    <define name="MAG_Y_CHAN" value="0"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+    <define name="MAG_X_NEUTRAL" value="2358"/>
+    <define name="MAG_Y_NEUTRAL" value="2362"/>
+    <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+<!--    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
+<!--    <define name="MAG_Y_SENS" value=" 5.10207664" integer="16"/>-->
+    <define name="MAG_X_SIGN" value="-1"/>
+    <define name="MAG_Y_SIGN" value=" 1"/>
+    <define name="MAG_Z_SIGN" value="-1"/>
+
+    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+    <define name="MAG_45_HACK" value="1"/>
+<!--    <define name="MAG_X_SENS" value="-4.94075530 * sqrt(2)/2" integer="16"/> -->
+<!--    <define name="MAG_Y_SENS" value=" 5.10207664 * sqrt(2)/2" integer="16"/> -->
+    <define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
+    <define name="MAG_Y_SENS" value=" 3.607713"  integer="16"/>
+
+   <define name="BODY_TO_IMU_PHI"   value="4." unit="deg"/>
+   <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
+   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+<!--
+   <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>
+
+  <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="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
+    <define name="REF_ZETA_P"   value="0.9"/>
+    <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="0.9"/>
+    <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="0.9"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="400"/>
+    <define name="PHI_DGAIN"  value="300"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="400"/>
+    <define name="THETA_DGAIN"  value="300"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="380"/>
+    <define name="PSI_DGAIN"  value="320"/>
+    <define name="PSI_IGAIN"  value="75"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="15." integer="16"/>
+  </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"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+<!--   <define name="INV_M" value ="0.2"/> -->
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="100"/>
+   <define name="DGAIN" value="100"/>
+   <define name="IGAIN" value="0"/>
+ </section>
+
+ <section name="BAT">
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+ <section name="AUTOPILOT">
+   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_RC_CLIMB"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="FMS">
+
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </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="INITIAL_CONDITITONS" 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="booz_1.0"/>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"         type="nps"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="b2_v1.0"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+
+</airframe>
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/examples/delta_wing_minimal.xml
similarity index 100%
rename from conf/airframes/delta_wing_minimal_example.xml
rename to conf/airframes/examples/delta_wing_minimal.xml
diff --git a/conf/airframes/demo.xml b/conf/airframes/examples/demo.xml
similarity index 100%
rename from conf/airframes/demo.xml
rename to conf/airframes/examples/demo.xml
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/examples/demo_module.xml
similarity index 98%
rename from conf/airframes/demo_module.xml
rename to conf/airframes/examples/demo_module.xml
index a4ee7bea79..ed517e8c1a 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/examples/demo_module.xml
@@ -160,7 +160,7 @@
   <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -203,7 +203,7 @@ ap.srcs += subsystems/navigation/nav_line.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/examples/easy_glider.xml
similarity index 99%
rename from conf/airframes/easy_glider_example.xml
rename to conf/airframes/examples/easy_glider.xml
index ceba4c1e4c..22b7a59680 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/examples/easy_glider.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "./airframe.dtd">
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
 
 <airframe name="Easy Glider Tiny 0.99">
 
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/examples/easystar.xml
similarity index 100%
rename from conf/airframes/easystar_example.xml
rename to conf/airframes/examples/easystar.xml
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/examples/easystar_ets.xml
similarity index 100%
rename from conf/airframes/easystar_ets_example.xml
rename to conf/airframes/examples/easystar_ets.xml
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/examples/funjet.xml
similarity index 100%
rename from conf/airframes/funjet_example.xml
rename to conf/airframes/examples/funjet.xml
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/examples/funjet_cam.xml
similarity index 100%
rename from conf/airframes/funjet_cam_example.xml
rename to conf/airframes/examples/funjet_cam.xml
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
new file mode 100644
index 0000000000..c6c3678804
--- /dev/null
+++ b/conf/airframes/examples/h_hex.xml
@@ -0,0 +1,206 @@
+<!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
+<airframe name="booz2_a6">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
+    <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
+    <servo name="CENTER_LEFT"  no="3" min="0" neutral="0" max="255"/>
+    <servo name="FRONT_RIGHT"  no="4" min="0" neutral="0" max="255"/>
+    <servo name="FRONT_LEFT"   no="5" min="0" neutral="0" max="255"/>
+  </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>
+
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="6"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="6"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  -69,   69, -256,  256, -186,  186 }"/>
+    <define name="PITCH_COEF"  value="{ -256, -256,    0,    0,  256,  256 }"/>
+    <define name="YAW_COEF"    value="{ -153,  153,  256, -256, -115,  115 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="31948"/>
+    <define name="GYRO_Q_NEUTRAL" value="31834"/>
+    <define name="GYRO_R_NEUTRAL" value="32687"/>
+
+    <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
+
+
+    <define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
+    <define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
+    <define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32857"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32429"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32593"/>
+
+    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+    <define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
+    <define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-43"/>
+    <define name="MAG_Y_NEUTRAL" value=" 49"/>
+    <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+    <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="AUTOPILOT">
+   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_DIRECT"/>
+ </section>
+
+ <section name="BAT">
+   <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="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- 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="400"/>
+    <define name="PHI_DGAIN"  value="300"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="400"/>
+    <define name="THETA_DGAIN"  value="300"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="380"/>
+    <define name="PSI_DGAIN"  value="320"/>
+    <define name="PSI_IGAIN"  value="75"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="15." integer="16"/>
+  </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"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <define name="INV_M" value ="0.2"/>
+  </section>
+
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="0"/>
+  </section>
+
+  <section name="MISC">
+    <define name="FACE_REINJ_1"  value="1024"/>
+  </section>
+
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.0">
+<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+    <subsystem name="telemetry"     type="transparent"/>
+<!--    <subsystem name="imu"           type="b2_v1.1"/> -->
+    <subsystem name="imu"           type="aspirin_v1.0"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+  </firmware>
+
+
+
+
+
+  <firmware name="lisa_test_progs">
+    <target name="test_telemetry"           board="lisa_l_1.0"/>
+    <target name="test_baro"                board="lisa_l_1.0"/>
+    <target name="test_imu_b2"              board="lisa_l_1.0"/>
+    <target name="test_imu_aspirin"         board="lisa_l_1.0"/>
+    <target name="test_rc_spektrum"         board="lisa_l_1.0"/>
+    <target name="test_rc_ppm"              board="lisa_l_1.0"/>
+    <target name="test_adc"                 board="lisa_l_1.0"/>
+    <target name="test_hmc5843"             board="lisa_l_1.0"/>
+    <target name="test_itg3200"             board="lisa_l_1.0"/>
+    <target name="test_adxl345"             board="lisa_l_1.0"/>
+    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
+  </firmware>
+
+</airframe>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
new file mode 100644
index 0000000000..83e0dc16b2
--- /dev/null
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -0,0 +1,226 @@
+<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->
+
+<airframe name="lisa_asctec">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT"   no="3" min="0" neutral="0" max="255"/>
+  </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>
+
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="3"/>
+    <define name="MAX_MOTOR" value="200"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_NEUTRAL" value="32276"/>
+    <define name="GYRO_Q_NEUTRAL" value="33987"/>
+    <define name="GYRO_R_NEUTRAL" value="32801"/>
+    <define name="GYRO_P_SENS" value="0.92466" integer="16"/>
+    <define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
+    <define name="GYRO_R_SENS" value="0.92943" integer="16"/>
+    <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
+    <define name="GYRO_PR_SENS" value="0.0" integer="16"/>
+    <define name="GYRO_QR_SENS" value="0.0" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="25875"/>
+    <define name="ACCEL_Y_NEUTRAL" value="26273"/>
+    <define name="ACCEL_Z_NEUTRAL" value="26152"/>
+    <define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
+    <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
+    <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
+    <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
+
+    <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="1." integer="16"/>
+    <define name="MAG_Y_SENS" value="1." integer="16"/>
+    <define name="MAG_Z_SENS" value="1." 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="45. " unit="deg"/>
+
+  </section>
+
+ <section name="AUTOPILOT">
+   <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_HOVER_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+   <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="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- 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="INS" prefix="INS_">
+    <define name="BARO_SENS" value="10." integer="16"/>
+  </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"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <define name="INV_M" value ="0.2"/>
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="100"/>
+   <define name="DGAIN" value="100"/>
+   <define name="IGAIN" value="0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </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="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+ <modules main_freq="512">
+   <!--load name="vehicle_interface_overo_link.xml"/-->
+ </modules>
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.1">
+<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="asctec_v2"/>
+      <subsystem name="telemetry"     type="transparent"/>
+      <define name="RADIO_MODE" value="RADIO_AUX2"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
+    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+  </firmware>
+
+  <firmware name="lisa_test_progs">
+    <target name="test_led"   board="lisa_l_1.1"/>
+    <target name="test_uart"   board="lisa_l_1.1"/>
+    <target name="test_servos"   board="lisa_l_1.1"/>
+    <target name="test_telemetry"   board="lisa_l_1.1"/>
+    <target name="test_baro"        board="lisa_l_1.1"/>
+    <target name="test_imu_b2"      board="lisa_l_1.1"/>
+    <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
+    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
+    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
+    <target name="test_rc_ppm"      board="lisa_l_1.1"/>
+    <target name="test_adc"         board="lisa_l_1.1"/>
+    <target name="test_hmc5843"     board="lisa_l_1.1"/>
+    <target name="test_itg3200"     board="lisa_l_1.1"/>
+    <target name="test_adxl345"             board="lisa_l_1.1"/>
+    <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
+    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
+  </firmware>
+
+
+</airframe>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/examples/microjet.xml
similarity index 100%
rename from conf/airframes/microjet_example.xml
rename to conf/airframes/examples/microjet.xml
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
new file mode 100644
index 0000000000..656d0882a0
--- /dev/null
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
@@ -0,0 +1,208 @@
+<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
+
+<airframe name="fraser">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_2.0">
+      <define name="ACTUATORS_START_DELAY" value="3"/>
+      <configure name="AHRS_ALIGNER_LED" value="3"/>
+      <subsystem name="actuators"     type="pwm_supervision"/>
+      <define name="SERVO_HZ" value="400"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="imu"           type="aspirin_v2.0"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+  </firmware>
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="RIGHT"   no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="LEFT"    no="3" min="1000" neutral="1000" 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>
+
+  <command_laws>
+    <!-- command_laws is needed for pwm_supervision -->
+    <!-- but can be empty if no additional servos are used -->
+  </command_laws>
+
+  <!-- only for the nps sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <!-- FRONT, BACK, RIGHT, LEFT -->
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="STOP_MOTOR" value="1000"/>
+    <define name="MIN_MOTOR"  value="1100"/>
+    <define name="MAX_MOTOR"  value="1900"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- front/back turning CW, right/left CCW -->
+    <define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </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="-152"/>
+    <define name="MAG_Y_NEUTRAL" value="-51"/>
+    <define name="MAG_Z_NEUTRAL" value="10"/>
+    <define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.83055079257" 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="-45." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="22.3" integer="16"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- 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="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <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="1000"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="200"/>
+
+    <define name="THETA_PGAIN"  value="1000"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="200"/>
+
+    <define name="PSI_PGAIN"  value="500"/>
+    <define name="PSI_DGAIN"  value="300"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="300"/>
+    <define name="THETA_DDGAIN" value="300"/>
+    <define name="PSI_DDGAIN"   value="300"/>
+  </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"/>
+    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value ="163"/>
+    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="USE_REF" value="1"/>
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="0"/>
+  </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="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <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_HOVER_Z_HOLD"/>
+  </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="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
new file mode 100644
index 0000000000..4b1bf93226
--- /dev/null
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -0,0 +1,191 @@
+<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
+
+<airframe name="fraser">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_1.0">
+      <define name="ACTUATORS_START_DELAY" value="3"/>
+      <configure name="AHRS_ALIGNER_LED" value="3"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="aspirin_v1.5"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+  </firmware>
+
+  <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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <!-- FRONT, BACK, RIGHT, LEFT -->
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="200"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- front/back turning CW, left/right CCW -->
+    <define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </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"/>
+
+    <define name="MAG_X_NEUTRAL" value="-152"/>
+    <define name="MAG_Y_NEUTRAL" value="-51"/>
+    <define name="MAG_Z_NEUTRAL" value="10"/>
+    <define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.83055079257" 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="-45." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="22.3" integer="16"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- 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="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <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="1000"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="200"/>
+
+    <define name="THETA_PGAIN"  value="1000"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="200"/>
+
+    <define name="PSI_PGAIN"  value="500"/>
+    <define name="PSI_DGAIN"  value="300"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="300"/>
+    <define name="THETA_DDGAIN" value="300"/>
+    <define name="PSI_DDGAIN"   value="300"/>
+  </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"/>
+    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value ="163"/>
+    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="USE_REF" value="1"/>
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="0"/>
+  </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="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <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_HOVER_Z_HOLD"/>
+  </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="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/examples/twinjet.xml
similarity index 100%
rename from conf/airframes/twinjet_example.xml
rename to conf/airframes/examples/twinjet.xml
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/examples/twinstar.xml
similarity index 100%
rename from conf/airframes/twinstar_example.xml
rename to conf/airframes/examples/twinstar.xml
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/examples/twog_analogimu.xml
similarity index 100%
rename from conf/airframes/example_twog_analogimu.xml
rename to conf/airframes/examples/twog_analogimu.xml
diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml
index c995eadd47..817515c109 100644
--- a/conf/airframes/mm/extra/logger_sd_adc.xml
+++ b/conf/airframes/mm/extra/logger_sd_adc.xml
@@ -56,7 +56,7 @@
 
 CONFIG = \"tiny_2_1_1_usb.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index fbc2bf3f31..7b68974f30 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -218,7 +218,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -284,7 +284,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml
index 0d3754173d..c1465c0da0 100644
--- a/conf/airframes/mm/extra/quiet.xml
+++ b/conf/airframes/mm/extra/quiet.xml
@@ -10,7 +10,7 @@
 
 CONFIG = \"tiny_2_1_1_usb.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml
index 768e25e0ea..29adc0da51 100644
--- a/conf/airframes/mm/extra/rctx.xml
+++ b/conf/airframes/mm/extra/rctx.xml
@@ -22,7 +22,7 @@
 
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index fcd566968e..24577db1a7 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -234,7 +234,7 @@
 <!--makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -283,7 +283,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.ARCH = sitl
 sim.TARGET = autopilot
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index ce27ab3d70..4216e1aac9 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 9380acb59c..ad74368e74 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -196,7 +196,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_SCP
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_cube.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index b61c373043..e4b69ff75d 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -198,7 +198,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -262,7 +262,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 0f1a1e5497..d4844e2ee0 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -197,7 +197,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index c9e1cf65e8..5e232a17f3 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -197,7 +197,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
 ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index a889cc65ca..aef66af118 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -175,7 +175,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 13302fb736..852039a9bb 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -186,7 +186,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -257,7 +257,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index c1de946238..48e420acf6 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -175,7 +175,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -227,7 +227,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index 4fc37cc3b8..59ab0bb0f9 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 9df7592ba8..8f6e9ffa8d 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 869bb9a981..92a5a0c7ae 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 3fbb93ee36..6195d8af7f 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -177,7 +177,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += joystick.c
 ap.CFLAGS += -DUSE_JOYSTICK
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 2e24ad138c..e32437aa27 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -203,7 +203,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index d877733960..57445fa207 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -171,7 +171,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -213,7 +213,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 ap.CFLAGS += -DUSE_ACCEL_MEMSIC -DUSE_ADC_3 -DUSE_ADC_4
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 0b5e9f2acf..a439d1469d 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -213,7 +213,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -260,7 +260,7 @@ ap.CFLAGS += -DUSE_GYRO -DADXRS150
 ap.srcs += gyro.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index eb123ba784..af1698be26 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -228,7 +228,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -275,7 +275,7 @@ ap.CFLAGS += -DUSE_GYRO -DADXRS150
 ap.srcs += gyro.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 2ec04ed767..1ffc58c62b 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -241,7 +241,7 @@ ap.srcs += subsystems/navigation/bomb.c
 ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c mcu_periph/sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 7bbc9f1281..2ca84b1ee1 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -211,7 +211,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -268,7 +268,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DIR_360
 sim.srcs += subsystems/navigation/bomb.c
 
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index 5dbbf8e3fa..3184c54ec0 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -201,7 +201,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -258,7 +258,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 8c693facc8..ca614f82b4 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -175,7 +175,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -229,7 +229,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 99dd864100..23885db6e2 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -202,7 +202,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -256,7 +256,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index f0bb6c24df..5633ad9f9a 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -199,7 +199,7 @@
   <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index d52fef4707..d4c89b98e4 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -195,7 +195,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/bomb.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/bomb.c
 
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 8bb328e7b8..0693d95bb4 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -222,7 +222,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.CFLAGS += -DUSE_CURRENT
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
index 1a9fd10b02..26aa0861b3 100644
--- a/conf/airframes/obsolete/ENAC/g1_vision.xml
+++ b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -208,7 +208,7 @@ FLASH_MODE=IAP
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
index 653ae0fafe..fdf6ba7762 100644
--- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -241,7 +241,7 @@ FLASH_MODE=IAP
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
similarity index 99%
rename from conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
rename to conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index 039210f933..0eb5cc0ca9 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -200,7 +200,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # Setting this flag prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
similarity index 99%
rename from conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
rename to conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 9dcfcbfb62..1dd2032774 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -218,7 +218,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # Setting this flag prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index aab64eeeab..2c33369b80 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -325,7 +325,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #throttle killswitch
 ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 5bc4f2fbc9..69b49feff9 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -272,7 +272,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
index 062a08ed32..a41cbbde0d 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -226,7 +226,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
old mode 100755
new mode 100644
index b42cb89a90..7be1990714
--- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
@@ -284,7 +284,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 #throttle killswitch
 ap.CFLAGS += -DRADIO_KILL_SWITCH=RADIO_CONTROL_SWITCH1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
index 50be06bc31..3559a2d5f8 100644
--- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
@@ -176,7 +176,7 @@ ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektru
 ap.CFLAGS += -DGPS_USE_LATLONG
 ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
@@ -186,7 +186,7 @@ include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
 include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/lisa_test_progs.makefile
 
 
  </makefile>
diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml
index ae76c8e4f6..669b4373ef 100644
--- a/conf/airframes/obsolete/autoplato.xml
+++ b/conf/airframes/obsolete/autoplato.xml
@@ -8,7 +8,7 @@ ARCH=lpc21
 BOARD_CFG = \"boards/olimex_lpc_h2148.h\"
 FLASH_MODE = IAP
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 test_usb.ARCHDIR = $(ARCH)
 
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index 8512e7990a..2fb26ce1b2 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -185,7 +185,7 @@ BOARD_CFG = \"twog_booz.h\"
 # prevents motors from ever starting
 ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index 472114d6a7..9fd40c6414 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -228,7 +228,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index c6e20076fd..f3f53d4cfc 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index c243de3ae4..765e4edfc7 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -229,7 +229,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 #ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/obsolete/booz2_a1p.xml
similarity index 99%
rename from conf/airframes/Poine/booz2_a1p.xml
rename to conf/airframes/obsolete/booz2_a1p.xml
index b400829f6e..05b8e004b4 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/obsolete/booz2_a1p.xml
@@ -208,7 +208,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 #ap.CFLAGS += -DKILL_MOTORS
 ap.CFLAGS += -DMODEM_BAUD=B57600
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index c6dc404e3c..9667db16e1 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -186,7 +186,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 7e7755e84e..c76407c73e 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -170,7 +170,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index 337c76d244..3abab57aa1 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -148,17 +148,17 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_test_progs.makefile
 
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_simulator.makefile
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(PAPARAZZI_SRC)/conf/autopilot/radio_control_spektrum.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1_1.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/radio_control_spektrum.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_actuators_asctec.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_imu_b2v1_1.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index bcdd61a563..77d54a35fb 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -182,7 +182,7 @@
 
   <makefile>
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 ARCH=lpc21
 BOARD_CFG = \"boards/booz2_v1_0.h\"
@@ -191,7 +191,7 @@ ap.CFLAGS += -DMODEM_BAUD=B57600
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index 9711a48c3f..f01770f163 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 ap.CFLAGS += -DUSE_LED -DCANON_CHDK
 ap.srcs += $(PAPARAZZI_SRC)/sw/airborne/chdk.c
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 7ce46bd0d3..61650494e7 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -199,7 +199,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 #ap.CFLAGS += -DKILL_MOTORS
 ap.CFLAGS += -DMODEM_BAUD=B57600
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
 
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index cbda2b48f6..7ac5f08966 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -174,7 +174,7 @@
 CONFIG = \"tiny_2_1_1.h\"
 
 # Target configuration
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_C
 ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0 -DAGR_CLIMB
diff --git a/conf/airframes/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
similarity index 100%
rename from conf/airframes/example_heli_lisam.xml
rename to conf/airframes/obsolete/example_heli_lisam.xml
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index b2d5a21c1b..36b5328171 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -107,7 +107,7 @@
 
  <makefile>
 CONFIG=\"tiny_2_1_1_usb.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 8fc7177256..7644b68d5c 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -154,7 +154,7 @@
 CONFIG = \"tiny_2_1_1.h\"
 
 # Target configuration
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -198,7 +198,7 @@ ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DUSE_MODULES
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index 9bde735206..24197c1ef7 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -217,7 +217,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 
 # Config for SITL simulation with JSBSim
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index e6390f07fd..6586d49178 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -171,7 +171,7 @@
  <makefile>
 CONFIG = \"tiny_2_1_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -209,7 +209,7 @@ ap.srcs += gyro.c
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
   </makefile>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 959828e6a7..dee7553a6c 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -173,7 +173,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -225,7 +225,7 @@ ap.srcs += gyro.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 sim.CFLAGS += -DUSE_GYRO -DADXRS150
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index cbce102e34..1c3524dad2 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -193,7 +193,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -249,7 +249,7 @@ ap.srcs += subsystems/navigation/nav_line.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DUSE_BARO_MS5534A
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c subsystems/navigation/bomb.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 1e816a3d29..9de402cfd7 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -180,7 +180,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -234,7 +234,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index f522378c6c..c08208dc85 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -180,7 +180,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -230,7 +230,7 @@ ap.srcs += light.c
 ap.CFLAGS += -DUSE_LIGHT
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 sim.srcs += subsystems/navigation/traffic_info.c
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 89c5e2b519..d0c2639437 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -169,7 +169,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -222,7 +222,7 @@ ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CH
 ap.srcs += adc_generic.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 # -DESTIMATOR_COMP_FILTER
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 4de83c91ff..e7511ae510 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -179,7 +179,7 @@
 
 <makefile>
  CONFIG=\"tiny_2_11.h\"
- include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+ include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
  FLASH_MODE=IAP
  ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
  ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
@@ -207,7 +207,7 @@
  sim.CFLAGS += -DTRAFFIC_INFO
 
 
- include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+ include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
  sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
 
   </makefile>
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
index e047ab17d6..991e8b9c4f 100644
--- a/conf/airframes/obsolete/minimag1.xml
+++ b/conf/airframes/obsolete/minimag1.xml
@@ -172,7 +172,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -206,7 +206,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DWIND_INFO
 ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index 5fe2a47676..3331f46fdd 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -178,7 +178,7 @@
 </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -218,7 +218,7 @@ ap.CFLAGS += -DDIGITAL_CAM
 ap.srcs += dc.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 sim.srcs += dc.c
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index be58d5e523..d28b25b419 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -195,7 +195,7 @@
  </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -255,7 +255,7 @@ ap.srcs +=nav_survey_losange_carto.c
 
 #################################################################################################
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO -DTCAS
 sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c tcas.c
 
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index a097cfc2da..9664509156 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -188,7 +188,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -242,7 +242,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index 62c18d9fe3..4c6acab04b 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -190,7 +190,7 @@
 
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -243,7 +243,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index e1a8f7255b..ef8c65d72e 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -171,7 +171,7 @@
 -->
 
 <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/snav.c
 
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 163152da50..26b413faea 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -182,7 +182,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -230,7 +230,7 @@ ap.srcs += cam.c point.c
 # subsystems/navigation/traffic_info.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index c8798feae4..5b0cdf2d61 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -164,7 +164,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -207,7 +207,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
 ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index d3804aaf2a..0d536fb830 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -178,7 +178,7 @@
  <makefile>
 #CONFIG=\"tiny_0_99.h\"
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -226,7 +226,7 @@ ap.srcs += adc_generic.c
 
 # Configuration for Hardware In The Loop*
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index 9ae2acdc93..b94e476fd7 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -166,7 +166,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -213,7 +213,7 @@ ap.srcs += adc_generic.c
 # ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index 3ada34c50a..3cfa23158f 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -221,7 +221,7 @@
 -->
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -285,7 +285,7 @@ ap.srcs += $(SRC_ARCH)/gpio.c
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360
 sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/bomb.c  subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/obsolete/test_hb.xml
similarity index 100%
rename from conf/airframes/test_hb.xml
rename to conf/airframes/obsolete/test_hb.xml
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index 8003be219f..a3249c009b 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -195,7 +195,7 @@
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -239,7 +239,7 @@ ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_surv
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
 
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index c3f70f7f3b..25be373f7b 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -158,7 +158,7 @@
 
  <makefile>
 CONFIG=\"tiny_0_99.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -201,7 +201,7 @@ ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rec
 ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
 
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index b9d9f5b702..e69d24d66a 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -167,7 +167,7 @@
   </section>
 
   <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile
 
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
@@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA
 test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #sim.srcs += subsystems/navigation/traffic_info.c
 #sim.srcs += subsystems/navigation/nav_line.c chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c subsystems/navigation/bomb.c subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index 725d44586c..77501a39bf 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -174,8 +174,8 @@
 # Virtual AC
 
 # Config for HITL simulation on a V1_2_1 bi-AVR board
-include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/v1_2_1.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/twin_mcu_avr.makefile
 
 # Harware In The Loop
 ap.CFLAGS += -DHITL
@@ -189,7 +189,7 @@ ap.EXTRA_SRCS += subsystems/navigation/traffic_info.c datalink.c
 ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c
 
  </makefile>
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 515270a9d7..347f357bd1 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -175,7 +175,7 @@
     <define name="DESCENT_NAV_RATIO" value="1.0"/>
     </section>
   <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/classix.makefile
 
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
@@ -241,7 +241,7 @@ test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUA
 test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM
 #sim.srcs += subsystems/navigation/traffic_info.c
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c dc.c
diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml
index d5c3433c06..1a643f9c23 100644
--- a/conf/airframes/obsolete/twisted.xml
+++ b/conf/airframes/obsolete/twisted.xml
@@ -42,7 +42,7 @@
   </command_laws>
 
 <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 9f77189137..07511b3fca 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -198,7 +198,7 @@
 
  <makefile>
 CONFIG=\"tiny_1_1.h\"
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -244,7 +244,7 @@ ap.srcs += gyro.c subsystems/navigation/nav_line.c
 ap.srcs += subsystems/navigation/nav_survey_rectangle.c
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
 
diff --git a/conf/airframes/obsolete/whirly.xml b/conf/airframes/obsolete/whirly.xml
index cd81a31856..e813809770 100644
--- a/conf/airframes/obsolete/whirly.xml
+++ b/conf/airframes/obsolete/whirly.xml
@@ -79,7 +79,7 @@ TARGET_DIR  = ~
 <!--ap.CFLAGS += -DDISABLE_CAN=1-->
 ap.CFLAGS += -DTELEMETRY_MODE_DEFAULT=TELEMETRY_MODE_Main_default
 
-include $(PAPARAZZI_SRC)/conf/autopilot/whirly_ap.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/whirly_ap.makefile
 
   </makefile>
 
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index 29c376bf5b..eae611bf2e 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -205,7 +205,7 @@
   </section>
 
  <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
 
 FLASH_MODE=IAP
 
@@ -267,7 +267,7 @@ ap.CFLAGS += -DMOBILE_CAM
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
 # -DMOBILE_CAM
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index f9b653c039..03ccc9430c 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -4,13 +4,13 @@
 
   <!-- booz2 -->
   <aircraft
-    name="BOOZ2_A1"
+    name="BOOZ2"
     ac_id="150"
-    airframe="airframes/Poine/booz2_a1.xml"
+    airframe="airframes/examples/booz2.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+    settings="settings/rotorcraft_basic.xml"
     gui_color="white"
     />
 
@@ -18,21 +18,21 @@
   <aircraft
     name="Hexa_LisaL"
     ac_id="153"
-    airframe="airframes/Poine/h_hex.xml"
+    airframe="airframes/examples/h_hex.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
     gui_color="white"
     />
   <aircraft
-    name="LISA_ASCTEC_PIOTR"
-    ac_id="161"
-    airframe="airframes/esden/lisa_asctec.xml"
+    name="Quad_LisaM"
+    ac_id="162"
+    airframe="airframes/examples/quadrotor_lisa_m_2_pwm.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
-    flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
+    flight_plan="flight_plans/rotorcraft_basic.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
     gui_color="white"
     />
 
@@ -40,41 +40,41 @@
   <aircraft
     name="Microjet"
     ac_id="5"
-    airframe="airframes/microjet_example.xml"
+    airframe="airframes/examples/microjet.xml"
     radio="radios/cockpitMM.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/basic.xml"
-    settings="settings/basic_infrared.xml"
+    settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml"
     gui_color="#6293ba"
     />
   <aircraft
     name="Tiny_IMU"
     ac_id="7"
-    airframe="airframes/example_twog_analogimu.xml"
+    airframe="airframes/examples/twog_analogimu.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing_imu.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning_ins.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/ins_neutrals.xml"
     gui_color="blue"
     />
   <aircraft
     name="Twinjet"
     ac_id="6"
-    airframe="airframes/twinjet_example.xml"
+    airframe="airframes/examples/twinjet.xml"
     radio="radios/cockpitMM.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
     gui_color="#ba6293"
     />
   <aircraft
     name="EasyStar_ETS"
     ac_id="8"
-    airframe="airframes/easystar_ets_example.xml"
+    airframe="airframes/examples/easystar_ets.xml"
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_fixedwing.xml"
     flight_plan="flight_plans/versatile.xml"
-    settings="settings/tuning.xml settings/infrared.xml"
+    settings="settings/fixedwing_tuning.xml settings/estimation/infrared.xml"
     gui_color="red"
     />
 
@@ -86,7 +86,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
     gui_color="white"
     />
   <aircraft
@@ -96,7 +96,7 @@
     radio="radios/cockpitSX.xml"
     telemetry="telemetry/default_rotorcraft.xml"
     flight_plan="flight_plans/dummy.xml"
-    settings="settings/settings_booz2.xml"
+    settings="settings/rotorcraft_basic.xml"
     gui_color="white"
     />
 </conf>
diff --git a/conf/autopilot/booz2_common.makefile b/conf/firmwares/booz2_common.makefile
similarity index 79%
rename from conf/autopilot/booz2_common.makefile
rename to conf/firmwares/booz2_common.makefile
index 08dc458d6f..a0c8c0e0d5 100644
--- a/conf/autopilot/booz2_common.makefile
+++ b/conf/firmwares/booz2_common.makefile
@@ -7,6 +7,6 @@ SRC_BOOZ_TEST=$(SRC_BOOZ)/test
 
 SRC_BOOZ_PRIV=booz_priv
 
-CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
 
 BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/firmwares/booz2_test_progs.makefile
similarity index 99%
rename from conf/autopilot/booz2_test_progs.makefile
rename to conf/firmwares/booz2_test_progs.makefile
index d9c334b6a8..d53290b930 100644
--- a/conf/autopilot/booz2_test_progs.makefile
+++ b/conf/firmwares/booz2_test_progs.makefile
@@ -22,7 +22,7 @@
 #
 #
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 
 #
 # test_led : blinks all leds
diff --git a/conf/autopilot/fixedwing.makefile b/conf/firmwares/fixedwing.makefile
similarity index 87%
rename from conf/autopilot/fixedwing.makefile
rename to conf/firmwares/fixedwing.makefile
index f8c69de3ee..337a2def80 100644
--- a/conf/autopilot/fixedwing.makefile
+++ b/conf/firmwares/fixedwing.makefile
@@ -5,8 +5,8 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/fixedwing
 
 
 SRC_FIXEDWING=.
diff --git a/conf/autopilot/fixedwing.xml b/conf/firmwares/fixedwing.xml
similarity index 100%
rename from conf/autopilot/fixedwing.xml
rename to conf/firmwares/fixedwing.xml
diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/firmwares/lisa_passthrough.makefile
similarity index 98%
rename from conf/autopilot/lisa_passthrough.makefile
rename to conf/firmwares/lisa_passthrough.makefile
index ba69c752b7..bfa61b16a6 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/firmwares/lisa_passthrough.makefile
@@ -16,7 +16,7 @@ SRC_SUBSYSTEMS=subsystems
 SRC_ROTOR_ARCH=$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
 SRC_IMU_ARCH=$(SRC_SUBSYSTEMS)/imu/arch/$(ARCH)
 
-CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
+CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/firmwares/subsystems/lisa_passthrough
 
 
 stm_passthrough.ARCHDIR = stm32
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
similarity index 100%
rename from conf/autopilot/lisa_test_progs.makefile
rename to conf/firmwares/lisa_test_progs.makefile
diff --git a/conf/autopilot/lisa_test_progs.xml b/conf/firmwares/lisa_test_progs.xml
similarity index 100%
rename from conf/autopilot/lisa_test_progs.xml
rename to conf/firmwares/lisa_test_progs.xml
diff --git a/conf/autopilot/logger.makefile b/conf/firmwares/logger.makefile
similarity index 97%
rename from conf/autopilot/logger.makefile
rename to conf/firmwares/logger.makefile
index 586203e79f..b9d9df514b 100644
--- a/conf/autopilot/logger.makefile
+++ b/conf/firmwares/logger.makefile
@@ -4,7 +4,7 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
 
 SRC_ARCH=arch/$(ARCH)
 SRC_FIRMWARE=firmwares/logger
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
similarity index 96%
rename from conf/autopilot/rotorcraft.makefile
rename to conf/firmwares/rotorcraft.makefile
index 0000ae121a..e6d6e22529 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -21,8 +21,8 @@
 #
 #
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft
 
 SRC_BOOZ_TEST=$(SRC_BOOZ)/test
 SRC_BOOZ_PRIV=booz_priv
@@ -33,7 +33,7 @@ SRC_SUBSYSTEMS=subsystems
 
 SRC_ARCH=arch/$(ARCH)
 
-CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
 
 ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
 
diff --git a/conf/autopilot/rotorcraft.xml b/conf/firmwares/rotorcraft.xml
similarity index 100%
rename from conf/autopilot/rotorcraft.xml
rename to conf/firmwares/rotorcraft.xml
diff --git a/conf/autopilot/setup.makefile b/conf/firmwares/setup.makefile
similarity index 97%
rename from conf/autopilot/setup.makefile
rename to conf/firmwares/setup.makefile
index 33a14d5998..f82ec2057b 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/firmwares/setup.makefile
@@ -4,8 +4,8 @@
 #
 
 
-CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
-#CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup
+CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
+#CFG_SETUP=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/setup
 
 SRC_ARCH=arch/$(ARCH)
 SRC_FIRMWARE=firmwares/setup
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_ic.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_ic.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_infrared.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_infrared.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_infrared.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
rename to conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile b/conf/firmwares/subsystems/fixedwing/attitude_dcm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
rename to conf/firmwares/subsystems/fixedwing/attitude_dcm.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
rename to conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/attitude_infrared_i2c.makefile
rename to conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/autopilot.makefile
rename to conf/firmwares/subsystems/fixedwing/autopilot.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/control.makefile b/conf/firmwares/subsystems/fixedwing/control.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/control.makefile
rename to conf/firmwares/subsystems/fixedwing/control.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile b/conf/firmwares/subsystems/fixedwing/control_adaptive.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
rename to conf/firmwares/subsystems/fixedwing/control_adaptive.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/control_new.makefile b/conf/firmwares/subsystems/fixedwing/control_new.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/control_new.makefile
rename to conf/firmwares/subsystems/fixedwing/control_new.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/current_sensor.makefile b/conf/firmwares/subsystems/fixedwing/current_sensor.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/current_sensor.makefile
rename to conf/firmwares/subsystems/fixedwing/current_sensor.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_mediatek_diy.makefile b/conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_mediatek_diy.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_mediatek_diy.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_nmea.makefile b/conf/firmwares/subsystems/fixedwing/gps_nmea.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_nmea.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_nmea.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile b/conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_skytraq.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_skytraq.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_ublox.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_hitl.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox_hitl.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_ublox_hitl.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gps_ublox_utm.makefile
rename to conf/firmwares/subsystems/fixedwing/gps_ublox_utm.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile b/conf/firmwares/subsystems/fixedwing/gyro_pitch.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile
rename to conf/firmwares/subsystems/fixedwing/gyro_pitch.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_roll.makefile b/conf/firmwares/subsystems/fixedwing/gyro_roll.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/gyro_roll.makefile
rename to conf/firmwares/subsystems/fixedwing/gyro_roll.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/i2c.makefile b/conf/firmwares/subsystems/fixedwing/i2c.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/i2c.makefile
rename to conf/firmwares/subsystems/fixedwing/i2c.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile b/conf/firmwares/subsystems/fixedwing/imu_aspirin2_i2c.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/imu_aspirin2_i2c.makefile
rename to conf/firmwares/subsystems/fixedwing/imu_aspirin2_i2c.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_aspirin_i2c.makefile b/conf/firmwares/subsystems/fixedwing/imu_aspirin_i2c.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/imu_aspirin_i2c.makefile
rename to conf/firmwares/subsystems/fixedwing/imu_aspirin_i2c.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile b/conf/firmwares/subsystems/fixedwing/imu_booz.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/imu_booz.makefile
rename to conf/firmwares/subsystems/fixedwing/imu_booz.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile b/conf/firmwares/subsystems/fixedwing/imu_ppzuav.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile
rename to conf/firmwares/subsystems/fixedwing/imu_ppzuav.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/ins_xsens.makefile
rename to conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/joystick.makefile b/conf/firmwares/subsystems/fixedwing/joystick.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/joystick.makefile
rename to conf/firmwares/subsystems/fixedwing/joystick.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/navigation.makefile b/conf/firmwares/subsystems/fixedwing/navigation.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/navigation.makefile
rename to conf/firmwares/subsystems/fixedwing/navigation.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/navigation_bomb.makefile b/conf/firmwares/subsystems/fixedwing/navigation_bomb.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/navigation_bomb.makefile
rename to conf/firmwares/subsystems/fixedwing/navigation_bomb.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile b/conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
rename to conf/firmwares/subsystems/fixedwing/navigation_extra.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile b/conf/firmwares/subsystems/fixedwing/radio_control_datalink.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
rename to conf/firmwares/subsystems/fixedwing/radio_control_datalink.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/settings_rc.makefile b/conf/firmwares/subsystems/fixedwing/settings_rc.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/settings_rc.makefile
rename to conf/firmwares/subsystems/fixedwing/settings_rc.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/spi.makefile b/conf/firmwares/subsystems/fixedwing/spi.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/spi.makefile
rename to conf/firmwares/subsystems/fixedwing/spi.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/spi_slave_hs.makefile b/conf/firmwares/subsystems/fixedwing/spi_slave_hs.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/spi_slave_hs.makefile
rename to conf/firmwares/subsystems/fixedwing/spi_slave_hs.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
rename to conf/firmwares/subsystems/fixedwing/telemetry_transparent.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
rename to conf/firmwares/subsystems/fixedwing/telemetry_transparent_usb.makefile
diff --git a/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
similarity index 100%
rename from conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
rename to conf/firmwares/subsystems/fixedwing/telemetry_xbee_api.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile b/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile b/conf/firmwares/subsystems/lisa_passthrough/booz_stabilization_int.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/booz_stabilization_int.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile b/conf/firmwares/subsystems/lisa_passthrough/radio_control_joby.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/radio_control_joby.makefile
diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile b/conf/firmwares/subsystems/lisa_passthrough/radio_control_spektrum.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
rename to conf/firmwares/subsystems/lisa_passthrough/radio_control_spektrum.makefile
diff --git a/conf/autopilot/subsystems/lisa_spi_link.makefile b/conf/firmwares/subsystems/lisa_spi_link.makefile
similarity index 100%
rename from conf/autopilot/subsystems/lisa_spi_link.makefile
rename to conf/firmwares/subsystems/lisa_spi_link.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_dummy.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_dummy.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_skiron.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/actuators_skiron.makefile
rename to conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_lkf.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_lkf.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_mlkf.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_mlkf.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ahrs_mlkf.makefile
rename to conf/firmwares/subsystems/rotorcraft/ahrs_mlkf.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
rename to conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/gps_nmea.makefile b/conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/gps_nmea.makefile
rename to conf/firmwares/subsystems/rotorcraft/gps_nmea.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile b/conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile
rename to conf/firmwares/subsystems/rotorcraft/gps_skytraq.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile b/conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
rename to conf/firmwares/subsystems/rotorcraft/gps_ublox.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/gps_ublox_utm.makefile b/conf/firmwares/subsystems/rotorcraft/gps_ublox_utm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/gps_ublox_utm.makefile
rename to conf/firmwares/subsystems/rotorcraft/gps_ublox_utm.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
rename to conf/firmwares/subsystems/rotorcraft/imu_crista.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista_hmc5843.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/imu_crista_hmc5843.makefile
rename to conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/ins_hff.makefile b/conf/firmwares/subsystems/rotorcraft/ins_hff.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/ins_hff.makefile
rename to conf/firmwares/subsystems/rotorcraft/ins_hff.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_euler.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_euler.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/stabilization_euler.makefile
rename to conf/firmwares/subsystems/rotorcraft/stabilization_euler.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/stabilization_int_quat.makefile
rename to conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
rename to conf/firmwares/subsystems/rotorcraft/stabilization_int_quat_transition.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/stabilization_quaternion.makefile
rename to conf/firmwares/subsystems/rotorcraft/stabilization_quaternion.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile
rename to conf/firmwares/subsystems/rotorcraft/telemetry_transparent.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile
rename to conf/firmwares/subsystems/rotorcraft/telemetry_transparent_usb.makefile
diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile b/conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
similarity index 100%
rename from conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile
rename to conf/firmwares/subsystems/rotorcraft/telemetry_xbee_api.makefile
diff --git a/conf/autopilot/subsystems/shared/actuators_4015.makefile b/conf/firmwares/subsystems/shared/actuators_4015.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/actuators_4015.makefile
rename to conf/firmwares/subsystems/shared/actuators_4015.makefile
diff --git a/conf/autopilot/subsystems/shared/actuators_4017.makefile b/conf/firmwares/subsystems/shared/actuators_4017.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/actuators_4017.makefile
rename to conf/firmwares/subsystems/shared/actuators_4017.makefile
diff --git a/conf/autopilot/subsystems/shared/actuators_direct.makefile b/conf/firmwares/subsystems/shared/actuators_direct.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/actuators_direct.makefile
rename to conf/firmwares/subsystems/shared/actuators_direct.makefile
diff --git a/conf/autopilot/subsystems/shared/actuators_ppm.makefile b/conf/firmwares/subsystems/shared/actuators_ppm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/actuators_ppm.makefile
rename to conf/firmwares/subsystems/shared/actuators_ppm.makefile
diff --git a/conf/autopilot/subsystems/shared/i2c_select.makefile b/conf/firmwares/subsystems/shared/i2c_select.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/i2c_select.makefile
rename to conf/firmwares/subsystems/shared/i2c_select.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_analog.makefile b/conf/firmwares/subsystems/shared/imu_analog.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_analog.makefile
rename to conf/firmwares/subsystems/shared/imu_analog.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin.makefile b/conf/firmwares/subsystems/shared/imu_aspirin.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_aspirin.makefile
rename to conf/firmwares/subsystems/shared/imu_aspirin.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
rename to conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile
rename to conf/firmwares/subsystems/shared/imu_aspirin_v1.0.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v1.5.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_aspirin_v1.5.makefile
rename to conf/firmwares/subsystems/shared/imu_aspirin_v1.5.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile
rename to conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_b2_common.makefile b/conf/firmwares/subsystems/shared/imu_b2_common.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_b2_common.makefile
rename to conf/firmwares/subsystems/shared/imu_b2_common.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile
rename to conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile
rename to conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile
rename to conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_navgo.makefile b/conf/firmwares/subsystems/shared/imu_navgo.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_navgo.makefile
rename to conf/firmwares/subsystems/shared/imu_navgo.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_umarim.makefile b/conf/firmwares/subsystems/shared/imu_umarim.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_umarim.makefile
rename to conf/firmwares/subsystems/shared/imu_umarim.makefile
diff --git a/conf/autopilot/subsystems/shared/imu_yai.makefile b/conf/firmwares/subsystems/shared/imu_yai.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/imu_yai.makefile
rename to conf/firmwares/subsystems/shared/imu_yai.makefile
diff --git a/conf/autopilot/subsystems/shared/radio_control_ppm.makefile b/conf/firmwares/subsystems/shared/radio_control_ppm.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/radio_control_ppm.makefile
rename to conf/firmwares/subsystems/shared/radio_control_ppm.makefile
diff --git a/conf/autopilot/subsystems/shared/radio_control_spektrum.makefile b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
similarity index 100%
rename from conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
rename to conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
old mode 100755
new mode 100644
diff --git a/conf/flight_plans/grosslobke_kreise.xml b/conf/flight_plans/grosslobke_kreise.xml
old mode 100755
new mode 100644
diff --git a/conf/modules/airspeed_amsys.xml b/conf/modules/airspeed_amsys.xml
old mode 100755
new mode 100644
diff --git a/conf/modules/baro_amsys.xml b/conf/modules/baro_amsys.xml
old mode 100755
new mode 100644
diff --git a/conf/modules/openlog.xml b/conf/modules/openlog.xml
old mode 100755
new mode 100644
diff --git a/conf/settings/basic_infrared.xml b/conf/settings/basic_infrared.xml
deleted file mode 100644
index 7de7a7c5df..0000000000
--- a/conf/settings/basic_infrared.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation with IR sensors (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="Infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll neutral" module="subsystems/sensors/infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch neutral" module="subsystems/sensors/infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"  alt_unit="deg"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/basic_ins.xml b/conf/settings/basic_ins.xml
deleted file mode 100644
index 70ee43a5f8..0000000000
--- a/conf/settings/basic_ins.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation with IMU (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="ins">
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/settings_beth.xml b/conf/settings/beth/beth.xml
similarity index 84%
rename from conf/settings/settings_beth.xml
rename to conf/settings/beth/beth.xml
index 135a0d60d8..39b60a30d2 100644
--- a/conf/settings/settings_beth.xml
+++ b/conf/settings/beth/beth.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_full.xml b/conf/settings/beth/beth_full.xml
similarity index 97%
rename from conf/settings/settings_beth_full.xml
rename to conf/settings/beth/beth_full.xml
index dea2c22efd..7d648b4f46 100644
--- a/conf/settings/settings_beth_full.xml
+++ b/conf/settings/beth/beth_full.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_pid.xml b/conf/settings/beth/beth_pid.xml
similarity index 97%
rename from conf/settings/settings_beth_pid.xml
rename to conf/settings/beth/beth_pid.xml
index f59904e713..14e9dfafcc 100644
--- a/conf/settings/settings_beth_pid.xml
+++ b/conf/settings/beth/beth_pid.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_reduced.xml b/conf/settings/beth/beth_reduced.xml
similarity index 84%
rename from conf/settings/settings_beth_reduced.xml
rename to conf/settings/beth/beth_reduced.xml
index a89f7cacf0..95a62fef38 100644
--- a/conf/settings/settings_beth_reduced.xml
+++ b/conf/settings/beth/beth_reduced.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_sfb.xml b/conf/settings/beth/beth_sfb.xml
similarity index 96%
rename from conf/settings/settings_beth_sfb.xml
rename to conf/settings/beth/beth_sfb.xml
index 1837ea1cba..2ff996e63f 100644
--- a/conf/settings/settings_beth_sfb.xml
+++ b/conf/settings/beth/beth_sfb.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_twist.xml b/conf/settings/beth/beth_twist.xml
similarity index 98%
rename from conf/settings/settings_beth_twist.xml
rename to conf/settings/beth/beth_twist.xml
index cf4ad3d4dd..7bccb41d55 100644
--- a/conf/settings/settings_beth_twist.xml
+++ b/conf/settings/beth/beth_twist.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_beth_twist_old.xml b/conf/settings/beth/beth_twist_old.xml
similarity index 98%
rename from conf/settings/settings_beth_twist_old.xml
rename to conf/settings/beth/beth_twist_old.xml
index aac38d9353..b74cc6c8cf 100644
--- a/conf/settings/settings_beth_twist_old.xml
+++ b/conf/settings/beth/beth_twist_old.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/control/ctl_adaptive.xml
similarity index 99%
rename from conf/settings/tuning_ctl_adaptive.xml
rename to conf/settings/control/ctl_adaptive.xml
index ff57cd5608..bf7de6aabc 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/control/ctl_adaptive.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf to use to tune a new A/C -->
 
diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/control/ctl_adaptive_h_ff.xml
similarity index 95%
rename from conf/settings/fw_h_ctl_a_settings.xml
rename to conf/settings/control/ctl_adaptive_h_ff.xml
index 22631d80a9..3f57a5a4be 100644
--- a/conf/settings/fw_h_ctl_a_settings.xml
+++ b/conf/settings/control/ctl_adaptive_h_ff.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf to use to tune a new A/C -->
 
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/control/ctl_new.xml
similarity index 99%
rename from conf/settings/tuning_ctl_new.xml
rename to conf/settings/control/ctl_new.xml
index b290ac9997..c2ad7035df 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/control/ctl_new.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf to use to tune a new A/C without airspeed -->
 
diff --git a/conf/settings/tuning_ctl_new_airspeed.xml b/conf/settings/control/ctl_new_airspeed.xml
similarity index 99%
rename from conf/settings/tuning_ctl_new_airspeed.xml
rename to conf/settings/control/ctl_new_airspeed.xml
index 2d0a4177ca..79eaeb6507 100644
--- a/conf/settings/tuning_ctl_new_airspeed.xml
+++ b/conf/settings/control/ctl_new_airspeed.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf to use to tune a new A/C with airspeed-->
 
diff --git a/conf/settings/gyro.xml b/conf/settings/control/ctl_rate.xml
similarity index 95%
rename from conf/settings/gyro.xml
rename to conf/settings/control/ctl_rate.xml
index 4d35dfe38c..96eba3ef66 100644
--- a/conf/settings/gyro.xml
+++ b/conf/settings/control/ctl_rate.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
     <dl_settings NAME="control">
diff --git a/conf/settings/nav_cube.xml b/conf/settings/control/nav_cube.xml
similarity index 96%
rename from conf/settings/nav_cube.xml
rename to conf/settings/control/nav_cube.xml
index a7f525bdc1..1836d9073c 100644
--- a/conf/settings/nav_cube.xml
+++ b/conf/settings/control/nav_cube.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/control/rotorcraft_guidance.xml b/conf/settings/control/rotorcraft_guidance.xml
new file mode 100644
index 0000000000..f0da714698
--- /dev/null
+++ b/conf/settings/control/rotorcraft_guidance.xml
@@ -0,0 +1,33 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Vert Loop">
+      <dl_setting var="guidance_v_kp" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kp" param="GUIDANCE_V_HOVER_KP"/>
+      <dl_setting var="guidance_v_kd" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kd" param="GUIDANCE_V_HOVER_KD"/>
+      <dl_setting var="guidance_v_ki" min="0" step="1" max="300"   module="guidance/guidance_v" shortname="ki" handler="SetKi" param="GUIDANCE_V_HOVER_KI"/>
+      <dl_setting var="guidance_v_nominal_throttle" min="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" handler="SetNominalHoverThrottle" alt_unit="%" alt_unit_coef="0.000104167" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
+      <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
+      <dl_setting var="ins_vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
+   </dl_settings>
+
+   <dl_settings NAME="Horiz Loop">
+      <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
+      <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
+      <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/>
+      <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
+      <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
+      <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
+      <dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5"  module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
+      <dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
+   </dl_settings>
+
+   <dl_settings NAME="NAV">
+     <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
+     <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
+     <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
+   </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/snav.xml b/conf/settings/control/snav.xml
similarity index 82%
rename from conf/settings/snav.xml
rename to conf/settings/control/snav.xml
index 0f1cd60355..6e0a545916 100644
--- a/conf/settings/snav.xml
+++ b/conf/settings/control/snav.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
     <dl_settings NAME="snav">
diff --git a/conf/settings/control/stabilization_att_int.xml b/conf/settings/control/stabilization_att_int.xml
new file mode 100644
index 0000000000..3a79a16d48
--- /dev/null
+++ b/conf/settings/control/stabilization_att_int.xml
@@ -0,0 +1,22 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Att Loop">
+      <dl_setting var="stabilization_gains.p.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
+      <dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
+      <dl_setting var="stabilization_gains.i.x" min="0" step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain phi" handler="SetKiPhi"param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
+      <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
+      <dl_setting var="stabilization_gains.p.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
+      <dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
+      <dl_setting var="stabilization_gains.i.y" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
+      <dl_setting var="stabilization_gains.dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
+      <dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
+      <dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
+      <dl_setting var="stabilization_gains.i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
+      <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/control/stabilization_rate.xml b/conf/settings/control/stabilization_rate.xml
new file mode 100644
index 0000000000..35642975de
--- /dev/null
+++ b/conf/settings/control/stabilization_rate.xml
@@ -0,0 +1,21 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Rate Loop">
+      <dl_setting var="stabilization_rate_gain.p" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="pgain p" param="STABILIZATION_RATE_GAIN_P"/>
+      <dl_setting var="stabilization_rate_gain.q" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="pgain q" param="STABILIZATION_RATE_GAIN_Q"/>
+      <dl_setting var="stabilization_rate_gain.r" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="pgain r" param="STABILIZATION_RATE_GAIN_R"/>
+
+      <dl_setting var="stabilization_rate_igain.p" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain p" param="STABILIZATION_RATE_IGAIN_P"/>
+      <dl_setting var="stabilization_rate_igain.q" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain q" param="STABILIZATION_RATE_IGAIN_Q"/>
+      <dl_setting var="stabilization_rate_igain.r" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="igain r" param="STABILIZATION_RATE_IGAIN_R"/>
+
+      <dl_setting var="stabilization_rate_ddgain.p" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain p" param="STABILIZATION_RATE_DDGAIN_P"/>
+      <dl_setting var="stabilization_rate_ddgain.q" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain q" param="STABILIZATION_RATE_DDGAIN_Q"/>
+      <dl_setting var="stabilization_rate_ddgain.r" min="0" step="1" max="500" module="stabilization/stabilization_rate" shortname="ddgain r" param="STABILIZATION_RATE_DDGAIN_R"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/tune_agr_climb.xml b/conf/settings/control/tune_agr_climb.xml
similarity index 96%
rename from conf/settings/tune_agr_climb.xml
rename to conf/settings/control/tune_agr_climb.xml
index dd3ff65e06..ce05298e70 100644
--- a/conf/settings/tune_agr_climb.xml
+++ b/conf/settings/control/tune_agr_climb.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
     <dl_settings NAME="control">
diff --git a/conf/settings/estimation/ahrs_float_dcm.xml b/conf/settings/estimation/ahrs_float_dcm.xml
new file mode 100644
index 0000000000..8dcdc48727
--- /dev/null
+++ b/conf/settings/estimation/ahrs_float_dcm.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- A conf to use to tune a new A/C -->
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="ins">
+      <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
+      <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/settings_booz2_ahrs_cmpl.xml b/conf/settings/estimation/ahrs_int_cmpl_euler.xml
similarity index 84%
rename from conf/settings/settings_booz2_ahrs_cmpl.xml
rename to conf/settings/estimation/ahrs_int_cmpl_euler.xml
index 1d28b08d80..9c6bebad52 100644
--- a/conf/settings/settings_booz2_ahrs_cmpl.xml
+++ b/conf/settings/estimation/ahrs_int_cmpl_euler.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_booz2_ahrs_lkf.xml b/conf/settings/estimation/booz2_ahrs_lkf.xml
similarity index 93%
rename from conf/settings/settings_booz2_ahrs_lkf.xml
rename to conf/settings/estimation/booz2_ahrs_lkf.xml
index d4e5c65604..a49a4f318b 100644
--- a/conf/settings/settings_booz2_ahrs_lkf.xml
+++ b/conf/settings/estimation/booz2_ahrs_lkf.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_rotorcraft_booz_baro.xml b/conf/settings/estimation/booz_baro.xml
similarity index 85%
rename from conf/settings/settings_rotorcraft_booz_baro.xml
rename to conf/settings/estimation/booz_baro.xml
index e84cae01bb..5883968890 100644
--- a/conf/settings/settings_rotorcraft_booz_baro.xml
+++ b/conf/settings/estimation/booz_baro.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/baro.xml b/conf/settings/estimation/fw_baro_MS5534.xml
similarity index 92%
rename from conf/settings/baro.xml
rename to conf/settings/estimation/fw_baro_MS5534.xml
index af8526d76e..bc7b223e68 100644
--- a/conf/settings/baro.xml
+++ b/conf/settings/estimation/fw_baro_MS5534.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
     <dl_settings NAME="control">
diff --git a/conf/settings/estimation/fw_baro_kalman.xml b/conf/settings/estimation/fw_baro_kalman.xml
new file mode 100644
index 0000000000..34f11f32de
--- /dev/null
+++ b/conf/settings/estimation/fw_baro_kalman.xml
@@ -0,0 +1,13 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- Activate kalman filter for altitude estimation with baro -->
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="alt_baro">
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/infrared.xml b/conf/settings/estimation/infrared.xml
similarity index 96%
rename from conf/settings/infrared.xml
rename to conf/settings/estimation/infrared.xml
index 4a63671869..9ebd483cd4 100644
--- a/conf/settings/infrared.xml
+++ b/conf/settings/estimation/infrared.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/ins_neutrals.xml b/conf/settings/estimation/ins_neutrals.xml
similarity index 90%
rename from conf/settings/ins_neutrals.xml
rename to conf/settings/estimation/ins_neutrals.xml
index bce83b2ed8..2623234091 100644
--- a/conf/settings/ins_neutrals.xml
+++ b/conf/settings/estimation/ins_neutrals.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/estimation/wind.xml b/conf/settings/estimation/wind.xml
new file mode 100644
index 0000000000..2e5b75e14a
--- /dev/null
+++ b/conf/settings/estimation/wind.xml
@@ -0,0 +1,14 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- Set wind velocity -->
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="wind">
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/external.xml b/conf/settings/external.xml
deleted file mode 100644
index 0c2fe3debb..0000000000
--- a/conf/settings/external.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use an external control -->
-
-<settings>
-  <dl_settings>
-    <dl_settings name="external">
-      <dl_settings NAME="flight params">
-        <dl_setting MAX="1000" MIN="0" STEP="10" VAR="nav_alt" module="external"/>
-      </dl_settings>
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="35" MIN="-35" STEP="1" VAR="nav_roll" shortname="roll_setpoint" module="external"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1.0" MIN="0.0" STEP="0.05" VAR="nav_cruise" shortname="cruise setpoint" module="external"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="1.0" MIN="0.0" STEP="0.05" VAR="nav_throttle" shortname="throttle setpoint" module="external" handler="SetNavThrottle"/>
-      </dl_settings>
-
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/basic.xml b/conf/settings/fixedwing_basic.xml
similarity index 90%
rename from conf/settings/basic.xml
rename to conf/settings/fixedwing_basic.xml
index 2ecedc22b3..abdfe89a29 100644
--- a/conf/settings/basic.xml
+++ b/conf/settings/fixedwing_basic.xml
@@ -8,10 +8,10 @@
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
       <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="estimator"/>
+      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
       <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+        <strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
+        <strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
         <key_press key="greater" value="1"/>
         <key_press key="less" value="-1"/>
       </dl_setting>
diff --git a/conf/settings/tuning.xml b/conf/settings/fixedwing_tuning.xml
similarity index 94%
rename from conf/settings/tuning.xml
rename to conf/settings/fixedwing_tuning.xml
index cd01556f46..f827cd4010 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/fixedwing_tuning.xml
@@ -59,9 +59,8 @@
         <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
         <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
+        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
+        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
         <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
diff --git a/conf/settings/flight_params.xml b/conf/settings/flight_params.xml
deleted file mode 100644
index f30232fea1..0000000000
--- a/conf/settings/flight_params.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- General flight parameters for Fixedwing A/C -->
-
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1" group="circle"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1" group="circle"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/ihm.xml b/conf/settings/ihm.xml
deleted file mode 100644
index a5ef3da93c..0000000000
--- a/conf/settings/ihm.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_setting MAX="1000" MIN="0" STEP="5" VAR="nav_radius"/>
-    <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude"/>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/joystick.xml b/conf/settings/joystick.xml
deleted file mode 100644
index 75fb4a15ad..0000000000
--- a/conf/settings/joystick.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<settings>
-  <dl_settings NAME="joystick">
-      <dl_setting MAX="1" MIN="-1" STEP="0.01" module="joystick" VAR="joystick_x" />
-      <dl_setting MAX="1" MIN="-1" STEP="0.01" module="joystick" VAR="joystick_y" />
-  </dl_settings>
-</settings>
diff --git a/conf/settings/lisa.xml b/conf/settings/lisa.xml
deleted file mode 100644
index 8fd1c470a0..0000000000
--- a/conf/settings/lisa.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-	<key_press key="greater" value="1"/>
-	<key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/AOA_adc.xml b/conf/settings/modules/AOA_adc.xml
similarity index 91%
rename from conf/settings/AOA_adc.xml
rename to conf/settings/modules/AOA_adc.xml
index 72fa08af3a..dd0b643777 100644
--- a/conf/settings/AOA_adc.xml
+++ b/conf/settings/modules/AOA_adc.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
 	<dl_settings>
diff --git a/conf/settings/MPPT_settings.xml b/conf/settings/modules/MPPT_settings.xml
similarity index 80%
rename from conf/settings/MPPT_settings.xml
rename to conf/settings/modules/MPPT_settings.xml
index fff45fd87e..9fe2ec66f8 100644
--- a/conf/settings/MPPT_settings.xml
+++ b/conf/settings/modules/MPPT_settings.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/airspeed_amsys.xml b/conf/settings/modules/airspeed_amsys.xml
old mode 100755
new mode 100644
similarity index 91%
rename from conf/settings/airspeed_amsys.xml
rename to conf/settings/modules/airspeed_amsys.xml
index 875cc5a9b7..0d4f1a66e1
--- a/conf/settings/airspeed_amsys.xml
+++ b/conf/settings/modules/airspeed_amsys.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
 	<dl_settings>
diff --git a/conf/settings/antenna_settings.xml b/conf/settings/modules/antenna_settings.xml
similarity index 92%
rename from conf/settings/antenna_settings.xml
rename to conf/settings/modules/antenna_settings.xml
index 7b2643bf24..930f78e2f3 100644
--- a/conf/settings/antenna_settings.xml
+++ b/conf/settings/modules/antenna_settings.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf for a quadrirotor -->
 
diff --git a/conf/settings/baro_amsys.xml b/conf/settings/modules/baro_amsys.xml
old mode 100755
new mode 100644
similarity index 86%
rename from conf/settings/baro_amsys.xml
rename to conf/settings/modules/baro_amsys.xml
index 162b81c06b..9c738a05d4
--- a/conf/settings/baro_amsys.xml
+++ b/conf/settings/modules/baro_amsys.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
 	<dl_settings>
diff --git a/conf/settings/benchmark.xml b/conf/settings/modules/benchmark.xml
old mode 100755
new mode 100644
similarity index 94%
rename from conf/settings/benchmark.xml
rename to conf/settings/modules/benchmark.xml
index 31d3b08c1e..97f8a93ea1
--- a/conf/settings/benchmark.xml
+++ b/conf/settings/modules/benchmark.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
 	<dl_settings>
diff --git a/conf/settings/booz_cam.xml b/conf/settings/modules/booz_cam.xml
similarity index 100%
rename from conf/settings/booz_cam.xml
rename to conf/settings/modules/booz_cam.xml
diff --git a/conf/settings/booz_dc.xml b/conf/settings/modules/booz_dc.xml
similarity index 90%
rename from conf/settings/booz_dc.xml
rename to conf/settings/modules/booz_dc.xml
index 76c4f8a494..7f2df7b4d7 100644
--- a/conf/settings/booz_dc.xml
+++ b/conf/settings/modules/booz_dc.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/settings_booz_drop.xml b/conf/settings/modules/booz_drop.xml
similarity index 88%
rename from conf/settings/settings_booz_drop.xml
rename to conf/settings/modules/booz_drop.xml
index 6d6d07fdce..3cbedf95ab 100644
--- a/conf/settings/settings_booz_drop.xml
+++ b/conf/settings/modules/booz_drop.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/cam.xml b/conf/settings/modules/cam.xml
similarity index 95%
rename from conf/settings/cam.xml
rename to conf/settings/modules/cam.xml
index 85060444bb..3dcb0ac2b5 100644
--- a/conf/settings/cam.xml
+++ b/conf/settings/modules/cam.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="control">
diff --git a/conf/settings/cam_pitch.xml b/conf/settings/modules/cam_pitch.xml
similarity index 95%
rename from conf/settings/cam_pitch.xml
rename to conf/settings/modules/cam_pitch.xml
index 80cace7e60..a57c2bbe37 100644
--- a/conf/settings/cam_pitch.xml
+++ b/conf/settings/modules/cam_pitch.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="control">
diff --git a/conf/settings/cam_roll.xml b/conf/settings/modules/cam_roll.xml
similarity index 92%
rename from conf/settings/cam_roll.xml
rename to conf/settings/modules/cam_roll.xml
index 3e09e9884f..bb09155488 100644
--- a/conf/settings/cam_roll.xml
+++ b/conf/settings/modules/cam_roll.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/dc.xml b/conf/settings/modules/dc.xml
similarity index 97%
rename from conf/settings/dc.xml
rename to conf/settings/modules/dc.xml
index c859849583..7763e2392f 100644
--- a/conf/settings/dc.xml
+++ b/conf/settings/modules/dc.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings name="control">
diff --git a/conf/settings/settings_deploy_sonar_buoy.xml b/conf/settings/modules/deploy_sonar_buoy.xml
similarity index 93%
rename from conf/settings/settings_deploy_sonar_buoy.xml
rename to conf/settings/modules/deploy_sonar_buoy.xml
index 002ef32e16..76c307b640 100644
--- a/conf/settings/settings_deploy_sonar_buoy.xml
+++ b/conf/settings/modules/deploy_sonar_buoy.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/enose.xml b/conf/settings/modules/enose.xml
similarity index 91%
rename from conf/settings/enose.xml
rename to conf/settings/modules/enose.xml
index fa90cd2d4f..9da88c26de 100644
--- a/conf/settings/enose.xml
+++ b/conf/settings/modules/enose.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
     <dl_settings NAME="control">
diff --git a/conf/settings/formation.xml b/conf/settings/modules/formation.xml
similarity index 94%
rename from conf/settings/formation.xml
rename to conf/settings/modules/formation.xml
index 79810c8aa6..7c2a4847f6 100644
--- a/conf/settings/formation.xml
+++ b/conf/settings/modules/formation.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!-- A conf for formation flight tuning -->
 
diff --git a/conf/settings/gps_ubx_ucenter.xml b/conf/settings/modules/gps_ubx_ucenter.xml
similarity index 95%
rename from conf/settings/gps_ubx_ucenter.xml
rename to conf/settings/modules/gps_ubx_ucenter.xml
index 24811abbf7..fccb43bab0 100644
--- a/conf/settings/gps_ubx_ucenter.xml
+++ b/conf/settings/modules/gps_ubx_ucenter.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="ublox">
diff --git a/conf/settings/ins_arduimu_basic.xml b/conf/settings/modules/ins_arduimu_basic.xml
similarity index 92%
rename from conf/settings/ins_arduimu_basic.xml
rename to conf/settings/modules/ins_arduimu_basic.xml
index 73abc529c7..6389e0c1b1 100644
--- a/conf/settings/ins_arduimu_basic.xml
+++ b/conf/settings/modules/ins_arduimu_basic.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/ir_i2c.xml b/conf/settings/modules/ir_i2c.xml
similarity index 97%
rename from conf/settings/ir_i2c.xml
rename to conf/settings/modules/ir_i2c.xml
index c67299ac4f..a099750c7f 100644
--- a/conf/settings/ir_i2c.xml
+++ b/conf/settings/modules/ir_i2c.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/light.xml b/conf/settings/modules/light.xml
similarity index 92%
rename from conf/settings/light.xml
rename to conf/settings/modules/light.xml
index 9a1691c98e..1a480d8122 100644
--- a/conf/settings/light.xml
+++ b/conf/settings/modules/light.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="lights control">
diff --git a/conf/settings/pbn.xml b/conf/settings/modules/pbn.xml
similarity index 82%
rename from conf/settings/pbn.xml
rename to conf/settings/modules/pbn.xml
index 97f53f5f32..4feb83118d 100644
--- a/conf/settings/pbn.xml
+++ b/conf/settings/modules/pbn.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/photogrammetry_calculator.xml b/conf/settings/modules/photogrammetry_calculator.xml
similarity index 97%
rename from conf/settings/photogrammetry_calculator.xml
rename to conf/settings/modules/photogrammetry_calculator.xml
index 9a44f87b94..f5622bbaa5 100644
--- a/conf/settings/photogrammetry_calculator.xml
+++ b/conf/settings/modules/photogrammetry_calculator.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings name="control">
diff --git a/conf/settings/poles.xml b/conf/settings/modules/poles.xml
similarity index 88%
rename from conf/settings/poles.xml
rename to conf/settings/modules/poles.xml
index c5e934896e..e164da3f07 100644
--- a/conf/settings/poles.xml
+++ b/conf/settings/modules/poles.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings>
diff --git a/conf/settings/pt_ant_settings.xml b/conf/settings/modules/pt_ant_settings.xml
similarity index 90%
rename from conf/settings/pt_ant_settings.xml
rename to conf/settings/modules/pt_ant_settings.xml
index c19fcdad8f..62e4663c32 100644
--- a/conf/settings/pt_ant_settings.xml
+++ b/conf/settings/modules/pt_ant_settings.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <!--  -->
 
diff --git a/conf/settings/settings_servo_switch.xml b/conf/settings/modules/servo_switch.xml
similarity index 88%
rename from conf/settings/settings_servo_switch.xml
rename to conf/settings/modules/servo_switch.xml
index 7bede7e51a..fe29a120c9 100644
--- a/conf/settings/settings_servo_switch.xml
+++ b/conf/settings/modules/servo_switch.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="Servo switch control">
diff --git a/conf/settings/settings_rotorcraft_vi.xml b/conf/settings/modules/vehicle_interface.xml
similarity index 89%
rename from conf/settings/settings_rotorcraft_vi.xml
rename to conf/settings/modules/vehicle_interface.xml
index 0371531591..606d83c72b 100644
--- a/conf/settings/settings_rotorcraft_vi.xml
+++ b/conf/settings/modules/vehicle_interface.xml
@@ -1,3 +1,5 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
 <settings>
   <dl_settings>
 
diff --git a/conf/settings/motor_bench_settings.xml b/conf/settings/motor_bench.xml
similarity index 100%
rename from conf/settings/motor_bench_settings.xml
rename to conf/settings/motor_bench.xml
diff --git a/conf/settings/nova_settings.xml b/conf/settings/nova_settings.xml
deleted file mode 100644
index aacfa026b2..0000000000
--- a/conf/settings/nova_settings.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
- </dl_settings>
-</settings>
diff --git a/conf/settings/settings_booz2_sim.xml b/conf/settings/nps.xml
similarity index 100%
rename from conf/settings/settings_booz2_sim.xml
rename to conf/settings/nps.xml
diff --git a/conf/settings/switch.xml b/conf/settings/power_switch.xml
similarity index 100%
rename from conf/settings/switch.xml
rename to conf/settings/power_switch.xml
diff --git a/conf/settings/tuning_rc.xml b/conf/settings/rc_settings_infrared.xml
similarity index 100%
rename from conf/settings/tuning_rc.xml
rename to conf/settings/rc_settings_infrared.xml
diff --git a/conf/settings/tuning_ins_rc.xml b/conf/settings/rc_settings_ins.xml
similarity index 100%
rename from conf/settings/tuning_ins_rc.xml
rename to conf/settings/rc_settings_ins.xml
diff --git a/conf/settings/rotorcraft_basic.xml b/conf/settings/rotorcraft_basic.xml
new file mode 100644
index 0000000000..a053af6a4c
--- /dev/null
+++ b/conf/settings/rotorcraft_basic.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="System">
+       <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="13" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D"/>
+      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
+      <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
+        <strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
+        <strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
+      </dl_setting>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
deleted file mode 100644
index 321a47247f..0000000000
--- a/conf/settings/settings_booz2.xml
+++ /dev/null
@@ -1,69 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="Misc">
-       <dl_setting var="autopilot_mode_auto2" min="0" step="1" max="12" module="autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
-      <dl_setting var="kill_throttle" min="0" step="1" max="1" module="autopilot" values="Resurrect|Kill" handler="KillThrottle"/>
-      <dl_setting var="autopilot_power_switch" min="0" step="1" max="1" module="autopilot" values="OFF|ON" handler="SetPowerSwitch">
-        <strip_button name="POWER ON" icon="on.png" value="1"/>
-        <strip_button name="POWER OFF" icon="off.png" value="0"/>
-      </dl_setting>
-      <dl_setting var="autopilot_rc" min="0" step="1" max="1" module="autopilot" values="RC OFF|RC ON">
-        <strip_button name="RC ON" value="1"/>
-        <strip_button name="RC OFF" value="0"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="Rate Loop">
-      <dl_setting var="stabilization_rate_gain.p" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="gain p"/>
-      <dl_setting var="stabilization_rate_gain.q" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="gain q"/>
-      <dl_setting var="stabilization_rate_gain.r" min="1" step="1" max="1000" module="stabilization/stabilization_rate" shortname="gain r"/>
-    </dl_settings>
-
-
-    <dl_settings NAME="Att Loop">
-      <dl_setting var="stabilization_gains.p.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain phi" />
-      <dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain p"/>
-      <dl_setting var="stabilization_gains.i.x" min="0" step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain phi" handler="SetKiPhi"/>
-      <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p"/>
-      <dl_setting var="stabilization_gains.p.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain theta"/>
-      <dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain q"/>
-      <dl_setting var="stabilization_gains.i.y" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain theta"/>
-      <dl_setting var="stabilization_gains.dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain q"/>
-      <dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain psi"/>
-      <dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain r"/>
-      <dl_setting var="stabilization_gains.i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain psi"/>
-      <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain r"/>
-    </dl_settings>
-
-    <dl_settings NAME="Vert Loop">
-      <dl_setting var="guidance_v_kp" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kp"/>
-      <dl_setting var="guidance_v_kd" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kd"/>
-      <dl_setting var="guidance_v_ki" min="0" step="1" max="300"   module="guidance/guidance_v" shortname="ki" handler="SetKi" />
-      <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="guidance_v_nominal_throttle" min="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" handler="SetNominalHoverThrottle" alt_unit="%" alt_unit_coef="0.000104167"/>
-      <dl_setting var="ins_vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
-   </dl_settings>
-
-   <dl_settings NAME="Horiz Loop">
-      <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5"  module="guidance/guidance_h" shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
-      <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp"/>
-      <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd"/>
-      <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi"/>
-      <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka"/>
-      <dl_setting var="ins_hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
-   </dl_settings>
-
-   <dl_settings NAME="NAV">
-     <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
-     <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
-     <dl_setting var="nav_radius" MIN="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
-   </dl_settings>
-
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/settings_booz2_fms_ts.xml b/conf/settings/settings_booz2_fms_ts.xml
deleted file mode 100644
index 57d1042cad..0000000000
--- a/conf/settings/settings_booz2_fms_ts.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="FMS_TS">
-        <dl_setting var="fms.enabled" min="0" step="1" max="1" module="booz_fms" shortname="enabled" values="OFF|ON" handler="SetEnabled">
-        <strip_button name="FMS ON" icon="on.png" value="1"/>
-        <strip_button name="FMS OFF" icon="off.png" value="0"/>
-      </dl_setting>
-      <dl_setting var="fms_test_signal.period" min="1" step="1" max="1024" module="fms/booz_fms_test_signal" shortname="period" handler="SetPeriod"/>
-<!--      <dl_setting var="booz_fms_test_signal_amplitude" min="0" step="100" max="183000" module="booz2_fms_test_signal" shortname="amplitude"/> -->
-      <dl_setting var="fms_test_signal.mode" min="0" step="1" max="2" module="fms/booz_fms_test_signal" shortname="mode" handler="SetMode" values="STEP ROLL|STEP PICTH|STEP YAW"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
\ No newline at end of file
diff --git a/conf/settings/settings_whirly.xml b/conf/settings/settings_whirly.xml
deleted file mode 100644
index f793ca8827..0000000000
--- a/conf/settings/settings_whirly.xml
+++ /dev/null
@@ -1,79 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="Misc" >
-      <dl_setting VAR="telemetry_mode_Main" MIN="0" STEP="1" MAX="4" module="rdyb_telemetry" shortname="telemetry"
-	values="Default|Raw sensors|Scaled sensors|AHRS|setup_commands"/>
-    </dl_settings>
-
-    <dl_settings NAME="Control setpoints" >
-      <dl_setting VAR="throttle"                           MIN="0" STEP="100" MAX="9600" module="ready_main"       shortname="throttle_sp"/>
-      <dl_setting VAR="whirly_cyclic_setpoint"             MIN="-40" STEP="1" MAX=" 40"  module="elevator_control" shortname="cyclic_sp"/>
-      <dl_setting VAR="whirly_collective_setpoint"         MIN="-15" STEP="1" MAX=" 15"  module="elevator_control" shortname="collective_sp"/>
-      <dl_setting VAR="whirly_plane1_phase_offset_degrees" MIN="  0" STEP="5" MAX="360"  module="elevator_control" shortname="phase_offset"/>
-    </dl_settings>
-
-    <dl_settings NAME="Control gains" >
-         <dl_setting MAX="80000" MIN="0" STEP="500" VAR="whirly_elevator_pitch_kp" shortname="ele pi kp" module="elevator_control"
-          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KP"/>
-        <dl_setting MAX="50000" MIN="0" STEP="50000" VAR="whirly_elevator_pitch_kd" shortname="ele pi kd" module="elevator_control"
-          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KD"/>
-        <dl_setting MAX="4000" MIN="0" STEP="5" VAR="whirly_elevator_pitch_ki" shortname="ele pi ki" module="elevator_control"
-          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KI"/>
-        <dl_setting MAX="60000" MIN="-60000" STEP="1000" VAR="whirly_elevator_roll_kp" shortname="ele roll kp" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_ROLL_KP"/>
-        <dl_setting MAX="5000000" MIN="-5000000" STEP="50000" VAR="whirly_elevator_roll_kd" shortname="elevator roll kd" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_ROLL_KD"/>
-        <dl_setting MAX="1" MIN="-1" STEP="0.1" VAR="whirly_elevator_flap_mix" shortname="ele flap mix" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_FLAP_MIX"/>
-       <dl_setting MAX="80000" MIN="0" STEP="500" VAR="whirly_flap_pitch_kp" shortname="flap pi kp" module="elevator_control"
-          param="DEFAULT_WHIRLY_FLAP_PITCH_KP"/>
-        <dl_setting MAX="2000" MIN="0" STEP="10" VAR="whirly_flap_pitch_kd" shortname="flap pi kd" module="elevator_control"
-          param="DEFAULT_WHIRLY_FLAP_PITCH_KD"/>
-        <dl_setting MAX="4000" MIN="0" STEP="5" VAR="whirly_flap_pitch_ki" shortname="flap pi ki" module="elevator_control"
-          param="DEFAULT_WHIRLY_FLAP_PITCH_KI"/>
-        <dl_setting MAX="60000" MIN="-60000" STEP="1000" VAR="whirly_flap_roll_kp" shortname="flap roll kp" module="elevator_control" param="DEFAULT_WHIRLY_FLAP_ROLL_KP"/>
-        <dl_setting MAX="5000000" MIN="-5000000" STEP="50000" VAR="whirly_flap_roll_kd" shortname="flap roll kd" module="elevator_control" param="DEFAULT_WHIRLY_FLAP_ROLL_KD"/>
-
-
-    </dl_settings>
-
-    <dl_settings NAME="Trims" >
-      <dl_setting VAR="whirly_elevator1_trim" MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_ele_1"/>
-      <dl_setting VAR="whirly_elevator2_trim" MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_ele_2"/>
-      <dl_setting VAR="whirly_flap1_trim"     MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_flap_1"/>
-      <dl_setting VAR="whirly_flap2_trim"     MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_flap_2"/>
-      <dl_setting MAX="30" MIN="-30" STEP="0.5" VAR="whirly_plane1_pitch_offset" shortname="offset 1" module="elevator_control"
-	param="DEFAULT_PLANE1_PITCH_OFFSET"/>
-      <dl_setting MAX="30" MIN="-30" STEP="0.5" VAR="whirly_plane2_pitch_offset" shortname="offset 2" module="elevator_control"
-	param="DEFAULT_PLANE2_PITCH_OFFSET"/>
-   </dl_settings>
-
-    <dl_settings NAME="Commands" >
-      <dl_setting VAR="disable_control"  MIN="0"     STEP="1" MAX="1" module="ready_main" shortname="disable control" values="FALSE|TRUE"/>
-      <dl_setting VAR="commands[COMMAND_THROTTLE]"  MIN="0"     STEP="100" MAX="9600" module="commands" shortname="throttle"/>
-      <dl_setting VAR="commands[COMMAND_ELEVATOR1]" MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="ele_1"/>
-      <dl_setting VAR="commands[COMMAND_ELEVATOR2]" MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="ele_2"/>
-      <dl_setting VAR="commands[COMMAND_FLAP1]"     MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="flap_1"/>
-      <dl_setting VAR="commands[COMMAND_FLAP2]"     MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="flap_2"/>
-    </dl_settings>
-
-    <dl_settings NAME="Actuators" >
-      <dl_setting VAR="disable_commands"  MIN="0"     STEP="1" MAX="1" module="ready_main" shortname="disable commands" values="FALSE|TRUE"/>
-      <dl_setting VAR="actuators[SERVO_ELEVATOR1]" MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="ele_1"/>
-      <dl_setting VAR="actuators[SERVO_ELEVATOR2]" MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="ele_2"/>
-      <dl_setting VAR="actuators[SERVO_FLAP1]"     MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="flap_1"/>
-      <dl_setting VAR="actuators[SERVO_FLAP2]"     MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="flap_2"/>
-    </dl_settings>
-
-   <dl_settings NAME="motor_control">
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_req" shortname="send_req" module="rdyb_throttle"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_bid" shortname="send_tid" module="rdyb_throttle"/>
-        <dl_setting MAX="16" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_cid" shortname="send_cid" module="rdyb_throttle"/>
-        <dl_setting MAX="65535" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_arg1" shortname="send_arg1" module="rdyb_throttle"/>
-        <dl_setting MAX="65535" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_arg2" shortname="send_arg2" module="rdyb_throttle"/>
-   </dl_settings>
-
-
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/settings_wt.xml b/conf/settings/settings_wt.xml
deleted file mode 100644
index f4e66e8041..0000000000
--- a/conf/settings/settings_wt.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="Misc">
-      <dl_setting var="wt_servo_motor_power" min="0" step="10" max="1000" shortname="power" handler="SetPower" module="wt_servo"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/settings_booz2_asctec.xml b/conf/settings/test_actuators_asctec.xml
similarity index 100%
rename from conf/settings/settings_booz2_asctec.xml
rename to conf/settings/test_actuators_asctec.xml
diff --git a/conf/settings/settings_booz2_test_motors_hexa.xml b/conf/settings/test_booz2_motors_hexa.xml
similarity index 100%
rename from conf/settings/settings_booz2_test_motors_hexa.xml
rename to conf/settings/test_booz2_motors_hexa.xml
diff --git a/conf/settings/actuators.xml b/conf/settings/test_fixedwing_actuators.xml
similarity index 100%
rename from conf/settings/actuators.xml
rename to conf/settings/test_fixedwing_actuators.xml
diff --git a/conf/settings/settings_lisa_test_boards.xml b/conf/settings/test_lisa_board.xml
similarity index 100%
rename from conf/settings/settings_lisa_test_boards.xml
rename to conf/settings/test_lisa_board.xml
diff --git a/conf/settings/settings_test_passthrough.xml b/conf/settings/test_passthrough.xml
similarity index 100%
rename from conf/settings/settings_test_passthrough.xml
rename to conf/settings/test_passthrough.xml
diff --git a/conf/settings/settings_test.xml b/conf/settings/test_settings.xml
similarity index 100%
rename from conf/settings/settings_test.xml
rename to conf/settings/test_settings.xml
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
deleted file mode 100644
index a5c19d6133..0000000000
--- a/conf/settings/tuningJH.xml
+++ /dev/null
@@ -1,91 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral"            shortname="roll_neutral"  param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" module="subsystems/sensors/infrared" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral"           shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.lateral_correction"      shortname="lat_corr"      param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.longitudinal_correction" shortname="log_corr"      param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"   VAR="infrared.vertical_correction"     shortname="vert_corr"     param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left"           shortname="corr_left"     param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right"          shortname="corr_right"    param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up"             shortname="corr_up"       param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down"           shortname="corr_down"     param="IR_CORRECTION_DOWN"/>
-      </dl_settings>
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
-        <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="10000" MIN="0" STEP="50" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"/>
-        <dl_setting MAX="15000" MIN="0" STEP="5" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle">
-        <strip_button name="Dash" value="1"/>
-        <strip_button name="Loiter" value="0.5"/>
-        <strip_button name="Cruise" value="0"/>
-      </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
-        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
-	</dl_setting>
-	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
deleted file mode 100644
index 982584f6c5..0000000000
--- a/conf/settings/tuning_infrared.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C with IR sensors-->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="20" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
deleted file mode 100644
index 596fc50ac9..0000000000
--- a/conf/settings/tuning_ins.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN" module="guidance/guidance_v"/>
-        <dl_setting MAX="10" MIN="0.1" STEP="0.1" VAR="v_ctl_altitude_max_climb" shortname="max climb" param="V_CTL_ALTITUDE_MAX_CLIMB"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.05" VAR="v_ctl_altitude_pre_climb_correction" shortname="pre climb cor" param="V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins_chimu.xml b/conf/settings/tuning_ins_chimu.xml
deleted file mode 100644
index 2606b28f18..0000000000
--- a/conf/settings/tuning_ins_chimu.xml
+++ /dev/null
@@ -1,105 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink"  values="Default|Debug"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="modules/ins/ins_module" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
deleted file mode 100644
index 17d61c9bf4..0000000000
--- a/conf/settings/tuning_ins_dcm.xml
+++ /dev/null
@@ -1,105 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
deleted file mode 100644
index ec1a77d63f..0000000000
--- a/conf/settings/tuning_loiter.xml
+++ /dev/null
@@ -1,110 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral"            shortname="roll_neutral"  param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" module="subsystems/sensors/infrared" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral"           shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.lateral_correction"      shortname="lat_corr"      param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.longitudinal_correction" shortname="log_corr"      param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"   VAR="infrared.vertical_correction"     shortname="vert_corr"     param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left"           shortname="corr_left"     param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right"          shortname="corr_right"    param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up"             shortname="corr_up"       param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down"           shortname="corr_down"     param="IR_CORRECTION_DOWN"/>
-      </dl_settings>
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
-        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
deleted file mode 100644
index b5092cefdb..0000000000
--- a/conf/settings/tuning_pers.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" persistent="true" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" persistent="true" />
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
deleted file mode 100644
index 2bf9f895b1..0000000000
--- a/conf/settings/tuning_tp_auto.xml
+++ /dev/null
@@ -1,81 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" module="infrared" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" unit="rad" alt_unit="deg"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll dgain"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
-        <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle">
-        <strip_button name="Dash" value="1"/>
-        <strip_button name="Loiter" value="0.1"/>
-        <strip_button name="Cruise" value="0"/>
-      </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"  module="guidance/guidance_v" handler="SetAutoThrottleIgain"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
-	</dl_setting>
-	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/twisted.xml b/conf/settings/twisted.xml
deleted file mode 100644
index a1e088f5b4..0000000000
--- a/conf/settings/twisted.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/ugv.xml b/conf/settings/ugv.xml
deleted file mode 100644
index 623d46e027..0000000000
--- a/conf/settings/ugv.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 60b05eea78..04e87930dd 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -64,6 +64,14 @@
       <message name="RATE_LOOP"         period=".02"/>
     </mode>
 
+    <mode name="attitude_setpoint_viz" key_press="v">
+      <message name="ROTORCRAFT_STATUS" period="1.2"/>
+      <message name="DL_VALUE"          period="0.5"/>
+      <message name="ALIVE"             period="0.9"/>
+      <message name="ROTORCRAFT_RADIO_CONTROL" period="0.1"/>
+      <message name="AHRS_REF_QUAT" period="0.05"/>
+    </mode>
+
     <mode name="attitude_loop" key_press="a">
       <message name="ROTORCRAFT_STATUS" period="1.2"/>
       <message name="DL_VALUE"          period="0.5"/>
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 11686c0513..56923fa33f 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -416,7 +416,7 @@
 #define PERIODIC_SEND_AHRS_LKF_ACC_DBG(_trans, _dev) {}
 #endif
 
-
+#if defined STABILISATION_ATTITUDE_TYPE_QUAT && defined STABILISATION_ATTITUDE_TYPE_INT
 #define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) {				\
     DOWNLINK_SEND_AHRS_REF_QUAT(_trans, _dev,				\
                   &stab_att_ref_quat.qi,	\
@@ -428,6 +428,9 @@
                   &ahrs.ltp_to_body_quat.qy,	\
                   &ahrs.ltp_to_body_quat.qz);	\
   }
+#else
+#define PERIODIC_SEND_AHRS_REF_QUAT(_trans, _dev) {}
+#endif /* STABILISATION_ATTITUDE_TYPE_QUAT */
 
 #define PERIODIC_SEND_AHRS_QUAT_INT(_trans, _dev) {				\
     DOWNLINK_SEND_AHRS_QUAT_INT(_trans, _dev,				\
diff --git a/sw/tools/gen_aircraft.ml b/sw/tools/gen_aircraft.ml
index a939129326..4a8a4adf76 100644
--- a/sw/tools/gen_aircraft.ml
+++ b/sw/tools/gen_aircraft.ml
@@ -241,7 +241,7 @@ let parse_firmware = fun makefile_ac firmware ->
     List.iter (print_firmware_define makefile_ac) defines;
     List.iter (print_firmware_define makefile_ac) t_defines;
     fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
-    fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib firmware "name");
+    fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/firmwares/%s.makefile\n" (Xml.attrib firmware "name");
     List.iter (print_firmware_subsystem makefile_ac firmware) t_subsystems;
     List.iter (print_firmware_subsystem makefile_ac firmware) subsystems;
     fprintf makefile_ac "endif\n\n"