diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
index 7610363e9d..68d30fb9ff 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
@@ -17,51 +17,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
         <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="218"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-      <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
index 81a21e64c7..4fa6de5fd9 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
@@ -16,51 +16,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="101"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-      <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FL_1"  no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
index 76b5c41195..b1e0a7371e 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
@@ -17,51 +17,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="101"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-      <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
index ad212e259d..447bc5f83a 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
@@ -17,51 +17,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="218"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-     <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
index a2b3ff702c..78e3da36cb 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
@@ -15,51 +15,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="elle0"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="elle0"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>  
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="101"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-      <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
new file mode 100644
index 0000000000..885badd10a
--- /dev/null
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2.xml
@@ -0,0 +1,227 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is a quadrotor frame in X-configuration equiped with
+     * Autopilot:   ELLE0 1.2 with STM32F4    http://wiki.paparazziuav.org/wiki/ELLE0
+     * IMU:         MPU9250 & MS5611          http://wiki.paparazziuav.org/wiki/ELLE0#IMU
+     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
+     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
+     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
+-->
+
+<airframe name="TeensyFly Quad Elle0">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="elle0_1.2">
+    </target>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+    </target>
+
+    <module name="radio_control" type="spektrum">
+      <define name="RADIO_MODE"        value="RADIO_FLAP"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+    </module>
+
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+    </module>
+
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="elle0"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
+
+    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
+  </firmware>
+
+
+  <servos driver="Pwm">
+    <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>
+    <servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
+    <servo name="BACK_RIGHT"  no="2" min="1000" neutral="1100" max="1900"/>
+    <servo name="BACK_LEFT"   no="3" min="1000" neutral="1100" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL"  value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW"   value="0"/>
+    <define name="NB_MOTOR"   value="4"/>
+    <define name="SCALE"      value="256"/>
+    <!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
+    <define name="ROLL_COEF"   value="{  256, -256, -256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256,  256, -256, -256 }"/>
+    <define name="YAW_COEF"    value="{ -144,  144, -144,  144 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONT_LEFT"  value="motor_mixing.commands[0]"/>
+    <set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
+    <set servo="BACK_RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="BACK_LEFT"   value="motor_mixing.commands[3]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+
+    <!-- Accelerometer calibration -->
+    <define name="ACCEL_X_NEUTRAL" value="-54"/>
+    <define name="ACCEL_Y_NEUTRAL" value="64"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-63"/>
+    <define name="ACCEL_X_SENS" value="2.45160788954" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.44726332903" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.44708055795" integer="16"/>
+
+    <!-- Magnetometer calibration -->
+    <define name="MAG_X_NEUTRAL" value="-166"/>
+    <define name="MAG_Y_NEUTRAL" value="-264"/>
+    <define name="MAG_Z_NEUTRAL" value="42"/>
+    <define name="MAG_X_SENS" value="7.07470334279" integer="16"/>
+    <define name="MAG_Y_SENS" value="7.10785179117" integer="16"/>
+    <define name="MAG_Z_SENS" value="6.84586545929" integer="16"/>
+
+    <!-- Magnetometer current calibration -->
+    <define name= "MAG_X_CURRENT_COEF" value="-0.00211511755236"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="0.00139744019375"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="0.00102508387905"/>
+
+    <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="AHRS" prefix="AHRS_">
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
+    <define name="H_X" value="0.36852472"/>
+    <define name="H_Y" value="0.10300471"/>
+    <define name="H_Z" value="0.9238937"/>
+  </section>
+
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="30." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="30." 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="400" 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="400" 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="250" 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="750"/>
+    <define name="PHI_DGAIN"  value="300"/>
+    <define name="PHI_IGAIN"  value="200"/>
+
+    <define name="THETA_PGAIN"  value="750"/>
+    <define name="THETA_DGAIN"  value="300"/>
+    <define name="THETA_IGAIN"  value="200"/>
+
+    <define name="PSI_PGAIN"  value="2820"/>
+    <define name="PSI_DGAIN"  value="1536"/>
+    <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="HOVER_KP"    value="150"/>
+    <define name="HOVER_KD"    value="80"/>
+    <define name="HOVER_KI"    value="20"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="USE_SPEED_REF" value="TRUE"/>
+    <define name="PGAIN" value="50"/>
+    <define name="DGAIN" value="100"/>
+    <define name="AGAIN" value="70"/>
+    <define name="IGAIN" value="20"/>
+  </section>
+
+  <section name="NAVIGATION" prefix="NAV_">
+    <define name="CLIMB_VSPEED"   value="1.5" />
+    <define name="DESCEND_VSPEED" value="-1.0" />
+  </section>    
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
+    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
+    <define name="JS_AXIS_MODE"    value="4"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <!-- TOGGLE STATES -->
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1"   value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2"   value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
+    <define name="CATASTROPHIC_BAT_LEVEL"    value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL"          value="9.9" unit="V"/>
+    <define name="LOW_BAT_LEVEL"             value="10.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL"             value="12.4" unit="V"/>
+  </section>
+
+  <section name="GCS">
+    <define name="ICONS_THEME"         value="flat_theme"/>
+    <define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
+    <define name="ALT_SHIFT_PLUS"      value="10"/>
+    <define name="ALT_SHIFT_MINUS"     value="-10"/>
+    <define name="SPEECH_NAME"         value="Teensy Fly Quad Elle0"/>
+    <define name="AC_ICON"             value="quadrotor_x"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
index 7351c045ab..11b7b2b17e 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
@@ -17,51 +17,42 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
+      <module name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="radio_control" type="spektrum">
+    <module name="radio_control" type="spektrum">
       <define name="RADIO_MODE"        value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
-    </subsystem>
+    </module>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="400"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.2"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="imu"           type="aspirin_v2.2"/>
+    <module name="gps"           type="ublox"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+    
+    <module name="send_imu_mag_current.xml"/>
+    <module name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
+    </module>
+    <module name="gps_ubx_ucenter.xml"/>
+    <module name="geo_mag.xml"/>
+    <module name="air_data.xml"/>
+    <module name="nav_survey_rectangle_rotorcraft.xml">
+      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
+    </module>
 
     <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
   </firmware>
 
-  <modules>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
-      <configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="nav_survey_rectangle_rotorcraft.xml">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </load>
-    <!--
-    <load name="nav_survey_poly_rotorcraft.xml"/>
-    <load name="follow.xml">
-      <define name="FOLLOW_AC_ID" value="101"/>
-      <define name="FOLLOW_WAYPOINT_ID" value="WP_p1"/>
-      <define name="FOLLOW_OFFSET_Z" value="2.0"/>
-    </load>
-    -->
-  </modules>
 
   <servos driver="Pwm">
     <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="1900"/>