diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml
new file mode 100644
index 0000000000..469c8e94b3
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="99"/>
+    <define name="MAG_Y_NEUTRAL" value="59"/>
+    <define name="MAG_Z_NEUTRAL" value="-65"/>
+    <define name="MAG_X_SENS" value="14.8494072406" integer="16"/>
+    <define name="MAG_Y_SENS" value="14.4187929352" integer="16"/>
+    <define name="MAG_Z_SENS" value="15.4390790318" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml
new file mode 100644
index 0000000000..f92bae4a6d
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="57"/>
+    <define name="MAG_Y_NEUTRAL" value="-13"/>
+    <define name="MAG_Z_NEUTRAL" value="-150"/>
+    <define name="MAG_X_SENS" value="18.4329549733" integer="16"/>
+    <define name="MAG_Y_SENS" value="16.877985337" integer="16"/>
+    <define name="MAG_Z_SENS" value="20.2550157453" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml
new file mode 100644
index 0000000000..4b8a0a3b79
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="16"/>
+    <define name="MAG_Y_NEUTRAL" value="-11"/>
+    <define name="MAG_Z_NEUTRAL" value="-131"/>
+    <define name="MAG_X_SENS" value="17.206234987" integer="16"/>
+    <define name="MAG_Y_SENS" value="16.4124010821" integer="16"/>
+    <define name="MAG_Z_SENS" value="13.6629556861" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name= "MAG_X_CURRENT_COEF" value="0.00202964254187"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="-0.000446794092786"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="-0.000974773119924"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/188_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/188_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/188_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/189_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/189_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/189_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/190_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/190_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/190_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/191_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/191_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/191_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/192_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/192_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/192_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/193_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/193_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/193_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/194_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/194_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/194_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/195_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/195_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/195_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/196_calib.xml b/conf/airframes/TUDelft/IMAV2013/ARDrone/196_calib.xml
new file mode 100644
index 0000000000..688c81d4db
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ARDrone/196_calib.xml
@@ -0,0 +1,18 @@
+<!-- ARDrone calibration file -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+    <!-- Magneto calibration -->
+    <define name="MAG_X_NEUTRAL" value="33"/>
+    <define name="MAG_Y_NEUTRAL" value="44"/>
+    <define name="MAG_Z_NEUTRAL" value="-264"/>
+    <define name="MAG_X_SENS" value="19.1984157982" integer="16"/>
+    <define name="MAG_Y_SENS" value="18.7031225235" integer="16"/>
+    <define name="MAG_Z_SENS" value="19.0380688485" integer="16"/>
+    
+    <!-- Magneto current calibration -->
+    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
+    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
+    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
+  </section>
+</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
new file mode 100644
index 0000000000..c67a98311e
--- /dev/null
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
@@ -0,0 +1,208 @@
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+
+<airframe name="ardrone2_raw">
+
+  <firmware name="rotorcraft">
+    <!-- Main autopilot target -->
+    <target name="ap" board="ardrone2_raw">
+      <define name="USE_INS_NAV_INIT"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
+      <define name="USE_BAROMETER"/>
+      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
+      
+      <define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
+      <!--  configure name="HOST" value="192.168.2.$(AC_ID)"/ -->
+      <configure name="ARDRONE2_START_PAPARAZZI" value="1"/>
+      <configure name="ARDRONE2_WIFI_MODE" value="2"/>
+      <configure name="ARDRONE2_SSID" value="tudelft_swarmhub"/>
+      <configure name="ARDRONE2_IP_ADDRESS_BASE" value="192.168.2."/>
+      <configure name="ARDRONE2_IP_ADDRESS_PROBE" value="$(AC_ID)"/>
+      <configure name="ARDRONE2_REBOOT" value="1"/>
+    </target>
+
+	<!-- Subsystem section -->
+	<subsystem name="telemetry" type="udp"/>
+    <subsystem name="radio_control" type="datalink"/>
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="ardrone2"/>
+    <subsystem name="imu" type="ardrone2"/>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins" type="extended"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="gps_ubx_ucenter.xml"/>
+  </modules>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="3000"/>
+  </commands>
+
+  <servos driver="Default">
+    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
+    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
+  </servos>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="255"/>
+    
+    <!-- Time cross layout (X), as documented in paparazzi -->
+    <define name="ROLL_COEF" value="{   256, -256, -256,  256  }"/>
+    <define name="PITCH_COEF" value="{  256,  256, -256,  -256 }"/>
+    <define name="YAW_COEF" value="{   -256,  256, -256,  256  }"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256  }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
+  </command_laws>
+
+  <include href="conf/airframes/TUDelft/IMAV2013/ARDrone/$AC_ID_calib.xml"/>
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="2056"/>
+    <define name="ACCEL_Y_NEUTRAL" value="2060"/>
+    <define name="ACCEL_Z_NEUTRAL" value="2052"/>
+
+    <!-- Body to IMU is no difference -->
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
+  </section>
+
+  <!-- local magnetic field, calculated for: 52°3'56", 4°31'24" -->
+  <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.3892503"/>
+    <define name="H_Y" value="0.0017972"/>
+    <define name="H_Z" value="0.9211303"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="22.4" 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="600" 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="900" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.9"/>
+    <define name="REF_MAX_P" value="600." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q" value="900" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.9"/>
+    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R" value="600" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.9"/>
+    <define name="REF_MAX_R" value="400." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="592"/>
+    <define name="PHI_DGAIN" value="303"/>
+    <define name="PHI_IGAIN" value="0"/>
+
+    <define name="THETA_PGAIN" value="606"/>
+    <define name="THETA_DGAIN" value="303"/>
+    <define name="THETA_IGAIN" value="0"/>
+
+    <define name="PSI_PGAIN" value="529"/>
+    <define name="PSI_DGAIN" value="353"/>
+    <define name="PSI_IGAIN" value="0"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value="0"/>
+    <define name="THETA_DDGAIN" value="0"/>
+    <define name="PSI_DDGAIN" value="52"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP" value="283"/>
+    <define name="HOVER_KD" value="82"/>
+    <define name="HOVER_KI" value="13"/>
+    <!-- 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="NOMINAL_HOVER_THROTTLE" value="0.655"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="PGAIN" value="79"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="26"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" 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/TUDelft/IMAV2013/conf.xml b/conf/airframes/TUDelft/IMAV2013/conf.xml
index 5581e4ce28..9c7ec3c285 100644
--- a/conf/airframes/TUDelft/IMAV2013/conf.xml
+++ b/conf/airframes/TUDelft/IMAV2013/conf.xml
@@ -1,7 +1,177 @@
 <conf>
+  <aircraft
+   name="Ardrone2_raw_180"
+   ac_id="180"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_181"
+   ac_id="181"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_182"
+   ac_id="182"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_183"
+   ac_id="183"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_184"
+   ac_id="184"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_185"
+   ac_id="185"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_186"
+   ac_id="186"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_187"
+   ac_id="187"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_188"
+   ac_id="188"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_189"
+   ac_id="189"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_190"
+   ac_id="190"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_191"
+   ac_id="191"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_192"
+   ac_id="192"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_193"
+   ac_id="193"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_194"
+   ac_id="194"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_195"
+   ac_id="195"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
+  <aircraft
+   name="Ardrone2_raw_196"
+   ac_id="196"
+   airframe="airframes/TUDelft/IMAV2013/ardrone2_raw.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_ardrone.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   gui_color="red"
+  />
   <aircraft
    name="ChouChou_LisaS"
-   ac_id="5"
+   ac_id="135"
    airframe="airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
@@ -11,7 +181,7 @@
   />
   <aircraft
    name="MavRick_LisaS"
-   ac_id="1"
+   ac_id="131"
    airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
@@ -21,7 +191,7 @@
   />
   <aircraft
    name="Quadrotor_LisaS"
-   ac_id="2"
+   ac_id="132"
    airframe="airframes/examples/quadrotor_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
@@ -31,7 +201,7 @@
   />
   <aircraft
    name="Walkera_GeniusV1"
-   ac_id="4"
+   ac_id="134"
    airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
@@ -41,7 +211,7 @@
   />
   <aircraft
    name="Walkera_V120D02S"
-   ac_id="3"
+   ac_id="133"
    airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"