diff --git a/conf/airframes/ardrone2.xml b/conf/airframes/ardrone2.xml
index d0652cda48..eef5436ac4 100644
--- a/conf/airframes/ardrone2.xml
+++ b/conf/airframes/ardrone2.xml
@@ -9,15 +9,15 @@
       <subsystem name="fdm" type="jsbsim"/>
     </target>
 
-    <subsystem name="telemetry" type="transparent_udp"/>
-    <subsystem name="radio_control" type="datalink"/>
-
     <define name="USE_SONAR" value="TRUE"/>
 
 	<!-- Subsystem section -->
+    <subsystem name="telemetry" type="transparent_udp"/>
+    <subsystem name="radio_control" type="datalink"/>
     <subsystem name="motor_mixing"/>
     <subsystem name="actuators" type="ardrone2"/>
     <subsystem name="imu" type="ardrone2"/>
+    <!-- gps: "ublox" or change to "sirf" for usage with parrot flight recorder -->
     <subsystem name="gps" type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs" type="int_cmpl_quat"/>
@@ -25,9 +25,12 @@
   </firmware>
 
   <modules main_freq="512">
+    <!-- remove the gps_ubx_ucenter module if you use the sirf gps (flight recorder) -->
     <load name="gps_ubx_ucenter.xml"/>
     <load name="send_imu_mag_current.xml"/>
-    <load name="logger_file.xml"/>
+    <load name="air_data.xml"/>
+    <load name="geo_mag.xml"/>
+    <!--load name="logger_file.xml"/-->
     <!--load name="video_rtp_stream.xml"/-->
   </modules>
 
@@ -94,6 +97,7 @@
   <!-- local magnetic field -->
   <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
   <section name="AHRS" prefix="AHRS_">
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
     <!-- Toulouse -->
     <define name="H_X" value="0.513081"/>
     <define name="H_Y" value="-0.00242783"/>
diff --git a/conf/airframes/ardrone2_indi.xml b/conf/airframes/ardrone2_indi.xml
index b43fe41f38..9a5e319c42 100644
--- a/conf/airframes/ardrone2_indi.xml
+++ b/conf/airframes/ardrone2_indi.xml
@@ -5,18 +5,17 @@
   <firmware name="rotorcraft">
     <target name="ap" board="ardrone2">
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
       <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
     </target>
 
     <define name="USE_SONAR" value="FALSE"/>
 
-  <!-- Subsystem section -->
+    <!-- Subsystem section -->
+    <subsystem name="telemetry" type="transparent_udp"/>
+    <subsystem name="radio_control" type="datalink"/>
     <subsystem name="motor_mixing"/>
     <subsystem name="actuators" type="ardrone2"/>
     <subsystem name="imu" type="ardrone2"/>
@@ -32,6 +31,7 @@
   <modules main_freq="512">
     <load name="gps_ubx_ucenter.xml"/>
     <load name="send_imu_mag_current.xml"/>
+    <load name="air_data.xml"/>
     <load name="logger_file.xml"/>
   </modules>
 
diff --git a/conf/airframes/bebop.xml b/conf/airframes/bebop.xml
index ed1e393509..338ae31145 100644
--- a/conf/airframes/bebop.xml
+++ b/conf/airframes/bebop.xml
@@ -110,10 +110,7 @@
   <!-- local magnetic field -->
   <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
   <section name="AHRS" prefix="AHRS_">
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
     <!-- Delft -->
     <define name="H_X" value="0.3892503"/>
     <define name="H_Y" value="0.0017972"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index 2d8d0ef731..3144c7ba43 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -49,6 +49,12 @@
     <servo name="LEFT"    no="3" min="1000" neutral="1100" max="1900"/>
   </servos>
 
+  <modules>
+    <load name="gps_ubx_ucenter.xml"/>
+    <load name="geo_mag.xml"/>
+    <load name="air_data.xml"/>
+  </modules>
+
   <commands>
     <axis name="ROLL"   failsafe_value="0"/>
     <axis name="PITCH"  failsafe_value="0"/>
@@ -88,9 +94,11 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
+    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
+    <!-- Toulouse -->
+    <define name="H_X" value="0.513081"/>
+    <define name="H_Y" value="-0.00242783"/>
+    <define name="H_Z" value="0.858336"/>
   </section>
 
   <section name="INS" prefix="INS_">
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index d459b40965..781b1b5281 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -25,7 +25,7 @@
    name="Bumblebee_Quad"
    ac_id="40"
    airframe="airframes/examples/bumblebee_quad.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
@@ -102,7 +102,7 @@
    name="Quad_LisaMX"
    ac_id="30"
    airframe="airframes/examples/quadrotor_lisa_mx.xml"
-   radio="radios/spektrum.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
@@ -113,11 +113,11 @@
    name="Quad_LisaM_2"
    ac_id="162"
    airframe="airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules=""
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
    gui_color="white"
   />
   <aircraft
@@ -139,14 +139,14 @@
    telemetry="telemetry/default_rotorcraft.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_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml"
+   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml"
    gui_color="white"
   />
   <aircraft
    name="Quad_Navstik"
    ac_id="180"
    airframe="airframes/examples/quadrotor_navstik.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
@@ -201,21 +201,21 @@
    name="ardrone2"
    ac_id="201"
    airframe="airframes/ardrone2.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
    gui_color="red"
   />
   <aircraft
    name="bebop"
    ac_id="202"
    airframe="airframes/bebop.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_int_quat.xml"
    settings_modules="modules/air_data.xml modules/video_rtp_stream.xml"
    gui_color="red"
   />
@@ -234,7 +234,7 @@
    name="quadshot"
    ac_id="19"
    airframe="airframes/examples/quadshot_asp21_spektrum.xml"
-   radio="radios/spektrum.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 7885abbca4..20a404c6b8 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -212,7 +212,7 @@
    name="Quad_LisaMX"
    ac_id="30"
    airframe="airframes/examples/quadrotor_lisa_mx.xml"
-   radio="radios/spektrum.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_float_mlkf.xml"
@@ -223,11 +223,11 @@
    name="Quad_LisaM_2"
    ac_id="162"
    airframe="airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
-   settings_modules=""
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
    gui_color="white"
   />
   <aircraft
@@ -238,14 +238,14 @@
    telemetry="telemetry/default_rotorcraft.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_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml"
+   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml"
    gui_color="white"
   />
   <aircraft
    name="Quad_Navstik"
    ac_id="180"
    airframe="airframes/examples/quadrotor_navstik.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
@@ -318,6 +318,17 @@
    settings_modules=""
    gui_color="blue"
   />
+  <aircraft
+   name="ardrone2"
+   ac_id="201"
+   airframe="airframes/ardrone2.xml"
+   radio="radios/dummy.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
+   gui_color="red"
+  />
   <aircraft
    name="ardrone2_opticflow"
    ac_id="2"
@@ -329,25 +340,14 @@
    settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="ardrone2"
-   ac_id="201"
-   airframe="airframes/ardrone2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.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"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="red"
-  />
   <aircraft
    name="bebop"
    ac_id="202"
    airframe="airframes/bebop.xml"
-   radio="radios/cockpitSX.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_int_quat.xml"
    settings_modules="modules/air_data.xml modules/video_rtp_stream.xml"
    gui_color="red"
   />
@@ -388,7 +388,7 @@
    name="quadshot"
    ac_id="19"
    airframe="airframes/examples/quadshot_asp21_spektrum.xml"
-   radio="radios/spektrum.xml"
+   radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"