diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index 41182a1692..913735d4dc 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -102,7 +102,7 @@
-
+
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index 27d622c172..64fe437952 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -126,7 +126,7 @@
-
+
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index 508f7ca967..f025bdb22f 100644
--- a/conf/airframes/CDW/ChimuTinyFwSpi.xml
+++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -126,7 +126,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index fac6de3035..58de7bf5ff 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -187,7 +187,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 567fa816bb..d08f05c4d3 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -176,7 +176,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 1b1e9c35f8..00b9fc079c 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -196,7 +196,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 04ad7760dc..fa923d7b4d 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -196,7 +196,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index a4235cb1f2..4d63332ab4 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -173,7 +173,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index a57da73693..0e14f89944 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -157,7 +157,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 07346101f5..8063458015 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -171,7 +171,7 @@ on
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index b5bd178ecb..bb92329b6f 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -154,7 +154,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 523147cf05..2a0102d11f 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -157,7 +157,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index 35f6f3372d..32e1144284 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -156,7 +156,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index ae81d5a26c..4d633cae3f 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -158,7 +158,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
index 3d6cf763e1..d1e1abcec8 100644
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -151,7 +151,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index f5831d5f7a..2cffe6c4b4 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -159,7 +159,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index 054860b627..698147c950 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -181,7 +181,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 0e871955f6..4d299c976e 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -184,7 +184,7 @@
-
+
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index f5906b258b..4e8b48cc9b 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -197,7 +197,7 @@
-
+
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index dc5dfdc98d..c5361a4c41 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -130,7 +130,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
index 5b39490a31..ac96cb4c25 100644
--- a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
@@ -127,7 +127,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index f2648ca0c9..8acc51bd39 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -148,7 +148,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 4905cf11a6..15970180ae 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -184,7 +184,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index e1f73ab006..d6c6c8e9da 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -161,7 +161,7 @@
-
+
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index cac291a064..47af648455 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -175,7 +175,7 @@
-
+
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index 3eadf26149..4960475090 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -128,7 +128,7 @@
-
+
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 08e779bf16..64f0360482 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -123,7 +123,7 @@
-
+
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 6cc9315264..ca6edfda4f 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -150,7 +150,7 @@
-
+
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index 5bd8803d57..55359f87af 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -137,7 +137,7 @@
-
+
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index a6d24f5944..5e1086b8df 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -312,7 +312,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
-
+
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 81e4003c60..b54d3a608c 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -141,7 +141,7 @@
-
+
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index ae678e76c3..75506ead78 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -181,7 +181,7 @@
-
+
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 4518244d1b..d8e1c2741b 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -138,7 +138,7 @@
-
+
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index 570a4a6d32..4dc6cac213 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -148,7 +148,7 @@
+
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index d65fb38942..122ce88b1b 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -168,7 +168,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index b01baa02cc..adbb39135d 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -188,7 +188,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 4bc34a6746..4c2f963df9 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -181,7 +181,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 07e3a5d4b4..80446620d3 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -181,7 +181,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index c0d65cae13..7a4f87e9bc 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -181,7 +181,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index a5ba5038a3..e679eeacf3 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -144,7 +144,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index acbb82f350..5a666fe84c 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -145,7 +145,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 5951cb5c40..429b9eec0c 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -143,7 +143,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 656644677f..3f9b9f56b4 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index 581af080c9..72372a383c 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index 2f45458877..90379b7bab 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -140,7 +140,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index f98494a2a9..8e63dbcc0f 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -140,7 +140,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index e85e38eb4d..73f5659005 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 31cc4d5420..34ce308509 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 4b915dbb14..52f693da86 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 92fdaeb41a..63dbbe4fa9 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -142,7 +142,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 94a2f33809..8d755fe12a 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -213,7 +213,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index cfcfd82b6b..f2bafaf219 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -148,7 +148,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index c45f7da8a3..95e9e6626f 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -173,7 +173,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index cf20b20829..99252a54fc 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -136,7 +136,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index b1eec22815..e5652f773c 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -140,7 +140,7 @@
+
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index b7665e0968..f75cfe7ec0 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -171,7 +171,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 93e3f0d642..00ccacc125 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -187,7 +187,7 @@
-
+
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 7288bfabff..3cd0098b02 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -165,7 +165,7 @@
+
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index 8b46c13fa4..13c5c9b312 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -153,7 +153,7 @@
-
+
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index eecb33e7a1..865b98335d 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -138,7 +138,7 @@
-
+
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index 059ff0ebcc..271def9b9e 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -82,7 +82,7 @@
-
+
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 587147e00e..97168e48a9 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -118,7 +118,7 @@
-
+
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index c9e8582bc6..eeab12d335 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -150,7 +150,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index a1e076f5df..946fb86383 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -147,7 +147,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index f9bc2ac131..be614631f5 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -103,7 +103,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 70231f2f8e..051250a86e 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -151,7 +151,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 3ca3c05154..a40f85753e 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -151,7 +151,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 8f13bc1ecc..564619d6ce 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -139,7 +139,7 @@
-
+
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 3661d53684..d7b9ca439f 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -152,7 +152,7 @@
-
+
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index 0305172693..19fd72defe 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -132,7 +132,7 @@
-
+
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 80e59d0b61..262a0b86b4 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -147,7 +147,7 @@
-
+
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index 6932071e1e..177b45ff1d 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -141,7 +141,7 @@
-
+
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index b5abb80e81..3548022de3 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -148,7 +148,7 @@
-
+
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index ba5cf1830e..068173094c 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -137,7 +137,7 @@
-
+
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index c011a61ad7..775b886dc1 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -133,7 +133,7 @@
-
+
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 32339490a9..93aa9131de 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -92,7 +92,7 @@
-
+
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 7f9e7ee8d4..1301eab688 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -158,7 +158,7 @@
-
+
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 60c0bfdf1f..85ebfb13ca 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -120,7 +120,7 @@
-
+
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index b153a58ce3..6322bcdeef 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -122,7 +122,7 @@
-
+
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index 695c1096e5..401cad6489 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -40,7 +40,7 @@
-
+
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
index 8319dff5c4..a74e6456d1 100644
--- a/conf/settings/tuningJH.xml
+++ b/conf/settings/tuningJH.xml
@@ -45,7 +45,7 @@
-
+
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 736da3d6f3..3685cbd25a 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -8,7 +8,7 @@
-
+
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
index 521d4f5427..968e398992 100644
--- a/conf/settings/tuning_infrared.xml
+++ b/conf/settings/tuning_infrared.xml
@@ -56,7 +56,7 @@
-
+
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index 294bdc1332..d83f39de8f 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -47,7 +47,7 @@
-
+
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
index f5a160ebd1..acd6b921f6 100644
--- a/conf/settings/tuning_ins_dcm.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -50,7 +50,7 @@
-
+
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index 989ee5d966..69a23ab867 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -55,7 +55,7 @@
-
+
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
index 2deefc53d0..057be42057 100644
--- a/conf/settings/tuning_pers.xml
+++ b/conf/settings/tuning_pers.xml
@@ -56,7 +56,7 @@
-
+
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
index aa2751503b..95d8caee94 100644
--- a/conf/settings/tuning_tp_auto.xml
+++ b/conf/settings/tuning_tp_auto.xml
@@ -31,7 +31,7 @@
-
+
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index 1dd83a5e49..a41a8b29cc 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -158,7 +158,7 @@ void h_ctl_init( void ) {
h_ctl_roll_setpoint = 0.;
h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN);
- h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN;
+ h_ctl_roll_rate_gain = ABS(H_CTL_ROLL_RATE_GAIN);
h_ctl_roll_igain = H_CTL_ROLL_IGAIN;
h_ctl_roll_sum_err = 0;
h_ctl_roll_Kffa = H_CTL_ROLL_KFFA;
@@ -307,17 +307,17 @@ inline static void h_ctl_roll_loop( void ) {
}
}
- cmd_fb = -h_ctl_roll_attitude_gain * err;// + h_ctl_roll_rate_gain * d_err;
+ cmd_fb = -h_ctl_roll_attitude_gain * err;// - h_ctl_roll_rate_gain * d_err;
float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel
+ h_ctl_roll_Kffd * h_ctl_ref_roll_rate
- cmd_fb
- - h_ctl_roll_rate_gain * d_err
+ + h_ctl_roll_rate_gain * d_err
- h_ctl_roll_igain * h_ctl_roll_sum_err
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
// float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel
// + h_ctl_roll_Kffd * h_ctl_ref_roll_rate
// + h_ctl_roll_attitude_gain * err
-// - h_ctl_roll_rate_gain * d_err
+// + h_ctl_roll_rate_gain * d_err
// - h_ctl_roll_igain * h_ctl_roll_sum_err
// + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
//
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index a7a5535c50..c84f0ee3fc 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -164,7 +164,7 @@ void h_ctl_init( void ) {
#ifdef H_CTL_ROLL_ATTITUDE_GAIN
h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN);
- h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN;
+ h_ctl_roll_rate_gain = ABS(H_CTL_ROLL_RATE_GAIN);
#endif
#ifdef AGR_CLIMB
@@ -321,7 +321,7 @@ inline static void h_ctl_roll_loop( void ) {
last_err = err;
#endif
float cmd = h_ctl_roll_attitude_gain * err
- - h_ctl_roll_rate_gain * estimator_p
+ + h_ctl_roll_rate_gain * estimator_p
+ v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);