diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index c7416f6df5..73dfa27727 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -1,5 +1,36 @@
 <airframe name="BOOZ2_F1">
 
+  <firmware name="rotorcraft">
+    <target name="ap" board="booz_1.0">
+      <!--<define name="KILL_MOTORS"/>-->       <!-- prevent motors from ever starting -->
+      <!--<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
+      <define name="USE_GPS_ACC4R"/>
+      <define name="USE_INS_NAV_INIT"/>
+    </target>
+
+    <target name="sim" board="pc">
+      <subsystem name="fdm"   type="nps"/>
+    </target>
+
+    <define name="USE_ADAPT_HOVER"/>
+    <define name="GUIDANCE_H_USE_REF"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="b2_v1.0"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ins"           type="hff">
+      <define name="GPS_LAG=0.2"/>
+    </subsystem>
+  </firmware>
+
+  <firmware name="booz_test_progs">
+    <target name="test_telemetry" board="booz_1.0"/>
+    <target name="test_baro"      board="booz_1.0"/>
+    <target name="test_spektrum"  board="booz_1.0"/>
+  </firmware>
+
   <modules main_freq="512">
     <load name="booz_drop.xml"/>
     <load name="sys_mon.xml"/>
@@ -219,39 +250,6 @@
     #empty
   </makefile>
 
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="booz_1.0">
-      <param  name="FLASH_MODE" value="IAP"/>   <!-- that is the default for the board but I'm putting it here as example-->
-      <define name="MODEM_BAUD" value="B57600"/><!-- that is the default for the board but I'm putting it here as example-->
-      <!--<define name="KILL_MOTORS"/>-->       <!-- prevent motors from ever starting -->
-      <!--<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
-      <define name="USE_ADAPT_HOVER"/>
-      <define name="USE_GPS_ACC4R"/>
-      <define name="GUIDANCE_H_USE_REF"/>
-      <define name="USE_INS_NAV_INIT"/>
-    </target>
-    <target name="sim" board="pc">
-      <define name="USE_ADAPT_HOVER"/>
-      <define name="GUIDANCE_H_USE_REF"/>
-      <subsystem name="fdm"   type="nps"/>
-    </target>
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators"     type="mkk"/>
-    <subsystem name="imu"           type="b2_v1.0"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="ahrs"          type="cmpl"/>
-    <subsystem name="ins"           type="hff">
-      <define name="GPS_LAG=0.2"/>
-    </subsystem>
-  </firmware>
-
-  <firmware name="booz_test_progs">
-    <target name="test_telemetry" board="booz_1.0"/>
-    <target name="test_baro"      board="booz_1.0"/>
-    <target name="test_spektrum"  board="booz_1.0"/>
-  </firmware>
-
   <makefile target="closure" location="after">
     ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
     sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 772e8e15ab..dd3f84f026 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -152,11 +152,11 @@
 
   <firmware name="fixedwing">
     <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="tiny_0.99">
-      <define name="AGR_CLIMB" />
-      <define name="LOITER_TRIM" />
-      <define name="ALT_KALMAN" />
-    </target>
+    <target name="ap" 			board="tiny_0.99"/>
+
+    <define name="AGR_CLIMB" />
+    <define name="LOITER_TRIM" />
+    <define name="ALT_KALMAN" />
 
     <subsystem name="radio_control" type="ppm"/>
 
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 45ea7965bd..3e6f1e5548 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -10,23 +10,15 @@
 <airframe name="EasyStar2 - TWOG v1">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="WIND_INFO"/>
-      <define name="ALT_KALMAN"/>
-      <define name="USE_I2C0"/>
-      <define name="USE_AIRSPEED"/>
-    </target>
+    <target name="ap" 			board="twog_1.0"/>
+    <target name="sim" 			board="pc"/>
 
-    <target name="sim" 			board="pc">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="WIND_INFO"/>
-      <define name="ALT_KALMAN"/>
-      <define name="USE_I2C0"/>
-      <define name="USE_AIRSPEED"/>
-    </target>
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="WIND_INFO"/>
+    <define name="ALT_KALMAN"/>
+    <define name="USE_I2C0"/>
+    <define name="USE_AIRSPEED"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index 283c40e6c2..76de339590 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -12,11 +12,11 @@
 
   <firmware name="fixedwing">
     <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="tiny_2.11">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-    </target>
+    <target name="ap" 			board="tiny_2.11"/>
+
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="joystick"/>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index b893d83d94..9257855ec5 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -12,11 +12,11 @@
 
   <firmware name="fixedwing">
     <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="tiny_2.11">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-    </target>
+    <target name="ap" 			board="tiny_2.11"/>
+
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="joystick"/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index e4e9ea5bbc..361e2fa209 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -10,26 +10,14 @@
 <airframe name="Mentor Twog AkaModell">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="WIND_INFO"/>
-      <define name="ALT_KALMAN"/>
-    </target>
+    <target name="ap" 			board="twog_1.0"/>
+    <target name="sim" 			board="pc"/>
+    <target name="jsbsim" 		board="pc"/>
 
-    <target name="sim" 			board="pc">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="WIND_INFO"/>
-      <define name="ALT_KALMAN"/>
-    </target>
-
-    <target name="jsbsim" 		board="pc">
-      <define name="AGR_CLIMB"/>
-      <define name="LOITER_TRIM"/>
-      <define name="WIND_INFO"/>
-      <define name="ALT_KALMAN"/>
-    </target>
+    <define name="AGR_CLIMB"/>
+    <define name="LOITER_TRIM"/>
+    <define name="WIND_INFO"/>
+    <define name="ALT_KALMAN"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index a55608224e..c757c95670 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -161,11 +161,11 @@
 
   <firmware name="fixedwing">
     <target name="sim" 			board="pc" />
-    <target name="ap" 			board="tiny_1.1">
-      <define name="AGR_CLIMB" />
-      <define name="LOITER_TRIM" />
-      <define name="ALT_KALMAN" />
-    </target>
+    <target name="ap" 			board="tiny_1.1"/>
+
+    <define name="AGR_CLIMB" />
+    <define name="LOITER_TRIM" />
+    <define name="ALT_KALMAN" />
 
     <subsystem name="radio_control" type="ppm"/>
 
diff --git a/conf/airframes/microjet_raw_makefile.xml b/conf/airframes/microjet_raw_makefile.xml
index 38d61277c5..f7f0c0fd2e 100644
--- a/conf/airframes/microjet_raw_makefile.xml
+++ b/conf/airframes/microjet_raw_makefile.xml
@@ -1,13 +1,13 @@
 <!DOCTYPE airframe SYSTEM "./airframe.dtd">
 
-<!-- 
+<!--
      Microjet Multiplex (http://www.multiplex-rc.de/)
      Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
      Tilted infrared sensor
      Transparent modem
 
      This airframe demonstrate the old raw makefile syntax
-     Look at conf/airframes/microjet_xml_only.xml for equivalent new syntax
+     Look at conf/airframes/microjet_example.xml for equivalent new syntax
 -->
 
 <airframe name="microjet raw makefile">
@@ -38,7 +38,7 @@
 
   <command_laws>
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"           value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -84,13 +84,13 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
-    <define name="ADC_TEMP_SLOPE" value="0"/>  
+    <define name="ADC_TEMP_NEUTRAL" value="476"/>
+    <define name="ADC_TEMP_SLOPE" value="0"/>
     <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="-1."/>
   </section>
 
   <section name="BAT">
@@ -98,7 +98,7 @@
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
- 
+
   <section name="MISC">
     <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
@@ -110,7 +110,7 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
   </section>
- 
+
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
     <!-- outer loop proportional gain -->
@@ -167,11 +167,11 @@
     </section>
 
   <section name="FAILSAFE" prefix="FAILSAFE_">
-	<define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    	<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-	<define name="HOME_RADIUS" value="100" unit="m"/>
+    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
+        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
 
@@ -187,11 +187,11 @@
  ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
  ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
  ap.CFLAGS += -DRADIO_CONTROL
- ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
  ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
  ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
  ap.CFLAGS += -DINTER_MCU
- ap.srcs += inter_mcu.c 
+ ap.srcs += inter_mcu.c
  ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
  ap.srcs += $(SRC_ARCH)/adc_hw.c
  ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 4809bbdc15..dbece1f26f 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -11,17 +11,12 @@
 <airframe name="Twinjet">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
-    </target>
+    <target name="ap" 			board="twog_1.0"/>
+    <target name="sim" 			board="pc"/>
 
-    <target name="sim" 			board="pc">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
-    </target>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="AGR_CLIMB"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index b39a5a52c9..ef5b06badc 100755
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -11,26 +11,22 @@
 <airframe name="Twinjet">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
+    <target name="ap"           board="twog_1.0">
       <define name="UBX_EXTERNAL"/>
       <define name="USE_ADC_GENERIC"/>
     </target>
 
-    <target name="sim" 			board="pc">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
-    </target>
-    
-   <subsystem name="adc" type="generic">
-     <param name="ADC_GENERIC1" value="ADC_3"/>
-     <param name="ADC_GENERIC2" value="ADC_5"/>
+    <target name="sim"          board="pc"/>
+
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="AGR_CLIMB"/>
+
+    <subsystem name="adc" type="generic">
+      <param name="ADC_GENERIC1" value="ADC_3"/>
+      <param name="ADC_GENERIC2" value="ADC_5"/>
     </subsystem>
 
-    
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
@@ -42,8 +38,8 @@
   </firmware>
 
   <firmware name="setup">
-    <target name="tunnel" 		board="twog_1.0" />
-    <target name="setup_actuators" 	board="twog_1.0" />
+    <target name="tunnel"       board="twog_1.0" />
+    <target name="setup_actuators"  board="twog_1.0" />
   </firmware>
 
   <modules>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 6bedc1150e..264b8af0ec 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -12,17 +12,12 @@
 <airframe name="Twinstar">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
-    </target>
+    <target name="ap" 			board="twog_1.0"/>
+    <target name="sim" 			board="pc"/>
 
-    <target name="sim" 			board="pc">
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-      <define name="AGR_CLIMB"/>
-    </target>
+    <define name="LOITER_TRIM"/>
+    <define name="ALT_KALMAN"/>
+    <define name="AGR_CLIMB"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>