diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml
index 38d3c19662..d79ba9eab7 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml
@@ -10,14 +10,16 @@
 <airframe name="Funjet 1 Tiny 2.1">
 
   <modules>
-    <load name="poles.xml"/>
+<!--    <load name="poles.xml"/> -->
+<!--    <load name="infrared_i2c.xml"/>  -->
   </modules>
 
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1530" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1470" max="1170"/>
+    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1570" max="1880"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1450" max="1170"/>
   </servos>
 
   <commands>
@@ -82,6 +84,8 @@
     <define name="CORRECTION_DOWN" value="1."/>
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="I2C_DEFAULT_CONF" value="0x1"/>
   </section>
 
  <section name="GYRO" prefix="GYRO_">
@@ -123,24 +127,25 @@
 
     <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
     <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
+    <define name="ALTITUDE_PGAIN" value="-0.104000002146"/>
     <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.305000007153"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.0149999996647"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
+    <define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
+    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
 
@@ -155,13 +160,13 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="PITCH_PGAIN" value="-7627.11914062"/>
+    <define name="PITCH_PGAIN" value="-14814.8154297"/>
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-6101.69482422"/>
-    <define name="ROLL_RATE_GAIN" value="-1144.06799316"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/>
+    <define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
 
     <define name="ROLL_KFF" value="-500"/>
     <define name="ROLL_IGAIN" value="-500"/>
@@ -176,7 +181,7 @@
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
     <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
     <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive Decent -->
@@ -201,28 +206,26 @@
     	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
- 
-<!--
- <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="XBEE"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
--->
+  <section name="SIMU">
+    <define name="ROLL_RESPONSE_FACTOR" value="15"/>
+    <define name="MAX_ROLL_DOT" value="10" unit="rad/s"/>
+</section>
 
+<!--
   <section name="Digital camera telecommand">
-    <!-- IOs are seen as LEDs -->
+    <!-- IOs are seen as LEDs --
 
     <define name="LED_6_BANK" value="0"/>
-    <define name="LED_6_PIN" value="2"/> <!-- I2C SCL -->
+    <define name="LED_6_PIN" value="2"/> <!-- I2C SCL --
 
-    <!-- ADC 5 -->
+    <!-- ADC 5 --
     <define name="LED_7_BANK" value="0"/>
-    <define name="LED_7_PIN" value="3"/> <!-- I2C SDA -->
+    <define name="LED_7_PIN" value="3"/> <!-- I2C SDA --
 
-    <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire -->
+    <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire --
     <define name="DC_ZOOM_LED" value="7"/>
   </section>
- 
+-->
  <makefile>
 CONFIG = \"tiny_2_1.h\"
 
@@ -282,12 +285,17 @@ ap.srcs += nav_survey_rectangle.c
 # Digital camera
 # Shutter: I2C SCL
 # Zoom: I2C SDA
-ap.CFLAGS += -DDIGITAL_CAM
-ap.srcs += dc.c
+# ap.CFLAGS += -DDIGITAL_CAM
+# ap.srcs += dc.c
 
 ap.CFLAGS += -DUSE_MODULES
 sim.CFLAGS += -DUSE_MODULES
 
+# for infrared 
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
+
+
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
@@ -305,8 +313,8 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
 #sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
 # chemotaxis.c anemotaxis.c discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
 
-sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
-sim.srcs += dc.c
+#sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
+#sim.srcs += dc.c