diff --git a/conf/airframes/examples/Twinstar_energyadaptive.xml b/conf/airframes/examples/Twinstar_energyadaptive.xml
index a7fefc7d44..79385b5eb3 100644
--- a/conf/airframes/examples/Twinstar_energyadaptive.xml
+++ b/conf/airframes/examples/Twinstar_energyadaptive.xml
@@ -14,7 +14,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
   <firmware name="fixedwing">
     <target name="sim" board="pc"/>
     <target name="ap" board="twog_1.0">
-
       <configure name="PERIODIC_FREQUENCY" value="120"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
@@ -24,19 +23,19 @@ twog_1.0 + aspirin + ETS baro + ETS speed
       <define name="USE_BARO_ETS"/>
     </target>
 
-      <define name="USE_AIRSPEED"/>
-      <define name="AGR_CLIMB"/>
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/> 
+    <define name="USE_AIRSPEED"/>
+    <define name="USE_BAROMETER"/>
+    <define name="AGR_CLIMB"/>
+    <define name="STRONG_WIND"/>
+    <define name="WIND_INFO"/>
+    <define name="WIND_INFO_RET"/>
 
-
-    <subsystem name="radio_control" type="ppm"/>	  <!-- Radio -->
-    <subsystem name="gps" type="ublox"/>     	  	  <!-- GPS -->
+    <subsystem name="radio_control" type="ppm"/>          <!-- Radio -->
+    <subsystem name="gps" type="ublox"/>                  <!-- GPS -->
     <subsystem name="telemetry"     type="transparent"/>  <!-- Communication -->
-    <subsystem name="imu"	type="aspirin_i2c"/> 	  <!-- IMU -->
+    <subsystem name="imu"	type="aspirin_i2c_v1.5"/>      <!-- IMU -->
     <subsystem name="ahrs"      type="int_cmpl_quat"/>
-    <subsystem name="ins"	type="float_alt"/>
+    <subsystem name="ins"	type="alt_float"/>
     <subsystem name="control" type="energyadaptive"/>
     <subsystem name="navigation" type="extra"/>
 </firmware>
@@ -52,6 +51,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
       <define name="BARO_ETS_SCALE" value="0.3"/>
       <define name="BARO_ETS_TELEMETRY"/>
     </load>
+    <load name="baro_board.xml">
+      <define name="BARO_ABS_EVENT" value="BaroEtsUpdate"/>
+    </load>
     <load name="digital_cam.xml">
       <define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
     </load>
@@ -63,9 +65,9 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <!-- <servo name="MOTOR_RIGHT"    no="1" min="1000" neutral="1000" max="2000"/> -->
     <servo name="AILERON_LEFT"   no="7" min="900" neutral="1300" max="1700"/>
     <servo name="AILERON_RIGHT"  no="3" min="1140" neutral="1540" max="1940"/>
-    <servo name="ELEVATOR" 	 no="2" min="1700" neutral="1400" max="1000"/> 
-    <servo name="RUDDER" 	 no="6" min="1810" neutral="1410" max="1010"/>
-    <servo name="HATCH" 	 no="4" min="1300" neutral="1300" max="800"/>
+    <servo name="ELEVATOR"       no="2" min="1700" neutral="1400" max="1000"/>
+    <servo name="RUDDER"         no="6" min="1810" neutral="1410" max="1010"/>
+    <servo name="HATCH"          no="4" min="1300" neutral="1300" max="800"/>
   </servos>
 
   <commands>
@@ -83,15 +85,15 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <set command="YAW"      value="@YAW"/>
     <set command="HATCH"    value="@GAIN2"/>
   </rc_commands>
-  
+
   <section name="MIXER">
      <define name="AILERON_DIFF" value="0.66"/>
      <define name="COMBI_SWITCH" value="1.0"/>
   </section>
-  
+
   <command_laws>
     <set servo="MOTOR_LEFT"  value="@THROTTLE"/>
-    <!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->        
+    <!-- <set servo="MOTOR_RIGHT" value="@THROTTLE"/> -->
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
     <let var="roll" value="@ROLL"/>
     <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
@@ -101,8 +103,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="RadOfDeg(60)"/>
-    <define name="MAX_PITCH" value="RadOfDeg(40)"/>
+    <define name="MAX_ROLL" value="40" unit="deg"/>
+    <define name="MAX_PITCH" value="40" unit="deg"/>
   </section>
 
   <section name="TRIM" prefix="COMMAND_">
@@ -120,54 +122,24 @@ twog_1.0 + aspirin + ETS baro + ETS speed
   </section>
 
    <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="0.3"/>
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
   </section>
 
- <!-- <include href="conf/airframes/Tobias_imu_aspirin_36.xml"/> --> <!-- IMU -->
   <section name="IMU" prefix="IMU_">
-	<define name="GYRO_P_NEUTRAL" value="-110"/>		<!--"-10"--> <!--changeme!!!-->
-	<define name="GYRO_Q_NEUTRAL" value="90" />		<!--"-48"--> <!--changeme!!!-->
-	<define name="GYRO_R_NEUTRAL" value="-35" />		<!--"-109"--> <!--changeme!!!-->
-	<define name="GYRO_P_SENS" value="4.412" integer="16"/>
-	<define name="GYRO_Q_SENS" value="4.412" integer="16"/>
-	<define name="GYRO_R_SENS" value="4.412" integer="16"/>
-	<define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
-	<define name="GYRO_PR_SENS" value="0.0" integer="16"/>
-	<define name="GYRO_QR_SENS" value="0.0" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+    <define name="MAG_X_SENS" value="1." integer="16"/>
+    <define name="MAG_Y_SENS" value="1." integer="16"/>
+    <define name="MAG_Z_SENS" value="1." integer="16"/>
+    <define name="MAG_XY_SENS" value="0.0" integer="16"/>
+    <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
+    <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
 
-	<define name="ACCEL_X_NEUTRAL" value="-1"/>
-	<define name="ACCEL_Y_NEUTRAL" value="1"/>
-	<define name="ACCEL_Z_NEUTRAL" value="29"/>
-	<define name="ACCEL_X_SENS" value="38.4772001528" integer="16"/>
-	<define name="ACCEL_Y_SENS" value="38.4353174937" integer="16"/>
-	<define name="ACCEL_Z_SENS" value="39.0784871813" integer="16"/>
-	<define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
-	<define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
-	<define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
-
-	<define name="MAG_X_NEUTRAL" value="0"/>
-	<define name="MAG_Y_NEUTRAL" value="0"/>
-	<define name="MAG_Z_NEUTRAL" value="0"/>
-	<define name="MAG_X_SENS" value="1." integer="16"/>
-	<define name="MAG_Y_SENS" value="1." integer="16"/>
-	<define name="MAG_Z_SENS" value="1." integer="16"/>
-	<define name="MAG_XY_SENS" value="0.0" integer="16"/>
-	<define name="MAG_XZ_SENS" value="0.0" integer="16"/>
-	<define name="MAG_YZ_SENS" value="0.0" integer="16"/>
-
-    <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
-    <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
-    <define name="MAG_Z_SIGN" value="1"/>
-
-    <define name="BODY_TO_IMU_PHI" value="RadOfDeg(-2)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(2)"/>
+    <define name="BODY_TO_IMU_PHI" value="-2" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="2" unit="deg"/>
     <define name="BODY_TO_IMU_PSI" value="0"/>
   </section>
 
@@ -230,8 +202,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
     <define name="ENERGY_DIFF_IGAIN" value="0."/>
 
     <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/> 
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/> 
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
 
     <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
   </section>
@@ -283,8 +255,8 @@ twog_1.0 + aspirin + ETS baro + ETS speed
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
     <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
   </section>