diff --git a/conf/airframes/microjet6.xml b/conf/airframes/microjet6.xml
index fdc5104a46..94f8340369 100755
--- a/conf/airframes/microjet6.xml
+++ b/conf/airframes/microjet6.xml
@@ -54,9 +54,8 @@
-
+
-
@@ -69,8 +68,8 @@
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@@ -95,7 +94,7 @@
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@@ -159,6 +158,9 @@
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@@ -222,12 +216,13 @@ ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+# API mode
+# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
+# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
# transparent
-#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 += -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
@@ -256,6 +251,8 @@ ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
ap.srcs += nav_line.c
+ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
+
# Harware In The Loop
@@ -264,7 +261,8 @@ ap.srcs += nav_line.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A -DSIMPLE_ROLL_CONTROL
+# -DH_CTL_RATE_LOOP
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
diff --git a/conf/airframes/microjetI.xml b/conf/airframes/microjetI.xml
index 5277ac88b8..81f1c3fc2a 100644
--- a/conf/airframes/microjetI.xml
+++ b/conf/airframes/microjetI.xml
@@ -5,8 +5,8 @@
-
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+
+
@@ -36,7 +36,7 @@
@@ -51,12 +51,12 @@
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@@ -76,7 +76,10 @@
@@ -100,6 +103,19 @@
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@@ -120,38 +136,25 @@
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@@ -229,13 +222,14 @@ 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
+#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
ap.srcs += gps_ubx.c gps.c latlong.c
-ap.CFLAGS += -DINFRARED -DALT_KALMAN -DIR_360
+ap.CFLAGS += -DINFRARED -DIR_360
ap.srcs += infrared.c estimator.c
-ap.CFLAGS += -DNAV -DH_CTL_RATE_LOOP -DAGR_CLIMB -DLOITER_TRIM
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
@@ -247,14 +241,12 @@ ap.srcs += nav_line.c nav_survey_rectangle.c
ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
ap.srcs += adc_generic.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
+ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DH_CTL_RATE_LOOP -DLOITER_TRIM -DALT_KALMAN -DIR_360 -DUSE_BARO_MS5534A
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
+sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
diff --git a/conf/airframes/microjetII.xml b/conf/airframes/microjetII.xml
new file mode 100644
index 0000000000..fb6549ff86
--- /dev/null
+++ b/conf/airframes/microjetII.xml
@@ -0,0 +1,245 @@
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+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+# transparent
+#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.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
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DIR_360
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
+sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
+sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
+
+
+
diff --git a/conf/airframes/microjetIII.xml b/conf/airframes/microjetIII.xml
new file mode 100644
index 0000000000..3e9856ddb3
--- /dev/null
+++ b/conf/airframes/microjetIII.xml
@@ -0,0 +1,240 @@
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+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DCONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
+
+ap.srcs += commands.c
+
+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 -DRADIO_CONTROL_TYPE=RC_FUTABA
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+# transparent
+#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.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
+#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DIR_360
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+
+ap.srcs += nav_line.c nav_survey_rectangle.c
+
+# PID sensor
+ap.CFLAGS += -DUSE_ADC_6 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_6 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DSIMPLE_ROLL_CONTROL
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DIR_360
+sim.CFLAGS += -DSIMPLE_ROLL_CONTROL
+sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c bomb.c nav_line.c
+
+
+
diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index ee5de1bc9e..62e6413bfa 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -56,13 +56,10 @@
-
-
+
-
-
@@ -284,7 +281,7 @@ test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_tran
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM -DH_CTL_RATE_LOOP
+sim.CFLAGS += -DCONFIG=\"classix.h\" -DAGR_CLIMB -DLOITER_TRIM -DH_CTL_RATE_LOOP -DIR_360
#sim.srcs += traffic_info.c
#sim.srcs += nav_line.c chemotaxis.c anemotaxis.c discsurvey.c bomb.c nav_survey_rectangle.c