diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index 6eae43bd94..d9027fa7b1 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -1,7 +1,7 @@
@@ -191,14 +191,15 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+ap.CFLAGS += -DTRAFFIC_INFO
+ap.srcs += traffic_info.c
######################################
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
-sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DTRAFFIC_INFO
+sim.srcs += traffic_info.c
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
new file mode 100644
index 0000000000..d6780eb312
--- /dev/null
+++ b/conf/airframes/easystar_ets_example.xml
@@ -0,0 +1,192 @@
+
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+BOARD_CFG = \"twog_v1.h\"
+
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_ets_airspeed.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
+
+# Special options
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+
+
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
new file mode 100644
index 0000000000..d7b299299f
--- /dev/null
+++ b/conf/airframes/easystar_example.xml
@@ -0,0 +1,189 @@
+
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+BOARD_CFG = \"twog_v1.h\"
+
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
+
+# Special options
+ap.CFLAGS += -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN
+
+
+
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
new file mode 100644
index 0000000000..927bed94a3
--- /dev/null
+++ b/conf/airframes/funjet_example.xml
@@ -0,0 +1,210 @@
+
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+BOARD_CFG = \"tiny_2_1_1.h\"
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_joystick.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
+
+# Special options
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+
+ap.CFLAGS += -DTRAFFIC_INFO
+ap.srcs += traffic_info.c
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
+sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.CFLAGS +=-DTRAFFIC_INFO
+sim.srcs += traffic_info.c
+
+
+
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
new file mode 100644
index 0000000000..0744357615
--- /dev/null
+++ b/conf/airframes/microjet_example.xml
@@ -0,0 +1,203 @@
+
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+
+BOARD_CFG = \"tiny_1_1.h\"
+
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4015.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_xbee_api.makefile
+
+
+# Special options
+ap.CFLAGS += -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DAGR_CLIMB
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DAGR_CLIMB
+
+
+
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
new file mode 100644
index 0000000000..ad95ffb81a
--- /dev/null
+++ b/conf/airframes/twinjet_example.xml
@@ -0,0 +1,201 @@
+
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+
+BOARD_CFG = \"twog_v1.h\"
+
+# FLASH_MODE=ISP
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
+
+# Special options
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
+sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+
+
+
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
new file mode 100644
index 0000000000..06119107a5
--- /dev/null
+++ b/conf/airframes/twinstar_example.xml
@@ -0,0 +1,223 @@
+
+
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+
+
+
+BOARD_CFG = \"twog_v1.h\"
+FLASH_MODE=IAP
+
+# Board Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+# Fixed Wing Specifics
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
+include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+
+# IO Options
+include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
+include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
+
+# Sensors
+include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
+
+### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
+#GPS_UART_NR = 0
+#GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
+
+### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
+#MODEM_UART_NR = 1
+#MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
+
+# Special options
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
+
+
+######################################
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
+sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+
+
diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile
index 8b85968251..4f1d05dca6 100644
--- a/conf/autopilot/sitl.makefile
+++ b/conf/autopilot/sitl.makefile
@@ -3,4 +3,4 @@ sim.ARCH = sitl
sim.TARGET = autopilot
sim.TARGETDIR = autopilot
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
+sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile b/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
new file mode 100644
index 0000000000..f1f46a867e
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
@@ -0,0 +1,6 @@
+# EagleTree sensors (altimeter and airspeed)
+ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
+
+sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
diff --git a/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile b/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
new file mode 100644
index 0000000000..0513988cbb
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
@@ -0,0 +1,7 @@
+# Payload: Sensirion humidity/temp, VTI pressure/temp
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
+
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
diff --git a/conf/autopilot/subsystems/fixedwing_joystick.makefile b/conf/autopilot/subsystems/fixedwing_joystick.makefile
new file mode 100644
index 0000000000..9061b64223
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_joystick.makefile
@@ -0,0 +1,7 @@
+# joystick for fixedwings
+
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
index 1db2b728ed..6efdc34733 100644
--- a/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
+++ b/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
@@ -5,6 +5,6 @@ ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
MODEM_UART = Uart$(MODEM_UART_NR)
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART) -DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART) -DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DXBEE_UART=$(MODEM_UART)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c $(SRC_FIXEDWING)/xbee.c
diff --git a/conf/autopilot/twog_v1.h b/conf/autopilot/twog_v1.h
new file mode 100644
index 0000000000..d684edc97f
--- /dev/null
+++ b/conf/autopilot/twog_v1.h
@@ -0,0 +1,4 @@
+#include "tiny_2_1.h"
+
+#undef DefaultVoltageOfAdc
+#define DefaultVoltageOfAdc(adc) (0.0247311828*adc)