From b0ab385067ed673378788a93a7414f5318662dae Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 15 Aug 2010 22:53:07 +0000
Subject: [PATCH] more subsystem makefiles and some examples

---
 conf/airframes/AirborneCodeReorg/TinyFw.xml   |  11 +-
 conf/airframes/easystar_ets_example.xml       | 192 +++++++++++++++
 conf/airframes/easystar_example.xml           | 189 +++++++++++++++
 conf/airframes/funjet_example.xml             | 210 +++++++++++++++++
 conf/airframes/microjet_example.xml           | 203 ++++++++++++++++
 conf/airframes/twinjet_example.xml            | 201 ++++++++++++++++
 conf/airframes/twinstar_example.xml           | 223 ++++++++++++++++++
 conf/autopilot/sitl.makefile                  |   2 +-
 .../fixedwing_ets_airspeed.makefile           |   6 +
 .../fixedwing_hum_baro_payload.makefile       |   7 +
 .../subsystems/fixedwing_joystick.makefile    |   7 +
 .../fixedwing_telemetry_xbee_api.makefile     |   2 +-
 conf/autopilot/twog_v1.h                      |   4 +
 13 files changed, 1250 insertions(+), 7 deletions(-)
 create mode 100644 conf/airframes/easystar_ets_example.xml
 create mode 100644 conf/airframes/easystar_example.xml
 create mode 100644 conf/airframes/funjet_example.xml
 create mode 100644 conf/airframes/microjet_example.xml
 create mode 100644 conf/airframes/twinjet_example.xml
 create mode 100644 conf/airframes/twinstar_example.xml
 create mode 100644 conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
 create mode 100644 conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
 create mode 100644 conf/autopilot/subsystems/fixedwing_joystick.makefile
 create mode 100644 conf/autopilot/twog_v1.h

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 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
      Tilted infrared sensor
      Transparent modem
 -->
@@ -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
   </makefile>
 </airframe>
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 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!--
+    Multiplex EasyStar, using rudder
+    TWOG v1 board
+    Tilted infrared sensor
+    XBee 2.4GHz modem in transparent mode
+-->
+
+<airframe name="EasyStar2 - TWOG v1">
+
+<!-- commands section -->
+  <servos>
+    <servo name="THROTTLE"      no="0" min="1120" neutral="1120" max="1920"/>
+    <servo name="ELEVATOR"      no="6" min="1100" neutral="1514" max="1900"/>
+    <servo name="RUDDER"        no="7" min="2050" neutral="1612" max="950"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="ROLL"      value="@ROLL"/>
+    <set command="PITCH"     value="@PITCH"/>
+    <set command="THROTTLE"  value="@THROTTLE"/>
+  </rc_commands>
+
+  <command_laws>
+    <set servo="THROTTLE"    value="@THROTTLE"/>
+    <set servo="RUDDER"      value="@ROLL"/>
+    <set servo="ELEVATOR"    value="@PITCH"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(40)"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="510"/>
+    <define name="ADC_TOP_NEUTRAL" value="516"/>
+
+    <define name="LATERAL_CORRECTION" value="0.7"/>
+    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+    <define name="VERTICAL_CORRECTION" value="1."/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="4." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="90."/>
+    <define name="MIN_CIRCLE_RADIUS" value="60."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
+    <!-- outer loop -->
+    <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
+    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
+    <!-- auto airspeed and altitude inner loop -->
+    <define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
+    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
+    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
+    <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_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
+    <define name="THROTTLE_SLEW" value="1.0"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.7"/>
+    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="PITCH_PGAIN" value="-20000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="ELEVATOR_OF_ROLL" value="2500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_RATE_GAIN" value="-200"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <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="0.70"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
+    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="HOME_RADIUS" value="90" unit="m"/>
+  </section>
+
+  <makefile>
+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
+
+  </makefile>
+</airframe>
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 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!--
+    Multiplex EasyStar, using rudder
+    TWOG v1 board
+    Tilted infrared sensor
+    XBee 2.4GHz modem in transparent mode
+-->
+
+<airframe name="EasyStar TWOGv1">
+<!-- commands section -->
+  <servos>
+    <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
+    <servo name="ELEVATOR"      no="3" min="1100" neutral="1515" max="1900"/>
+    <servo name="RUDDER"        no="4" min="2050" neutral="1440" max="950"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="ROLL"      value="@ROLL"/>
+    <set command="PITCH"     value="@PITCH"/>
+    <set command="THROTTLE"  value="@THROTTLE"/>
+  </rc_commands>
+
+  <command_laws>
+    <set servo="THROTTLE"    value="@THROTTLE"/>
+    <set servo="RUDDER"      value="@ROLL"/>
+    <set servo="ELEVATOR"    value="@PITCH"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(40)"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="510"/>
+    <define name="ADC_TOP_NEUTRAL" value="500"/>
+
+    <define name="LATERAL_CORRECTION" value="0.7"/>
+    <define name="LONGITUDINAL_CORRECTION" value="0.7"/>
+    <define name="VERTICAL_CORRECTION" value="1."/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-5.3" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-3" unit="deg"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="8.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="8.5" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.5" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.5" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="4." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(2.0*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="100."/>
+    <define name="MIN_CIRCLE_RADIUS" value="60."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
+    <!-- outer loop -->
+    <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
+    <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
+    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
+    <define name="THROTTLE_SLEW" value="1.0"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.7"/>
+    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="PITCH_PGAIN" value="-20000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+    <define name="ELEVATOR_OF_ROLL" value="2500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_RATE_GAIN" value="-200"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <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="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
+    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="HOME_RADIUS" value="90" unit="m"/>
+  </section>
+
+  <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="PPRZ"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+
+  <makefile>
+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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN
+
+  </makefile>
+</airframe>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
new file mode 100644
index 0000000000..927bed94a3
--- /dev/null
+++ b/conf/airframes/funjet_example.xml
@@ -0,0 +1,210 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
+     PerkinElmer TPS334 IR Sensors
+     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
+     XBee modem with AT firmware
+     LEA 5H GPS
+-->
+
+<airframe name="Funjet Tiny 2.11">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1521" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" 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>
+
+ <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+ <makefile>
+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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
+sim.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+
+sim.CFLAGS +=-DTRAFFIC_INFO
+sim.srcs += traffic_info.c
+
+  </makefile>
+</airframe>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
new file mode 100644
index 0000000000..0744357615
--- /dev/null
+++ b/conf/airframes/microjet_example.xml
@@ -0,0 +1,203 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
+     Tiny 1.1 board (http://paparazzi.enac.fr/wiki/Tiny)
+     Tilted infrared sensor
+     Xbee modem in API mode
+-->
+
+<airframe name="Microjet Tiny 1.1">
+  <servos>
+    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
+    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="3" min="1000" neutral="1535" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"         value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="500"/>
+    <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."/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
+
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
+
+    <define name="GLIDE_AIRSPEED" value="10"/>
+    <define name="GLIDE_VSPEED" value="3."/>
+    <define name="GLIDE_PITCH" value="45" unit="deg"/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.03"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.4"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
+    <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="-12000."/>
+    <define name="PITCH_DGAIN" value="1.5"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+
+    <define name="ROLL_SLEW" value="0.1"/>
+
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/>
+  </section>
+
+  <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="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" 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"/>
+  </section>
+
+  <section name="DATALINK" prefix="DATALINK_">
+    <define name="DEVICE_TYPE" value="XBEE"/>
+    <define name="DEVICE_ADDRESS" value="...."/>
+  </section>
+
+  <makefile>
+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 $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DLOITER_TRIM -DALT_KALMAN -DAGR_CLIMB
+
+  </makefile>
+</airframe>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
new file mode 100644
index 0000000000..ad95ffb81a
--- /dev/null
+++ b/conf/airframes/twinjet_example.xml
@@ -0,0 +1,201 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
+     Twog v1 board (http://paparazzi.enac.fr/wiki/Twog_v1)
+     PerkinElmer TPS334 IR Sensors
+     Aligned infrared sensor
+     XBee modem with AT firmware
+     LEA 5H GPS
+-->
+
+<airframe name="Twinjet">
+
+  <servos>
+    <servo name="THROTTLE"      no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1710" max="2100"/>
+    <servo name="AILEVON_LEFT"  no="2" min="2120" neutral="1785" max="1300"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE"  failsafe_value="0"/>
+    <axis name="ROLL"      failsafe_value="0"/>
+    <axis name="PITCH"     failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.75"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
+  </section>
+
+  <command_laws>
+    <set servo="THROTTLE" value="@THROTTLE"/>
+    <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
+    <set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.6"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="HORIZ_SENSOR_ALIGNED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="10" unit="deg"/>
+
+    <define name="LATERAL_CORRECTION" value="1."/>
+    <define name="LONGITUDINAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.25"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+  </section>
+
+  <section name="GYRO" prefix="GYRO_">
+    <define name="ADC_ROLL_NEUTRAL" value="316"/>
+    <define name="ROLL_DIRECTION" value="1."/>
+    <define name="ROLL_SCALE" value="0.44"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+
+    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
+    <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="-6000."/>
+    <define name="PITCH_DGAIN" value="0."/>
+    <define name="ELEVATOR_OF_ROLL" value="0"/>
+
+    <!--  roll rate loop -->
+    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_RATE_GAIN" value="-1500"/>
+  </section>
+
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.05"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".3"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="2000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1500"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.008"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.25"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
+
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+  </section>
+
+
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="1000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)" unit="s"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE+0.05" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="50" unit="m"/>
+  </section>
+
+
+   <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="CLIMB_THROTTLE" value="0.65"/><!-- Throttle for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
+    <define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
+    <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_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <makefile>
+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
+
+
+  </makefile>
+</airframe>
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 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
+     Graupner C19 receiver
+     TWOG V1 board
+     PerkinElmer TPS334 IR Sensors
+     Tilted infrared sensor
+     XBee modem with AT firmware
+     LEA 4P GPS (set to POSLLH)
+-->
+
+<airframe name="Twinstar">
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT"  no="1" min="1900" neutral="1480" max="1050"/>
+    <servo name="ELEVATOR"      no="2" min="1750" neutral="1530" max="1250"/>
+    <servo name="RUDDER"        no="3" min="1100" neutral="1500" max="1900"/>
+    <servo name="AILERON_RIGHT" no="4" min="2000" neutral="1610" max="1200"/>
+    <servo name="FWHEEL"        no="5" min="1900" neutral="1470" max="1100"/>
+    <servo name="HATCH"         no="6" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_ROLL"      no="7" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_PITCH"     no="8" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE"  failsafe_value="0"/>
+    <axis name="ROLL"      failsafe_value="0"/>
+    <axis name="PITCH"     failsafe_value="0"/>
+    <axis name="YAW"       failsafe_value="0"/>
+    <axis name="HATCH"     failsafe_value="0"/>
+    <axis name="CAM_ROLL"  failsafe_value="0"/>
+    <axis name="CAM_PITCH" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"      value="@YAW"/>
+    <set command="HATCH"    value="@CALIB"/>
+  </rc_commands>
+
+  <auto_rc_commands>
+    <set command="YAW" value="@YAW"/>
+  </auto_rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="RUDDER" value="@YAW"/>
+    <set servo="FWHEEL" value="@YAW"/>
+    <set servo="HATCH" value="@HATCH"/>
+    <set servo="CAM_ROLL" value="@CAM_ROLL"/>
+    <set servo="CAM_PITCH" value="@CAM_PITCH"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="512"/>
+    <define name="ADC_IR2_NEUTRAL" value="512"/>
+    <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+    <define name="CORRECTION_UP" value="1."/>
+    <define name="CORRECTION_DOWN" value="1."/>
+    <define name="CORRECTION_LEFT" value="1."/>
+    <define name="CORRECTION_RIGHT" value="1."/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.7"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+    <define name="MIN_CIRCLE_RADIUS" value="50."/>
+  </section>
+
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+   <define name="THROTTLE_SLEW" value="0.1"/>
+
+  </section>
+
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-1.0"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6000."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-9000."/>
+    <define name="PITCH_DGAIN" value="-1700."/>
+
+    <define name="ELEVATOR_OF_ROLL" value="1500"/>
+ </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+ <makefile>
+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
+
+  </makefile>
+</airframe>
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)