diff --git a/conf/airframes/funjet1.xml b/conf/airframes/funjet1.xml
index ddf8bcec6a..aded4dfd10 100644
--- a/conf/airframes/funjet1.xml
+++ b/conf/airframes/funjet1.xml
@@ -235,7 +235,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c nav_line.c chemotaxis.c anemotaxis.c discsurvey.c
-ap.srcs += traffic_info.c nav_survey_rectangle.c
+ap.srcs += nav_survey_rectangle.c
 
 ########## Barometer (SPI)
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
diff --git a/conf/airframes/swb1.xml b/conf/airframes/swb1.xml
index 0bd6c8a91d..ae7b5641a7 100644
--- a/conf/airframes/swb1.xml
+++ b/conf/airframes/swb1.xml
@@ -4,27 +4,27 @@
 
 <!-- commands section -->
   <servos>
+    <servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1620" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1400" max="1000"/>
     <servo name="THROTTLE"      no="2" min="1270" neutral="1270" max="1810"/>
-    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1500" max="1000"/>
-    <servo name="AILEVON_RIGHT" no="0" min="1000" neutral="1500" max="2000"/>
-    <servo name="CAM_ROLL"      no="3" min="2000" neutral="1550" max="1000"/>
-    <servo name="CAM_PITCH"     no="6" min="950" neutral="1550" max="2200"/>
+    <servo name="CAM_TILT"      no="3" min="1000" neutral="1550" max="2000"/>
+    <servo name="CAM_PAN"       no="5" min="2000" neutral="1550" max="1000"/>
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="CAM_ROLL"     failsafe_value="0"/>
-    <axis name="CAM_PITCH"    failsafe_value="0"/>
+    <axis name="CAM_TILT"     failsafe_value="0"/>
+    <axis name="CAM_PAN"    failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL"     value="@ROLL"/>
     <set command="PITCH"    value="@PITCH"/>
-    <set command="CAM_ROLL" value="@YAW"/>
-    <set command="CAM_PITCH" value="@GAIN1"/>
+    <set command="CAM_PAN" value="@YAW"/>
+    <set command="CAM_TILT" value="@GAIN1"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -39,12 +39,12 @@
     <set servo="THROTTLE"      value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-    <set servo="CAM_ROLL"      value="@CAM_ROLL"/>
-    <set servo="CAM_PITCH"     value="@CAM_PITCH"/>
+    <set servo="CAM_PAN"      value="@CAM_PAN"/>
+    <set servo="CAM_TILT"     value="@CAM_TILT"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_ROLL" value="1"/>
     <define name="MAX_PITCH" value="0.6"/>
   </section>
 
@@ -69,10 +69,10 @@
 
     <define name="LATERAL_CORRECTION" value="1."/>
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value=".7"/>
+    <define name="VERTICAL_CORRECTION" value="1.0"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-4" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="6" unit="deg"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
@@ -91,11 +91,11 @@
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-    <define name="LOW_BATTERY" value="9.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
  
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="19." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="11." 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"/>
@@ -116,7 +116,7 @@
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
@@ -130,7 +130,7 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1."/>
+    <define name="COURSE_PGAIN" value="-1.3"/>
 
     <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
@@ -148,7 +148,7 @@
   <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="1.00"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_THROTTLE" value="0.90"/><!-- 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 -->
@@ -223,8 +223,9 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 ap.srcs += nav_line.c nav_survey_rectangle.c
 
-% ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-% ap.srcs += cam.c point.c traffic_info.c
+ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
+ap.srcs += cam.c point.c
+# traffic_info.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
diff --git a/conf/airframes/ugv.xml b/conf/airframes/ugv.xml
index 1d61542f6c..1f7649c017 100644
--- a/conf/airframes/ugv.xml
+++ b/conf/airframes/ugv.xml
@@ -17,7 +17,7 @@
 
   <section name="BAT">
     <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-    <define name="LOW_BATTERY" value="9.3" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </section>
  
   <section name="MISC">
@@ -82,8 +82,8 @@ 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 += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DDOWNLINK_GPS_1Hz
-ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 -DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\"
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_1Hz
+% ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 -DUSER_GPS_CONFIGURE=\"tl_gps_configure.h\"
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/autopilot/tiny.makefile b/conf/autopilot/tiny.makefile
index aa415c446b..b9d341a9d5 100644
--- a/conf/autopilot/tiny.makefile
+++ b/conf/autopilot/tiny.makefile
@@ -36,7 +36,7 @@ test_adcs.ARCH = arm7tdmi
 test_adcs.TARGET = test_adcs
 test_adcs.TARGETDIR = test_adcs
 
-test_adcs.CFLAGS += -DCONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
 
diff --git a/conf/flight_plans/ugv.xml b/conf/flight_plans/ugv.xml
index 53ce5bc272..021ceb2989 100644
--- a/conf/flight_plans/ugv.xml
+++ b/conf/flight_plans/ugv.xml
@@ -1,6 +1,6 @@
 <!-- DOCTYPE flight_plan SYSTEM "flight_plan.dtd" -->
 
-<flight_plan NAME="Ugv" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="0" SECURITY_HEIGHT="0" ALT="0" LAT0="43.46223">
+<flight_plan NAME="Ugv" LON0="1.27289" MAX_DIST_FROM_HOME="2000" GROUND_ALT="0" SECURITY_HEIGHT="0" ALT="0" LAT0="43.46223">
   <waypoints>
     <waypoint name="HOME" x="0.0" y="0"/>
     <waypoint name="UGV" x="0.0" y="100.0"/>
diff --git a/conf/gcs/map_only.xml b/conf/gcs/map_only.xml
new file mode 100644
index 0000000000..524dc64e4a
--- /dev/null
+++ b/conf/gcs/map_only.xml
@@ -0,0 +1,7 @@
+<!DOCTYPE layout SYSTEM "layout.dtd">
+
+<layout width="400" height="400">
+ <rows>
+  <widget size="400" name="map2d"/>
+ </rows>
+</layout>
diff --git a/conf/radios/T6EXAP.xml b/conf/radios/T6EXAP.xml
index 5a365c2d47..6550bfee21 100644
--- a/conf/radios/T6EXAP.xml
+++ b/conf/radios/T6EXAP.xml
@@ -49,6 +49,6 @@
  <channel ctl="2" function="PITCH"    min="1109" neutral="1521" max="1938" average="0"/>
  <channel ctl="3" function="THROTTLE" min="1933" neutral="1933" max="1107" average="0"/>
  <channel ctl="4" function="YAW"      min="1937" neutral="1524" max="1103" average="0"/>
- <channel ctl="5" function="MODE"     min="1100" neutral="1500" max="3000" average="1"/>
- <channel ctl="6" function="GAIN1"    min="1900" neutral="1500" max="1100" average="1"/>
+ <channel ctl="5" function="GAIN1"     min="1100" neutral="1500" max="3000" average="1"/>
+ <channel ctl="6" function="MODE"    min="1900" neutral="1500" max="1100" average="1"/>
 </radio>
diff --git a/conf/telemetry/minimal.xml b/conf/telemetry/minimal.xml
new file mode 100644
index 0000000000..c44b932967
--- /dev/null
+++ b/conf/telemetry/minimal.xml
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
+<telemetry>
+  <process name="Ap">
+    <mode name="default">
+      <message name="ALIVE"          period="5"/>
+      <message name="ATTITUDE"       period="1"/>
+      <message name="ESTIMATOR"      period="1"/>
+      <message name="WP_MOVED"       period="1"/>
+      <message name="CIRCLE"         period="1.05"/>
+      <message name="DESIRED"        period="2.05"/>
+      <message name="BAT"            period="1.1"/>
+      <message name="BARO_MS5534A"   period="1.0"/>
+      <message name="SEGMENT"        period="1.2"/>
+      <message name="CALIBRATION"    period="3.1"/>
+      <message name="NAVIGATION_REF" period="9."/>
+      <message name="PPRZ_MODE"      period="5."/>
+      <message name="DOWNLINK"       period="5.1"/>
+      <message name="DL_VALUE"       period="1.5"/>
+      <message name="IR_SENSORS"     period="1.2"/>
+      <message name="GYRO_RATES"     period="2.1"/>
+      <message name="SURVEY"         period="2.1"/>
+      <message name="GPS_SOL"        period="2.0"/>
+    </mode>
+    <mode name="debug">
+      <message name="ATTITUDE"       period="0.5"/>
+      <message name="TUNE_ROLL"      period="0.2"/>
+      <message name="DEBUG_MCU_LINK" period="5."/>
+      <message name="ADC"            period="0.5"/>
+    </mode>
+  </process>
+  <process name="Fbw">
+    <mode name="default">
+      <message name="COMMANDS"       period="1"/>
+      <message name="FBW_STATUS"     period="1"/>
+      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
+    </mode>
+    <mode name="debug">
+      <message name="PPM"            period="0.5"/>
+      <message name="RC"             period="0.5"/>
+      <message name="COMMANDS"       period="0.5"/>
+      <message name="FBW_STATUS"     period="1"/>
+      <message name="ACTUATORS"      period="5"/> <!-- For trimming -->
+    </mode>
+  </process>
+</telemetry>