diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index fbe6ea14fd..875701c703 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -92,7 +92,7 @@
     <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="TOP_SIGN" value="1"/>
 
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 66b8253cca..7a334a7338 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -27,9 +27,10 @@
 ## COMMON FIXEDWING ALL TARGETS (SIM + AP + FBW ...)
 ##
 
-# temporary hack
+# temporary hack for ADCs
 ifeq ($(ARCH), stm32)
 $(TARGET).CFLAGS += -DSTM32
+$(TARGET).CFLAGS += -DUSE_AD1_3
 endif
 #
 # Board config + Include paths
diff --git a/conf/gps/lea5h_rotorcraft.txt b/conf/gps/lea5h_rotorcraft.txt
new file mode 100644
index 0000000000..7abae38f5a
--- /dev/null
+++ b/conf/gps/lea5h_rotorcraft.txt
@@ -0,0 +1,59 @@
+MON-VER - 0A 04 28 00 35 2E 30 30 20 28 32 38 34 38 33 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 34 30 30 30 35 00 00
+CFG-ANT - 06 13 04 00 00 00 8B A9
+CFG-DAT - 06 06 02 00 00 00
+CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00
+CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87
+CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 02 00 08 00 00 00 00
+CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 06 00 01 00 00 00 00
+CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 01 30 00 04 00 00 00 00
+CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 02 23 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 05 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0A 20 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0B 00 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0B 32 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 0D 04 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01
+CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
+CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
+CFG-NAV5 - 06 24 24 00 FF FF 07 02 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 14 00 00 00 00 00 00 00 00 00 00 00 00 00
+CFG-NAVX5 - 06 23 28 00 00 00 FF FF FF FF FF FF 03 02 03 10 0A 00 00 01 00 00 B4 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
+CFG-NMEA - 06 17 04 00 00 23 00 02
+CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00
+CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 96 00 00 03 00 01 00 00 00 00 00
+CFG-PRT - 06 00 14 00 02 00 00 00 C0 08 00 00 80 25 00 00 00 00 00 00 00 00 00 00
+CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00
+CFG-RATE - 06 08 06 00 FA 00 01 00 01 00
+CFG-RXM - 06 11 02 00 00 00
+CFG-SBAS - 06 16 08 00 03 03 03 00 51 08 00 00
+CFG-TMODE - 06 1D 1C 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
+CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
+CFG-USB - 06 1B 6C 00 46 15 A5 01 00 00 00 00 78 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 35 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index f723f8d451..4528638f9c 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -103,15 +103,16 @@ void init_fbw( void ) {
   uart3_init();
 #endif
   // FIXME: remove STM32 flag
-#ifndef STM32
 #ifdef ADC
   adc_init();
+#ifndef STM32
   adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
 #  ifdef ADC_CHANNEL_CURRENT
-    adc_buf_channel(ADC_CHANNEL_CURRENT, &current_adc_buf, DEFAULT_AV_NB_SAMPLE);
+  adc_buf_channel(ADC_CHANNEL_CURRENT, &current_adc_buf, DEFAULT_AV_NB_SAMPLE);
 #  endif
-#endif
 #endif /* ! STM32 */
+#endif /* ADC     */
+
 #ifdef ACTUATORS
   actuators_init();
   /* Load the failsafe defaults */