diff --git a/conf/messages.xml b/conf/messages.xml
index ebca7d3185..9997655d44 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -331,15 +331,6 @@
       <field name="groundspeed_sp" type="float" unit="m/s"/>
   </message>
 
-  <message name="AIRSPEED" id="54">
-      <field name="adc" type="uint16"/>
-      <field name="airspeed" type="float" unit="m/s"/>
-      <field name="airspeed_sp" type="float" unit="m/s"/>
-      <field name="airspeed_cnt" type="float" unit="m/s"/>
-      <field name="groundspeed_sp" type="float" unit="m/s"/>
-  </message>
-
-
   <message name="BARO_WORDS" id="46">
       <field name="w1"  type="uint16"/>
       <field name="w2"  type="uint16"/>
@@ -347,7 +338,6 @@
       <field name="w4"  type="uint16"/>
   </message>
 
-
  <message name="WP_MOVED_LLA" id="47">
     <field name="wp_id" type="uint8"/>
     <field name="lat" type="int32" unit="degres"></field>
@@ -384,11 +374,6 @@
     <field name="values" type="int16[]" alt_unit_coef="1e-3"/>
  </message>
 
-  <message name="VISUALTARGET" id="235">
-    <field name="x" type="uint16"></field>
-    <field name="y" type="uint16"></field>
-  </message>
-
  <message name="DEBUG_IR_I2C" id="53">
     <field name="ir1" type="int16" unit="adc"></field>
     <field name="ir2" type="int16" unit="adc"></field>
@@ -397,6 +382,17 @@
     <field name="theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
  </message>
 
+  <message name="AIRSPEED" id="54">
+     <field name="adc" type="uint16"/>
+     <field name="airspeed" type="float" unit="m/s"/>
+     <field name="airspeed_sp" type="float" unit="m/s"/>
+     <field name="airspeed_cnt" type="float" unit="m/s"/>
+     <field name="groundspeed_sp" type="float" unit="m/s"/>
+  </message>
+
+ <!-- 55 is free --> 
+
+
  <message name="BARO_ETS" id="56">
    <field name="adc" type="uint16"/>
    <field name="offset" type="uint16"/>
@@ -409,6 +405,9 @@
    <field name="scaled" type="float"/>
  </message>
 
+ <!-- 58 is free --> 
+ <!-- 59 is free --> 
+
   <message name="H_CTL_A" id="60">
     <field name="roll_sum_err" type="float"/>
     <field name="ref_roll_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
@@ -454,6 +453,20 @@
     <field name="gnd2"   type="float"/>
   </message>
 
+ <!-- 63 is free --> 
+ <!-- 64 is free --> 
+ <!-- 65 is free --> 
+ <!-- 66 is free --> 
+ <!-- 67 is free --> 
+ <!-- 68 is free --> 
+ <!-- 69 is free --> 
+ <!-- 70 is free --> 
+ <!-- 71 is free --> 
+ <!-- 72 is free --> 
+ <!-- 73 is free --> 
+ <!-- 74 is free --> 
+ <!-- 75 is free --> 
+
  <message name="VF_UPDATE" id="76">
    <field name="baro" type="float" unit="m"/>
    <field name="range_meter" type="float" unit="m"/>
@@ -463,6 +476,9 @@
    <field name="accel" type="float" unit="m/s/s"/>
  </message>
 
+ <!-- 78 is free --> 
+ <!-- 79 is free --> 
+
   <message name="CROSS_TRACK_ERROR" id="80">
     <field name="cross_track_error" type="float" unit="m"/>
     <field name="cte_int" type="float"/>
@@ -489,6 +505,10 @@
 	 <field name="status" type="uint8"/>
  </message>
 
+ <!-- 84 is free --> 
+ <!-- 85 is free --> 
+ <!-- 86 is free --> 
+
  <message name="WIND_INFO_RET" id="87">
   <field name="east" type="float" unit="m/s"/>
   <field name="north" type="float" unit="m/s"/>
@@ -560,16 +580,16 @@
       <field name="throttle"   type="uint16"/>
  </message>
 
+ <!-- 96 is free --> 
+ <!-- 97 is free --> 
+ <!-- 98 is free --> 
+ <!-- 99 is free --> 
+
   <message name="PPM" id="100">
     <field name="ppm_rate" type="uint8"></field>
     <field name="values" type="uint16[]" unit="ticks"/>
   </message>
 
-  <message name="OPTICFLOW" id="234">
-    <field name="flow" type="uint16"></field>
-    <field name="ref_alt" type="float"></field>
-  </message>
-
   <message name="RC" id="101">
     <field name="values" type="int16[]" unit="pprz" format="%d"/>
   </message>
@@ -595,23 +615,19 @@
   </message>
 
   <message name="BETH" id="106">
-    <field name="azimuth" type="int16"/>
-    <field name="elevation" type="int16"/>
-    <field name="tilt" type="int16"/>
-    <field name="counter" type="uint32"/>
-    <field name="can_errs" type="uint16"/>
-    <field name="spi_errs" type="uint16"/>
-    <field name="thrust_out" type="int8"/>
-    <field name="pitch_out" type="int8"/>
+    <field name="azimuth" type="uint16"/>
+    <field name="elevation" type="uint16"/>
+    <field name="tilt" type="uint16"/>
+    <field name="other" type="uint16"/>
   </message>
 
   <message name="BETH_ESTIMATOR" id="107">
-    <field name="tilt" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="tilt_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-    <field name="elevation" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="elevation_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-    <field name="azimuth" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="azimuth_dot" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+    <field name="tilt" type="float"/>
+    <field name="tilt_dot" type="float"/>
+    <field name="elevation" type="float"/>
+    <field name="elevation_dot" type="float"/>
+    <field name="azimuth" type="float"/>
+    <field name="azimuth_dot" type="float"/>
   </message>
 
   <message name="BETH_CONTROLLER" id="108">
@@ -621,12 +637,14 @@
     <field name="pitch_fb" type="float"/>
     <field name="thrust_ff" type="float"/>
     <field name="thrust_fb" type="float"/>
-    <field name="tilt_ref" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="tilt_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-    <field name="elevation_ref " type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="elevation_dot_ref" type="float" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+    <field name="tilt_ref" type="float"/>
+    <field name="tilt_dot_ref" type="float"/>
+    <field name="elevation_ref " type="float"/>
+    <field name="elevation_dot_ref" type="float"/>
   </message>
 
+ <!--109 is free --> 
+
   <message name="DC_SHOT" id="110">
      <field name="photo_nr" type="int16" unit=""></field>
      <field name="utm_east"  type="int32" unit="cm"></field>
@@ -646,6 +664,15 @@
     <field name="servo" type="uint16[]"/>
   </message>
 
+ <!--112 is free --> 
+ <!--113 is free --> 
+ <!--114 is free --> 
+ <!--115 is free --> 
+ <!--116 is free --> 
+ <!--117 is free --> 
+ <!--118 is free --> 
+ <!--119 is free --> 
+
   <message name="TCAS_TA" ID="120">
     <field name="ac_id" type="uint8"/>
   </message>
@@ -682,6 +709,11 @@
     <field name="speed_sp" type="float"/>
   </message>
 
+ <!--126 is free --> 
+ <!--127 is free --> 
+ <!--128 is free --> 
+ <!--129 is free --> 
+
  <message name="BOOZ2_STAB_ATTITUDE_FLOAT" id="130">
     <field name="est_p"         type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>   
     <field name="est_q"         type="float" alt_unit="degres/s" alt_unit_coef="57.29578"/>   
@@ -1213,71 +1245,73 @@
       <field name="err_code"    type="uint32"/>
     </message>
 
-    <message name="CSC_CAN_MSG" id="177">
-      <field name="frame"   type="uint32"/>
-      <field name="id"      type="uint32"/>
-      <field name="data_a"  type="uint32"/>
-      <field name="data_b"  type="uint32"/>
-    </message>
+  <message name="CSC_CAN_MSG" id="177">
+    <field name="frame"   type="uint32"/>
+    <field name="id"      type="uint32"/>
+    <field name="data_a"  type="uint32"/>
+    <field name="data_b"  type="uint32"/>
+  </message>
 
+ <!--178 is free --> 
+ <!--179 is free --> 
 
-    <message name="FMS_TIME" id="180">
-      <field name="tv_sec"   type="uint32"/>
-      <field name="tv_nsec"  type="uint32"/>
-      <field name="delay_ns" type="uint32"/>
-    </message>
+  <message name="FMS_TIME" id="180">
+    <field name="tv_sec"   type="uint32"/>
+    <field name="tv_nsec"  type="uint32"/>
+    <field name="delay_ns" type="uint32"/>
+  </message>
 
-    <message name="LOADCELL" id="181">
-      <field name="torque" type="int32"/>
-      <field name="thrust" type="int32"/>
-    </message>
+  <message name="LOADCELL" id="181">
+    <field name="torque" type="int32"/>
+    <field name="thrust" type="int32"/>
+  </message>
 
-    <message name="FLA_DEBUG" id="182">
-      <field name="past_input"    type="float"/>
-      <field name="imu_rate"      type="float"/>
-      <field name="desired_accel" type="float"/>
-      <field name="motor_command" type="float"/>
-    </message>
+  <message name="FLA_DEBUG" id="182">
+    <field name="past_input"    type="float"/>
+    <field name="imu_rate"      type="float"/>
+    <field name="desired_accel" type="float"/>
+    <field name="motor_command" type="float"/>
+  </message>
 
-    <message name="BLMC_FAULT_STATUS" id="183">
-      <field name="raw_fault"	type="uint16[]"/>
-    </message>
+  <message name="BLMC_FAULT_STATUS" id="183">
+    <field name="raw_fault"	type="uint16[]"/>
+  </message>
 
-    <message name="BLMC_SPEEDS" id="184">
-      <field name="speeds"	type="int16[]"/>
-    </message>
+  <message name="BLMC_SPEEDS" id="184">
+    <field name="speeds"	type="int16[]"/>
+  </message>
 
-    <message name="AHRS_DEBUG_QUAT" id="185">
-      <field name="jqi"   type="float"/>
-      <field name="jqx"   type="float"/>
-      <field name="jqy"   type="float"/>
-      <field name="jqz"   type="float"/>
-      <field name="xqi"   type="float"/>
-      <field name="xqx"   type="float"/>
-      <field name="xqy"   type="float"/>
-      <field name="xqz"   type="float"/>
-      <field name="mqi"   type="float"/>
-      <field name="mqx"   type="float"/>
-      <field name="mqy"   type="float"/>
-      <field name="mqz"   type="float"/>
-    </message>
+  <message name="AHRS_DEBUG_QUAT" id="185">
+    <field name="jqi"   type="float"/>
+    <field name="jqx"   type="float"/>
+    <field name="jqy"   type="float"/>
+    <field name="jqz"   type="float"/>
+    <field name="xqi"   type="float"/>
+    <field name="xqx"   type="float"/>
+    <field name="xqy"   type="float"/>
+    <field name="xqz"   type="float"/>
+    <field name="mqi"   type="float"/>
+    <field name="mqx"   type="float"/>
+    <field name="mqy"   type="float"/>
+    <field name="mqz"   type="float"/>
+  </message>
 
-    <message name="BLMC_BUSVOLTS" id="186">
-      <field name="busvolts"	type="uint16[]"/>
-    </message>
+  <message name="BLMC_BUSVOLTS" id="186">
+    <field name="busvolts"	type="uint16[]"/>
+  </message>
 
-    <message name="SYSTEM_STATUS" id="187">
-      <field name="csc1_loop_count"  type="uint32"/>
-      <field name="csc1_msg_count"   type="uint32"/>
-      <field name="csc2_loop_count"  type="uint32"/>
-      <field name="csc2_msg_count"   type="uint32"/>
-      <field name="can_rx_err"	     type="uint32"/>
-      <field name="can_tx_err"	     type="uint32"/>
-      <field name="rc_parser_err"    type="uint32"/>
-      <field name="system_fault"     type="uint8" unit="bool"/>
-    </message>
+  <message name="SYSTEM_STATUS" id="187">
+    <field name="csc1_loop_count"  type="uint32"/>
+    <field name="csc1_msg_count"   type="uint32"/>
+    <field name="csc2_loop_count"  type="uint32"/>
+    <field name="csc2_msg_count"   type="uint32"/>
+    <field name="can_rx_err"	     type="uint32"/>
+    <field name="can_tx_err"	     type="uint32"/>
+    <field name="rc_parser_err"    type="uint32"/>
+    <field name="system_fault"     type="uint8" unit="bool"/>
+  </message>
 
-    <message name="DYNAMIXEL" id="188">
+  <message name="DYNAMIXEL" id="188">
       <field name="left_wing"    type="uint16"/>
       <field name="right_wing"   type="uint16"/>
       <field name="left_wing_flag"    type="uint8"/>
@@ -1287,7 +1321,7 @@
       <field name="checksum_errors"   type="uint32"/>
       <field name="fuse_rotation_angle"  type="float"/>
       <field name="fuse_rotation_rate"   type="float"/>
-    </message>
+  </message>
 
     <message name="RMAT_DEBUG" id="189">
       <field name="a"   type="float" />
@@ -1317,12 +1351,6 @@
       <field name="beta2"    type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
     </message>
 
-    <message name="BOOZ2_FF_ADAP" id="252">
-      <field name="roll" type="float"/>
-      <field name="pitch" type="float"/>
-      <field name="yaw" type="float"/>
-    </message>
-
     <message name="CONTROLLER_GAINS" id="192">
       <field name="roll_gamma_p"     type="float" />
       <field name="roll_gamma_d"     type="float" />
@@ -1401,17 +1429,17 @@
       <field name="mag_z"    type="float" />
     </message>
 
-	<message name="BOOZ_INS" id="198">
-	  <field name="ins_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
-	  <field name="ins_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
-	  <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <message name="BOOZ_INS" id="198">
+      <field name="ins_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+      <field name="ins_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+      <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
       <field name="ins_xd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
-	  <field name="ins_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
+      <field name="ins_yd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
       <field name="ins_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
       <field name="ins_xdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
       <field name="ins_ydd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
       <field name="ins_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
-	</message>
+    </message>
 
     <message name="GPS_ERROR" id="199">
       <field name="x_position"    type="float" unit="m"/>
@@ -1486,7 +1514,6 @@
     <field name="vmz" type="float" unit="adc"/>
   </message>
 
-
   <message name="IMU_GYRO_LP" id="209">
     <field name="gp" type="float" unit="rad/s"/>
     <field name="gq" type="float" unit="rad/s"/>
@@ -1502,6 +1529,15 @@
     <field name="samples"  type="uint32[]"/>
   </message>
 
+ <!--212 is free --> 
+ <!--213 is free --> 
+ <!--214 is free --> 
+ <!--215 is free --> 
+ <!--216 is free --> 
+ <!--217 is free --> 
+ <!--218 is free --> 
+ <!--219 is free --> 
+
   <message name="IMU_TURNTABLE" id="220">
     <field name="omega" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
   </message>
@@ -1511,10 +1547,20 @@
       <field name="diff"         type="int16"/>
   </message>
 
+ <!--222 is free --> 
+ <!--223 is free --> 
+ <!--224 is free --> 
+ <!--225 is free --> 
+ <!--226 is free --> 
+
   <message name="TIME" id="227">
     <field name="t" type="uint32"/>
   </message>
 
+ <!--228 is free --> 
+ <!--229 is free --> 
+ <!--230 is free --> 
+
   <message name="BOOZ_STATUS" id="231">
       <field name="link_imu_nb_err" type="uint32"/>
       <field name="blmc_nb_err"  type="uint8"/>
@@ -1529,6 +1575,23 @@
       <field name="cpu_time"     type="uint16" unit="s"></field>
   </message>
 
+ <!--232 is free --> 
+ <!--233 is free --> 
+
+  <message name="OPTICFLOW" id="234">
+    <field name="flow" type="uint16"></field>
+    <field name="ref_alt" type="float"></field>
+  </message>
+
+  <message name="VISUALTARGET" id="235">
+    <field name="x" type="uint16"></field>
+    <field name="y" type="uint16"></field>
+  </message>
+
+ <!--236 is free --> 
+ <!--237 is free --> 
+ <!--238 is free --> 
+
   <message name="BOOZ_SIM_RPMS" id="239">
     <field name="front"    type="float" unit="RPM"/>
     <field name="back"     type="float" unit="RPM"/>
@@ -1621,6 +1684,33 @@
     <field name="zeta_r" type="float" />
   </message>
 
+  <message name="BOOZ2_FF_ADAP" id="252">
+     <field name="roll" type="float"/>
+     <field name="pitch" type="float"/>
+     <field name="yaw" type="float"/>
+  </message>
+
+  <message name="I2C_ERRORS" id="253">
+      <field name="acknowledge_failure_cnt"     type="uint16"/>
+      <field name="misplaced_start_or_stop_cnt" type="uint16"/>
+      <field name="arbitration_lost_cnt"        type="uint16"/>
+      <field name="overrun_or_underrun_cnt"     type="uint16"/>
+      <field name="pec_error_in_reception_cnt"  type="uint16"/>
+      <field name="timeout_or_tlow_error_cnt"   type="uint16"/>
+      <field name="smbus_alert_cnt"             type="uint16"/>
+      <field name="unexpected_event_cnt"        type="uint16"/>
+      <field name="last_unexpected_event"       type="uint32"/>
+  </message>
+
+  <message name="RDYB_TRAJECTORY" id="254">
+    <field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+    <field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+    <field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
+    <field name="setpoint_x" type="float" unit="m N"/>
+    <field name="setpoint_y" type="float" unit="m E"/>
+    <field name="setpoint_z" type="float" unit="m D"/>
+  </message>
+
   <message name="HENRY_GNSS" id="255">
     <field name="GPS_solution_valid" type="uint8"/>
     <field name="latitude" type="double" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
@@ -1636,26 +1726,6 @@
     <field name="V_Down" type="double"/>
   </message>
 
-  <message name="RDYB_TRAJECTORY" id="254">
-    <field name="commanded_phi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="commanded_theta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="commanded_psi" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
-    <field name="setpoint_x" type="float" unit="m N"/>
-    <field name="setpoint_y" type="float" unit="m E"/>
-    <field name="setpoint_z" type="float" unit="m D"/>
-  </message>
-
-  <message name="I2C_ERRORS" id="253">
-      <field name="acknowledge_failure_cnt"     type="uint16"/>
-      <field name="misplaced_start_or_stop_cnt" type="uint16"/>
-      <field name="arbitration_lost_cnt"        type="uint16"/>
-      <field name="overrun_or_underrun_cnt"     type="uint16"/>
-      <field name="pec_error_in_reception_cnt"  type="uint16"/>
-      <field name="timeout_or_tlow_error_cnt"   type="uint16"/>
-      <field name="smbus_alert_cnt"             type="uint16"/>
-      <field name="unexpected_event_cnt"        type="uint16"/>
-      <field name="last_unexpected_event"       type="uint32"/>
-  </message>
 
 </class>