diff --git a/conf/airframes/CDW/LisaFw.xml b/conf/airframes/CDW/LisaFw.xml
index 528e902da2..98e57af116 100644
--- a/conf/airframes/CDW/LisaFw.xml
+++ b/conf/airframes/CDW/LisaFw.xml
@@ -171,6 +171,7 @@
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
diff --git a/conf/airframes/CDW/TinyFw.xml b/conf/airframes/CDW/TinyFw.xml
index b80617c624..954004b372 100644
--- a/conf/airframes/CDW/TinyFw.xml
+++ b/conf/airframes/CDW/TinyFw.xml
@@ -166,6 +166,7 @@
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index b63e9d722f..8cf168b61f 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -19,7 +19,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <!--subsystem name="ahrs"      type="infrared"/-->
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 7bbddee3bb..959a400c62 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -20,6 +20,7 @@
     </load>
     <!--load name="enose.xml"/-->
     <load name="light.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index ad562eda88..19bd277cb9 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared">
-      <configure name="ADC_IR1" value="ADC_1"/>
-      <configure name="ADC_IR2" value="ADC_0"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -43,6 +39,11 @@
    <!-- <load name="tcas.xml"/> -->
     <!--load name="potential.xml"/-->
   <load name="cartography.xml"/>
+  <load name="infrared_adc.xml">
+    <configure name="ADC_IR1" value="ADC_1"/>
+    <configure name="ADC_IR2" value="ADC_0"/>
+    <configure name="ADC_IR_TOP" value="ADC_2"/>
+  </load>
 </modules>
 
 
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index 7e9e8101d9..d9828c9bb3 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared">
-      <configure name="ADC_IR1" value="ADC_0"/>
-      <configure name="ADC_IR2" value="ADC_1"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -42,6 +38,11 @@
     <load name="formation_flight.xml"/>
     <load name="tcas.xml"/>
     <!--load name="potential.xml"/-->
+    <load name="infrared_adc.xml">
+      <configure name="ADC_IR1" value="ADC_0"/>
+      <configure name="ADC_IR2" value="ADC_1"/>
+      <configure name="ADC_IR_TOP" value="ADC_2"/>
+    </load>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index ee336237bc..46bc09b2cf 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -23,11 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared">
-      <configure name="ADC_IR1" value="ADC_0"/>
-      <configure name="ADC_IR2" value="ADC_1"/>
-      <configure name="ADC_IR_TOP" value="ADC_2"/>
-    </subsystem>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -42,6 +38,11 @@
     <load name="formation_flight.xml"/>
     <load name="tcas.xml"/>
     <!--load name="potential.xml"/-->
+    <load name="infrared_adc.xml">
+      <configure name="ADC_IR1" value="ADC_0"/>
+      <configure name="ADC_IR2" value="ADC_1"/>
+      <configure name="ADC_IR_TOP" value="ADC_2"/>
+    </load>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index 413fca4c2b..b1cce6838f 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -20,6 +20,10 @@
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="lisa_l_test_progs">
     <target name="tunnel"           board="lisa_l_1.0"/>
     <target name="test_led"         board="lisa_l_1.0"/>
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index e7fda3f45b..01f854892e 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -20,6 +20,10 @@
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="lisa_l_test_progs">
     <target name="test_led"            board="lisa_m_1.0"/>
     <target name="test_uart"           board="lisa_m_1.0"/>
@@ -195,4 +199,4 @@
 
 </airframe>
 
- -->
\ No newline at end of file
+ -->
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 69ed649fb7..117bc78989 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -232,6 +232,7 @@
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="fixedwing">
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index 8425099b1d..9cd56e7fe7 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -22,6 +22,10 @@
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <firmware name="setup">
     <target name="tunnel" 	        board="tiny_2.11"/>
     <target name="setup_actuators" 	board="tiny_2.11"/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index bbdadfb008..4981d5fb8f 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -182,6 +182,7 @@
     <load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 </airframe>
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 47dbd5b23a..775ab6dec7 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -37,6 +37,7 @@
   <modules>
     <load name="airspeed_ets.xml"/>
     <load name="baro_ets.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index af3c6b4cd1..fb56a7b534 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -48,6 +48,7 @@
       <define name="DC_SHUTTER_LED" value="3"/>
     </load>
     <load name="sys_mon.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index da838f689c..af247be133 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -33,6 +33,9 @@
     <subsystem name="navigation"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <firmware name="setup">
     <target name="tunnel" 		    board="tiny_2.11"/>
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index f055f95a87..1d0bd63af9 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -222,6 +222,9 @@
 
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_2.1" />
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 499feca3b5..e7b0e7d831 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -41,6 +41,7 @@
       <define name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
     </load>
     <load name="sys_mon.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 39b0f54a29..c5dee5b8a7 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -193,6 +193,10 @@
 
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 
   <firmware name="setup">
     <target name="tunnel"           board="tiny_1.1" />
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 29d8ab4862..37fd3601e2 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -30,6 +30,7 @@
   <!-- modules -->
   <modules>
     <load name="max11040.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 7eed8a4b6f..9effbb7af9 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -23,6 +23,7 @@
   <!-- modules -->
   <modules>
     <load name="trigger_ext.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <servos>
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index ea4e70bb8c..a814fcbb9f 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -32,6 +32,10 @@
     </subsystem>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index 25454cfed4..8b5ef239d1 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -30,6 +30,7 @@
   <modules>
     <load name="ins_arduimu.xml">
     </load>
+    <!--load name="infrared_adc.xml"/-->
   </modules>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 5abdc6e79a..57904e0b7a 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 679994b166..726d92b8a4 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index c10a88deab..375307d6d9 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -51,6 +51,7 @@
   <modules>
     <!--load name="formation_flight.xml"/-->
     <load name="tcas.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 47223818d1..484ea47451 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -40,6 +40,7 @@
   <modules>
     <load name="baro_scp.xml"/>
     <load name="humid_sht.xml"/>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index c0783dd711..f466510bd0 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -45,7 +45,9 @@
     <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
   </firmware>
 
-
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index 2ccdce786c..4c69b76590 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -45,7 +45,9 @@
     <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
   </firmware>
 
-
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
 
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index bad0ec5807..a83519cc58 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -73,6 +73,7 @@
     <load name="humid_sht_i2c.xml"/>
     <load name="mag_micromag_fw.xml"/>
     <load name="baro_scp_i2c.xml"/-->
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <!-- commands section -->
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 6906b7eaf5..5b6d5da9a9 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -31,6 +31,10 @@
     </subsystem>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index b2459356c5..9900e6c85b 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -38,6 +38,7 @@
       <!--param name="USE_AIRSPEED" value="1"/-->
       <param name="SENSOR_SYNC_SEND" value="1"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index d2128f0639..9f97362634 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -38,6 +38,7 @@
     <load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <servos>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index 45479d9772..59d9dc5e1e 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -44,6 +44,7 @@
       <flag name="USE_ADC_3"/>
       <flag name="USE_ADC_5"/>
     </load>
+    <load name="infrared_adc.xml"/>
   </modules>
 
   <servos>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index c5af6e399c..6d75ce1171 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -32,6 +32,10 @@
     <target name="setup_actuators" 	board="twog_1.0"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 8baa7f8b88..519b6dddc1 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -26,6 +26,10 @@
     <target name="setup_actuators"     board="tiny_2.11"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+  </modules>
+
   <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1550" neutral="1550" max="2000"/>