diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 29a86dda84..3e461ac70c 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -202,10 +202,9 @@
     <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
     <define name="RC_CLIMB_COEF" value="163" />
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-    <define name="RC_CLIMB_DEAD_BAND" value="160000" />
-    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
-      estimation -->
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.4" />
+    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/ardrone2_sdk.xml b/conf/airframes/ardrone2_sdk.xml
index dfbcab0f90..154b0126fb 100644
--- a/conf/airframes/ardrone2_sdk.xml
+++ b/conf/airframes/ardrone2_sdk.xml
@@ -84,9 +84,8 @@
 		<define name="RC_CLIMB_COEF" value="163" />
 		<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
 		<define name="RC_CLIMB_DEAD_BAND" value="160000" />
-		<!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive
-			estimation -->
-		<define name="NOMINAL_HOVER_THROTTLE" value="0.5" />
+		<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+        <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
 	</section>
 
 	<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 75f60ddfdf..4deef180d9 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -163,6 +163,7 @@
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+   <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
 
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index 2d507056ae..3f07ab9cf2 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -186,8 +186,8 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
-    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 42fcb6b0d0..4a20c2b893 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -180,8 +180,8 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
-    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index 7a858bf286..151464b016 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -190,8 +190,8 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
-    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index 1c3262b131..771f4082c8 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -199,7 +199,8 @@ More information on the Quadshot can be found at transition-robotics.com -->
    <define name="HOVER_KI"    value="72"/>
    <define name="RC_CLIMB_COEF" value ="163"/>
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.4"/>
+   <define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
+   <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
   </section>
 
   <section name="AHRS" prefix="AHRS_">
diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index 8957d373cd..2f10e1c38b 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -186,7 +186,6 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
     <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
   </section>
 
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 877f496e66..3c042afc6c 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -224,7 +224,8 @@
     <define name="RC_CLIMB_COEF" value ="163"/>
     <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
     <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.38"/-->
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.38"/>
+    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">