diff --git a/conf/airframes/examples/microjet_lisa_m.xml b/conf/airframes/examples/microjet_lisa_m.xml
index 35ce7744c3..422e469215 100644
--- a/conf/airframes/examples/microjet_lisa_m.xml
+++ b/conf/airframes/examples/microjet_lisa_m.xml
@@ -47,7 +47,9 @@
   <modules>
     <load name="sys_mon.xml"/>
     <load name="baro_sim.xml"/>
-    <load name="air_data.xml"/>
+    <load name="air_data.xml">
+      <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
+    </load>
 
     <!-- extra navigation routines -->
     <load name="nav_bungee_takeoff.xml"/>
diff --git a/conf/telemetry/default_ardrone.xml b/conf/telemetry/default_ardrone.xml
index 8d6557fa2c..bc5eed4a71 100644
--- a/conf/telemetry/default_ardrone.xml
+++ b/conf/telemetry/default_ardrone.xml
@@ -119,13 +119,6 @@
       <message name="FILTER_ALIGNER"    period="0.02"/>
     </mode>
 
-    <mode name="hs_att_roll">
-      <message name="ROTORCRAFT_STATUS"           period="1.2"/>
-      <message name="ALIVE"                       period="0.9"/>
-      <message name="DL_VALUE"                    period="0.5"/>
-<!--      <message name="STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
-    </mode>
-
     <mode name="tune_hover">
       <message name="DL_VALUE"          period="1.1"/>
       <message name="ROTORCRAFT_STATUS" period="1.2"/>
diff --git a/conf/telemetry/default_fixedwing.xml b/conf/telemetry/default_fixedwing.xml
index 34c6cab549..3d1bb813b7 100644
--- a/conf/telemetry/default_fixedwing.xml
+++ b/conf/telemetry/default_fixedwing.xml
@@ -31,6 +31,7 @@
       <message name="CAM_POINT"           period="1.0"/>
       <message name="COMMANDS"            period="5"/>
       <message name="FBW_STATUS"          period="2"/>
+      <message name="AIR_DATA"            period="1.3"/>
     </mode>
     <mode name="minimal">
       <message name="ALIVE"               period="5"/>
diff --git a/conf/telemetry/default_fixedwing_imu.xml b/conf/telemetry/default_fixedwing_imu.xml
index 5759b8b4d7..9a7a425f5d 100644
--- a/conf/telemetry/default_fixedwing_imu.xml
+++ b/conf/telemetry/default_fixedwing_imu.xml
@@ -33,6 +33,7 @@
       <message name="CAM_POINT"           period="1.0"/>
       <message name="COMMANDS"            period="5"/>
       <message name="FBW_STATUS"          period="2"/>
+      <message name="AIR_DATA"            period="1.3"/>
     </mode>
     <mode name="minimal">
       <message name="ALIVE"               period="5"/>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 5e9232f2c6..18d4cb2a36 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -23,6 +23,7 @@
       <message name="ENERGY"                 period="2.5"/>
       <message name="DATALINK_REPORT"        period="5.1"/>
       <message name="STATE_FILTER_STATUS"    period="3.2"/>
+      <message name="AIR_DATA"               period="1.3"/>
     </mode>
 
     <mode name="ppm">
@@ -61,7 +62,7 @@
       <message name="FILTER"             period=".5"/>
       <message name="GEO_MAG"            period="5."/>
       <message name="AHRS_GYRO_BIAS_INT" period="0.08"/>
-<!--      <message name="AHRS_QUAT_INT"   period=".25"/> -->
+      <message name="AHRS_QUAT_INT"      period=".25"/>
       <message name="AHRS_EULER_INT"     period=".1"/>
 <!--      <message name="AHRS_RMAT_INT"   period=".5"/> -->
     </mode>
@@ -94,6 +95,7 @@
       <message name="DL_VALUE"          period="0.5"/>
       <message name="ALIVE"             period="0.9"/>
       <message name="VFF"               period=".05"/>
+      <message name="VFF_EXTENDED"      period=".05"/>
       <message name="VERT_LOOP"         period=".05"/>
       <message name="INS"               period=".05"/>
       <message name="INS_REF"           period="5.1"/>
@@ -120,13 +122,6 @@
       <message name="FILTER_ALIGNER"    period="0.02"/>
     </mode>
 
-    <mode name="hs_att_roll">
-      <message name="ROTORCRAFT_STATUS"           period="1.2"/>
-      <message name="ALIVE"                       period="0.9"/>
-      <message name="DL_VALUE"                    period="0.5"/>
-<!--      <message name="STAB_ATTITUDE_HS_ROLL" period="0.02"/> -->
-    </mode>
-
     <mode name="tune_hover">
       <message name="DL_VALUE"          period="1.1"/>
       <message name="ROTORCRAFT_STATUS" period="1.2"/>