diff --git a/conf/flight_plans/EMAV2006.xml b/conf/flight_plans/EMAV2006.xml
index e014fcc4fa..b6b9cb83d0 100644
--- a/conf/flight_plans/EMAV2006.xml
+++ b/conf/flight_plans/EMAV2006.xml
@@ -1,35 +1,4 @@
 <flight_plan ALT="450" GROUND_ALT="400" LAT0="52.524064" LON0="10.463673" MAX_DIST_FROM_HOME="1500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
-      <dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
-    </dl_settings>
-    <dl_settings NAME="mode">
-      <dl_setting MAX="1." MIN="0." STEP="1" VAR="z_constrast_mode"/>
-      <dl_setting MAX="1." MIN="0." STEP="1" VAR="rate_mode"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-    </dl_settings>
-    <dl_settings NAME="control">
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"/>
-        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"/>
-        <dl_setting MAX="15000" MIN="1000" STEP="250" VAR="roll_pgain"/>
-        <dl_setting MAX="15000" MIN="1000" STEP="250" VAR="pitch_pgain"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_roll"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="pitch_of_vz_pgain"/>
-      </dl_settings>
-      <dl_settings name="nav">
-        <dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="climb_level_gaz"/>
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="climb_pgain"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.01" VAR="altitude_pgain"/>
-        <dl_setting MAX="1" MIN="0.05" STEP="0.05" VAR="climb_igain"/>
-        <dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="course_pgain"/>
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="climb_pitch_pgain"/>
-        <dl_setting MAX="0.1" MIN="0" STEP="0.01" VAR="climb_pitch_igain"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
   <waypoints>
     <waypoint NAME="HOME" X="0" Y="0"/>
     <waypoint NAME="A" X="0" Y="0"/>
diff --git a/conf/flight_plans/airexpo.xml b/conf/flight_plans/airexpo.xml
index 5fb7503599..aad18413af 100644
--- a/conf/flight_plans/airexpo.xml
+++ b/conf/flight_plans/airexpo.xml
@@ -1,11 +1,4 @@
 <flight_plan SECURITY_HEIGHT="25" lat0="43.449300" lon0="1.266300" ground_alt="189" qfu="270" alt="250" max_dist_from_home="450" name="AirExpo" airspace="airexpo">
-  <dl_settings>
-    <dl_setting VAR="ir_roll_neutral" MAX="0.2" STEP="0.01" MIN="-0.2"/>
-    <dl_setting VAR="ir_pitch_neutral" MAX="0.2" STEP="0.01" MIN="-0.2"/>
-    <dl_setting VAR="roll_pgain" MAX="15000" STEP="100" MIN="5000"/>
-    <dl_setting VAR="pitch_pgain" MAX="20000" STEP="100" MIN="10000"/>
-    <dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-1"/>
-  </dl_settings>
   <waypoints>
     <waypoint name="HOME" x="-271.330646709" y="43.9746582191" alt="250."/>
     <waypoint name="TX_W" x="-547.990853153" y="186.049398384" alt="250."/>
@@ -15,7 +8,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="gaz"/>
+      <heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
       <heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
       <deroute BLOCK="circlehome"/>
     </block>
diff --git a/conf/flight_plans/example.xml b/conf/flight_plans/example.xml
index df208f548f..a3bbe1cb40 100644
--- a/conf/flight_plans/example.xml
+++ b/conf/flight_plans/example.xml
@@ -14,7 +14,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
       <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
       <deroute BLOCK="circlehome"/>
     </block>
diff --git a/conf/flight_plans/flight_plan.dtd b/conf/flight_plans/flight_plan.dtd
index 530e4e7cd6..c69864f2b5 100644
--- a/conf/flight_plans/flight_plan.dtd
+++ b/conf/flight_plans/flight_plan.dtd
@@ -77,7 +77,7 @@ to CDATA #REQUIRED>
 course CDATA #REQUIRED
 vmode CDATA #IMPLIED
 alt CDATA #IMPLIED
-gaz CDATA #IMPLIED
+throttle CDATA #IMPLIED
 climb CDATA #IMPLIED
 pitch CDATA #IMPLIED
 until CDATA #REQUIRED>
@@ -86,7 +86,7 @@ until CDATA #REQUIRED>
 roll CDATA #REQUIRED
 vmode CDATA #IMPLIED
 alt CDATA #IMPLIED
-gaz CDATA #IMPLIED
+throttle CDATA #IMPLIED
 climb CDATA #IMPLIED
 pitch CDATA #IMPLIED
 until CDATA #REQUIRED>
@@ -107,7 +107,7 @@ pitch CDATA #IMPLIED
 alt CDATA #IMPLIED
 until CDATA #IMPLIED
 approaching_time CDATA #IMPLIED
-gaz CDATA #IMPLIED
+throttle CDATA #IMPLIED
 climb CDATA #IMPLIED>
 
 <!ATTLIST set
@@ -141,7 +141,7 @@ target CDATA #IMPLIED
 cam_ac_target CDATA #IMPLIED
 climb CDATA #IMPLIED
 pitch CDATA #IMPLIED
-gaz CDATA #IMPLIED
+throttle CDATA #IMPLIED
 until CDATA #IMPLIED>
 
 <!ATTLIST survey_rectangle
@@ -153,7 +153,7 @@ wp2 CDATA #REQUIRED>
 <!ATTLIST stay
 wp CDATA #REQUIRED
 vmode CDATA #IMPLIED
-gaz CDATA #IMPLIED>
+throttle CDATA #IMPLIED>
 
 <!ATTLIST deroute
 block CDATA #REQUIRED>
diff --git a/conf/flight_plans/generic.xml b/conf/flight_plans/generic.xml
index b6acef8223..f28376d2d9 100644
--- a/conf/flight_plans/generic.xml
+++ b/conf/flight_plans/generic.xml
@@ -23,13 +23,13 @@
       <circle radius="-75" wp="HOME"/>
     </block>
     <block name="climb 75">
-      <circle radius="estimator_z/2" wp="1" gaz="0.75" pitch="0.3" vmode="gaz"/>
+      <circle radius="estimator_z/2" wp="1" throttle="0.75" pitch="0.3" vmode="throttle"/>
     </block>
     <block name="stack 1">
       <circle radius="estimator_z/2" wp="1"/>
     </block>
     <block name="descent 0" strip_button="Descent">
-      <circle radius="estimator_z/2" wp="1" gaz="0.0" pitch="-0.3" vmode="gaz"/>
+      <circle radius="estimator_z/2" wp="1" throttle="0.0" pitch="-0.3" vmode="throttle"/>
     </block>
     <block name="route12">
       <go approaching_time="0" from="1" hmode="route" wp="2"/>
diff --git a/conf/flight_plans/grosslobke_start.xml b/conf/flight_plans/grosslobke_start.xml
index 7227d2cea3..145d87b47c 100644
--- a/conf/flight_plans/grosslobke_start.xml
+++ b/conf/flight_plans/grosslobke_start.xml
@@ -11,7 +11,7 @@
       <go wp="1"/>
       <go WP="2"/>
       <go WP="RWAY"/>
-      <stay gaz="0" vmode="gaz" wp="RWAY"/>
+      <stay throttle="0" vmode="throttle" wp="RWAY"/>
     </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/grz.xml b/conf/flight_plans/grz.xml
index 11472b9bdc..6fa2fed6b7 100644
--- a/conf/flight_plans/grz.xml
+++ b/conf/flight_plans/grz.xml
@@ -2,85 +2,6 @@
 
 <flight_plan NAME="GRZ" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
 
-  <dl_settings>
-
-<dl_settings name="trim">
- <dl_setting var="trim_roll" min="-1000" step="10" max="1000"/>
- <dl_setting var="trim_pitch" min="-1000" step="10" max="1000"/>
- <dl_setting var="trim_yaw" min="-1000" step="10" max="1000"/>
-</dl_settings>
-
-<dl_settings name="rate">
-
-<dl_setting VAR="roll_dot_pid.p_gain" MAX="6000" STEP="100" MIN="2000"/>
-<dl_setting VAR="roll_dot_pid.i_gain" MAX="750" STEP="0.05" MIN="0"/>
-<dl_setting VAR="roll_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
-<dl_setting VAR="roll_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
-
-<dl_setting VAR="pitch_dot_pid.p_gain" MAX="-2000" STEP="100" MIN="-16000"/>
-<dl_setting VAR="pitch_dot_pid.i_gain" MAX="5" STEP="0.05" MIN="0"/>
-<dl_setting VAR="pitch_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
-<dl_setting VAR="pitch_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
-
-<dl_setting VAR="yaw_dot_pid.p_gain" MAX="-2000" STEP="100" MIN="-6000"/>
-<dl_setting VAR="yaw_dot_pid.i_gain" MAX="5" STEP="0.05" MIN="0"/>
-<dl_setting VAR="yaw_dot_pid.d_gain" MAX="10" STEP="0.5" MIN="0"/>
-<dl_setting VAR="yaw_dot_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
-
-</dl_settings>
-
-<dl_settings name="att">
-
-<dl_setting VAR="roll_pid.p_gain" MAX="-0.1" STEP="0.1" MIN="-5."/>
-<dl_setting VAR="roll_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
-<dl_setting VAR="roll_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
-
-<dl_setting VAR="pitch_pid.p_gain" MAX="-.1" STEP="0.1" MIN="-15."/>
-<dl_setting VAR="pitch_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
-<dl_setting VAR="pitch_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
-
-<dl_setting VAR="yaw_pid.p_gain" MAX="-0.1" STEP="0.1" MIN="-5."/>
-<dl_setting VAR="yaw_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
-<dl_setting VAR="yaw_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
-
-<dl_setting VAR="yaw_pid.set_point" MAX="3" STEP="0.1" MIN="-3"/>
-<dl_setting VAR="pitch_pid.set_point" MAX="0.3" STEP="0.05" MIN="-0.3"/>
-<dl_setting VAR="roll_pid.set_point" MAX="0.3" STEP="0.05" MIN="-0.3"/>
-
-</dl_settings>
-
-<dl_settings name="alt">
-
-<dl_setting VAR="ctl_grz_z_dot_pgain" MAX="-500" STEP="100" MIN="-6000"/>
-<dl_setting VAR="ctl_grz_z_dot_igain" MAX="5" STEP="0.05" MIN="0"/>
-<dl_setting VAR="ctl_grz_z_dot_dgain" MAX="10" STEP="0.5" MIN="0"/>
-<dl_setting VAR="ctl_grz_throttle_level" MAX="10000" STEP="100" MIN="3000"/>
-<dl_setting VAR="ctl_grz_z_dot_sum_err" MAX="1000" STEP="10" MIN="0"/>
-
-<dl_setting VAR="ctl_grz_z_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
-<dl_setting VAR="ctl_grz_z_igain" MAX="10" STEP="0.5" MIN="0"/>
-<dl_setting VAR="ctl_grz_z_dgain" MAX="10" STEP="0.5" MIN="0"/>
-
-</dl_settings>
-
-<dl_settings name="speed">
-
-<dl_setting VAR="ve_pid.p_gain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
-<dl_setting VAR="ve_pid.i_gain" MAX="10" STEP="0.1" MIN="0"/>
-<dl_setting VAR="ve_pid.d_gain" MAX="10" STEP="0.1" MIN="0"/>
-
-<dl_setting VAR="estimator_hspeed_mod" MAX="2" STEP="0.1" MIN="0"/>
-<dl_setting VAR="estimator_hspeed_dir" MAX="3" STEP="0.1" MIN="-3"/>
-
-<dl_setting VAR="ve_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
-<dl_setting VAR="vn_pid.sum_err" MAX="1" STEP="1" MIN="0"/>
-<dl_setting VAR="sum_err_reset" MAX="1" STEP="1" MIN="0"/>
-
-</dl_settings>
-
-  </dl_settings>
-
-
   <waypoints>
     <waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
   </waypoints>
diff --git a/conf/flight_plans/muret1.xml b/conf/flight_plans/muret1.xml
index c48e00bbdc..1d2026c48c 100644
--- a/conf/flight_plans/muret1.xml
+++ b/conf/flight_plans/muret1.xml
@@ -35,7 +35,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
       <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
     </block>
 
@@ -75,7 +75,7 @@
     </block>
   <block name="stop">
       <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="gaz" gaz="0"/>
+   <stay wp="HOME" vmode="throttle" throttle="0"/>
   </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/muret2.xml b/conf/flight_plans/muret2.xml
index c38f1296dc..ef072a0e48 100644
--- a/conf/flight_plans/muret2.xml
+++ b/conf/flight_plans/muret2.xml
@@ -35,7 +35,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
       <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
     </block>
 
@@ -76,7 +76,7 @@
     </block>
   <block name="stop">
       <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="gaz" gaz="0"/>
+   <stay wp="HOME" vmode="throttle" throttle="0"/>
   </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/muret3.xml b/conf/flight_plans/muret3.xml
index c38f1296dc..ef072a0e48 100644
--- a/conf/flight_plans/muret3.xml
+++ b/conf/flight_plans/muret3.xml
@@ -35,7 +35,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
       <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
     </block>
 
@@ -76,7 +76,7 @@
     </block>
   <block name="stop">
       <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="gaz" gaz="0"/>
+   <stay wp="HOME" vmode="throttle" throttle="0"/>
   </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/muret4.xml b/conf/flight_plans/muret4.xml
index 3280cc0b79..854999252d 100644
--- a/conf/flight_plans/muret4.xml
+++ b/conf/flight_plans/muret4.xml
@@ -2,16 +2,6 @@
 
 <flight_plan NAME="example - Muret4" LON0="1.27289" MAX_DIST_FROM_HOME="1000" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
 
-  <dl_settings>
-      <dl_setting var="ir_roll_neutral" min="-0.3" max="0.3" step="0.01"/>
-      <dl_setting var="ir_pitch_neutral" min="-0.3" max="0.3" step="0.01"/>
-      <dl_setting var="roll_pgain" min="1000" max="15000" step="250"/>
-      <dl_setting var="pitch_pgain" min="1000" max="15000" step="250"/>
-      <dl_setting var="climb_level_gaz" min="0.3" max="0.7" step="0.05"/>
-      <dl_setting var="climb_pgain" min="-0.5" max="-0.01" step="0.01"/>
-      <dl_setting var="course_pgain" min="-1" max="-0.1" step="0.05"/>
-  </dl_settings>
-
   <waypoints utm_x0="360284.8" utm_y0="4813595.5">
     <waypoint name="AF" x="267.5" y="35.0" lat="43.4625948985" lon="1.27618631405" alt="215."/>
     <waypoint name="3" x="25.0" y="285.0" lat="43.464799741" lon="1.27312587027" alt="250."/>
@@ -45,7 +35,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading VMODE="gaz" GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
+      <heading VMODE="throttle" THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)"/>
       <heading CLIMB="3.0" VMODE="climb" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)"/>
     </block>
 
@@ -85,7 +75,7 @@
     </block>
   <block name="stop">
       <exception COND="(RcEvent1())" DEROUTE="rdg"/>
-   <stay wp="HOME" vmode="gaz" gaz="0"/>
+   <stay wp="HOME" vmode="throttle" throttle="0"/>
   </block>
   </blocks>
 </flight_plan>
diff --git a/conf/flight_plans/muret_demo_1.xml b/conf/flight_plans/muret_demo_1.xml
index a5e55e018e..b8b8b6ae35 100644
--- a/conf/flight_plans/muret_demo_1.xml
+++ b/conf/flight_plans/muret_demo_1.xml
@@ -10,7 +10,7 @@
   <blocks>
     <block NAME="takeoff">
       <while COND="(!launch)"/>
-      <heading COURSE="QFU" PITCH="0.15" VMODE="gaz" GAZ="0.8" UNTIL="(estimator_flight_time > 8)"/>
+      <heading COURSE="QFU" PITCH="0.15" VMODE="throttle" THROTTLE="0.8" UNTIL="(estimator_flight_time > 8)"/>
       <heading COURSE="QFU" PITCH="0.15" VMODE="climb" CLIMB="3.0"UNTIL="(estimator_z > SECURITY_ALT)"/>
     </block>
     <block NAME="survey road 1">
diff --git a/conf/flight_plans/muret_for.xml b/conf/flight_plans/muret_for.xml
index e5af246b11..694643068a 100644
--- a/conf/flight_plans/muret_for.xml
+++ b/conf/flight_plans/muret_for.xml
@@ -9,7 +9,7 @@
   <blocks>
     <block name="init">
       <while cond="(!launch)"/>
-      <heading course="QFU" gaz="0.8" pitch="0.15" until="(estimator_flight_time > 8)" vmode="gaz"/>
+      <heading course="QFU" throttle="0.8" pitch="0.15" until="(estimator_flight_time > 8)" vmode="throttle"/>
       <heading climb="3.0" course="QFU" pitch="0.15" until="(estimator_z > SECURITY_ALT)" vmode="climb"/>
     </block>
     <block name="for">
diff --git a/conf/flight_plans/muret_mini.xml b/conf/flight_plans/muret_mini.xml
index 5b8fdaa3f4..43e69f90d3 100644
--- a/conf/flight_plans/muret_mini.xml
+++ b/conf/flight_plans/muret_mini.xml
@@ -2,16 +2,6 @@
 
 <flight_plan NAME="Muret mini" LON0="1.27289" MAX_DIST_FROM_HOME="300" GROUND_ALT="185" SECURITY_HEIGHT="25" QFU="270" ALT="250" LAT0="43.46223">
 
-  <dl_settings>
-      <dl_setting var="ir_roll_neutral" min="-0.3" max="0.3" step="0.01"/>
-      <dl_setting var="ir_pitch_neutral" min="-0.3" max="0.3" step="0.01"/>
-      <dl_setting var="roll_pgain" min="1000" max="15000" step="250"/>
-      <dl_setting var="pitch_pgain" min="1000" max="15000" step="250"/>
-      <dl_setting var="climb_level_gaz" min="0.3" max="0.7" step="0.05"/>
-      <dl_setting var="climb_pgain" min="-0.5" max="-0.01" step="0.01"/>
-      <dl_setting var="course_pgain" min="-1" max="-0.1" step="0.05"/>
-  </dl_settings>
-
   <waypoints utm_x0="360284.8" utm_y0="4813595.5">
     <waypoint name="HOME" x="0.0" y="120.0" alt="250."/>
      </waypoints>
diff --git a/conf/flight_plans/ricou_mini.xml b/conf/flight_plans/ricou_mini.xml
index 947758a31e..13e08338fc 100644
--- a/conf/flight_plans/ricou_mini.xml
+++ b/conf/flight_plans/ricou_mini.xml
@@ -1,19 +1,4 @@
 <flight_plan NAME="Ricou Mini" LON0="1.327747" MAX_DIST_FROM_HOME="400" GROUND_ALT="340" SECURITY_HEIGHT="25" QFU="245" ALT="390" LAT0="43.237535">
-  <dl_settings>
-    <dl_setting VAR="ir_roll_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
-    <dl_setting VAR="ir_pitch_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
-    <dl_setting VAR="roll_pgain" MAX="15000" STEP="250" MIN="1000"/>
-    <dl_setting VAR="pitch_pgain" MAX="15000" STEP="250" MIN="1000"/>
-    <dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
-    <dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
-    <dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
-    <dl_setting VAR="z_constrast_mode" MIN="0." STEP="0.1" MAX="1."/>
-    <dl_setting VAR="rate_mode" MIN="0." STEP="0.1" MAX="1."/>
-<!--
-    <dl_setting VAR="roll_rate_pgain" MIN="0." STEP="1.0" MAX="2000."/>
-    <dl_setting VAR="attitude_pgain" MAX="100" STEP="1" MIN="10"/>
--->
-  </dl_settings>
   <waypoints UTM_X0="364222.4" UTM_Y0="4788550.7">
     <waypoint Y="-100.0" LON="1.32741460722" NAME="HOME" X="-29.0" LAT="43.2366296919" alt="390"/>
     <waypoint name="1" x="-193.99999994" y="47.9999975627" alt="390."/>
diff --git a/conf/flight_plans/sinsat.xml b/conf/flight_plans/sinsat.xml
index d5a85a9046..beb5132f5a 100644
--- a/conf/flight_plans/sinsat.xml
+++ b/conf/flight_plans/sinsat.xml
@@ -6,7 +6,7 @@
   <blocks>
     <block NAME="init">
       <while COND="(!launch)"/>
-      <heading GAZ="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="gaz"/>
+      <heading THROTTLE="0.8" PITCH="0.15" COURSE="QFU" UNTIL="(estimator_flight_time > 8)" VMODE="throttle"/>
       <heading PITCH="0.15" CLIMB="3.0" COURSE="QFU" UNTIL="(estimator_z > SECURITY_ALT)" VMODE="climb"/>
       <deroute BLOCK="circlehome"/>
     </block>
diff --git a/conf/flight_plans/zigzag.xml b/conf/flight_plans/zigzag.xml
index 89930d4823..82117f1537 100644
--- a/conf/flight_plans/zigzag.xml
+++ b/conf/flight_plans/zigzag.xml
@@ -16,7 +16,7 @@
     <block NAME="takeoff">
       <exception COND="(RcEvent1())" DEROUTE="back"/>
       <exception COND="(RcEvent2())" DEROUTE="target"/>
-      <heading vmode="gaz" gaz="0.7" pitch="0.15" course="280" until="(estimator_flight_time > 5)"/>
+      <heading vmode="throttle" throttle="0.7" pitch="0.15" course="280" until="(estimator_flight_time > 5)"/>
       <go wp="WP1" alt="alt" approaching_time="1"/>
       <go wp="WP2" alt="alt" approaching_time="1"/>
       <go wp="WP3" alt="alt" approaching_time="1"/>