diff --git a/sw/lib/ocaml/gen_common.ml b/sw/lib/ocaml/gen_common.ml
index 9ffb319cdd..6072250968 100644
--- a/sw/lib/ocaml/gen_common.ml
+++ b/sw/lib/ocaml/gen_common.ml
@@ -196,8 +196,32 @@ let get_modules_of_flight_plan = fun xml ->
     | Xml.Element (tag, _attrs, children) ->
         List.fold_left
           (fun acc xml -> iter_modules targets acc xml) modules children in
-  iter_modules [] [] xml
+  List.rev (iter_modules [] [] xml)
 
+(** [singletonize_modules xml]
+ * Returns a list of singletonized modules were options are merged
+ *)
+let singletonize_modules = fun xml ->
+  let rec loop = fun l ->
+    match l with
+    | [] | [_] -> l
+    | x::xs ->
+        let (duplicates, rest) = List.partition (fun m -> m.file = x.file) xs in
+        let m = { name = x.name; xml = x.xml; file = x.file; filename = x.filename;
+        vpath = x.vpath; param = List.flatten (List.map (fun m -> m.param) ([x] @ duplicates));
+        targets = singletonize (List.flatten (List.map (fun m -> m.targets) ([x] @ duplicates))) } in
+        m::loop rest
+  in
+  loop xml
+
+(** [get_modules_of_config ?target flight_plan airframe]
+ * Returns a list of pair (modules ("load" node), targets) from airframe file and flight plan.
+ * The modules are singletonized and options are merged *)
+let get_modules_of_config = fun ?target af_xml fp_xml ->
+  let af_modules = get_modules_of_airframe ?target af_xml
+  and fp_modules = get_modules_of_flight_plan fp_xml in
+  (* singletonize modules list *)
+  singletonize_modules (af_modules @ fp_modules)
 
 (** [get_modules_name xml]
     * Returns a list of loaded modules' name *)
diff --git a/sw/lib/ocaml/gen_common.mli b/sw/lib/ocaml/gen_common.mli
index 1ea06158fc..c8fa98b5ef 100644
--- a/sw/lib/ocaml/gen_common.mli
+++ b/sw/lib/ocaml/gen_common.mli
@@ -55,6 +55,11 @@ val get_modules_of_airframe : ?target: string -> Xml.xml -> module_conf list
  * Returns a list of module configuration from flight plan file *)
 val get_modules_of_flight_plan : Xml.xml -> module_conf list
 
+(** [get_modules_of_config ?target flight_plan airframe]
+ * Returns a list of pair (modules ("load" node), targets) from airframe file and flight plan.
+ * The modules are singletonized and options are merged *)
+val get_modules_of_config : ?target: string -> Xml.xml -> Xml.xml -> module_conf list
+
 (** [test_targets target targets]
  * Test if [target] is allowed [targets]
  * Return true if target is allowed, false if target is not in list or rejected (prefixed by !) *)
diff --git a/sw/supervision/pc_aircraft.ml b/sw/supervision/pc_aircraft.ml
index 9b789a7e3c..e4af20ab5d 100644
--- a/sw/supervision/pc_aircraft.ml
+++ b/sw/supervision/pc_aircraft.ml
@@ -167,7 +167,7 @@ type selected_t = Selected | Unselected | Unknown
 (* Get the settings (string list) with current modules *)
 let get_settings_modules = fun ac_xml fp_xml settings_modules ->
   (* get modules *)
-  let modules = Gen_common.get_modules_of_airframe ac_xml @ Gen_common.get_modules_of_flight_plan fp_xml in
+  let modules = Gen_common.get_modules_of_config ac_xml fp_xml in
   let modules = List.map (fun m -> m.Gen_common.xml, m.Gen_common.file ) modules in
   (* get list of settings files *)
   let settings = List.fold_left (fun l (m, f) ->
diff --git a/sw/tools/generators/gen_aircraft.ml b/sw/tools/generators/gen_aircraft.ml
index 7b0add0262..0c66b74a58 100644
--- a/sw/tools/generators/gen_aircraft.ml
+++ b/sw/tools/generators/gen_aircraft.ml
@@ -146,8 +146,7 @@ let module_xml2mk = fun f target firmware m ->
     ) m.xml
 
 let modules_xml2mk = fun f target xml fp ->
-  let modules = Gen_common.get_modules_of_airframe ~target xml in
-  let modules = (modules @ Gen_common.get_modules_of_flight_plan fp) in
+  let modules = Gen_common.get_modules_of_config ~target xml fp in
   (* print modules directories and includes for all targets *)
   fprintf f "\n# include modules directory for all targets\n";
   (* get dir list *)
@@ -337,8 +336,7 @@ let () =
     mkdir (aircraft_conf_dir // "telemetry");
 
     let target = try Sys.getenv "TARGET" with _ -> "" in
-    let modules = Gen_common.get_modules_of_airframe ~target (Xml.parse_file abs_airframe_file) in
-    let modules = (modules @ Gen_common.get_modules_of_flight_plan (Xml.parse_file abs_flight_plan_file)) in
+    let modules = Gen_common.get_modules_of_config ~target (Xml.parse_file abs_airframe_file) (Xml.parse_file abs_flight_plan_file) in
     (* normal settings *)
     let settings = try Env.filter_settings (value "settings") with _ -> "" in
     (* remove settings if not supported for the current target *)
diff --git a/sw/tools/generators/gen_modules.ml b/sw/tools/generators/gen_modules.ml
index b1ea363217..f7c626e21e 100644
--- a/sw/tools/generators/gen_modules.ml
+++ b/sw/tools/generators/gen_modules.ml
@@ -407,7 +407,7 @@ let () =
     let modules =
       try
         let target = Sys.getenv "TARGET" in
-        (GC.get_modules_of_airframe ~target xml) @ (GC.get_modules_of_flight_plan (Xml.parse_file fp_file))
+        GC.get_modules_of_config ~target xml (Xml.parse_file fp_file)
       with
       | Not_found -> failwith "TARTGET env needs to be specified to generate modules files"
     in