diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
index 91b6359be1..90dfd76176 100644
--- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml
+++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml
@@ -15,27 +15,31 @@
      + RANGER:      MAXBOTICS LV1 Ultrasonic sensor analog on RSSI pin
 
 NOTES:
-     + Using Enahanced Total Energy control as control loop
+     + Using Enahanced Total Energy control as control loop in Final AC
      + Servo pins point to tail of airframe
      + Engine battery voltage and amp values via separate sensor
      + Flashing the firmware is done via original PX4 bootloader... 
        Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer...
      + A GNSS device with ANOTHER magneto on it is used, external...
        on the board Replaced HMC8853 with HMC8953 to test benefit from temperature compensated values
-     + On I2C we have airspeed sensor and external magneto via a I2C splitboard, yuck... but pragmatic atm ;)
+     + On I2C we have airspeed sensor and external magneto via a I2C splitboard, I2C yuck... but pragmatic atm ;)
      + NO buzzer (yet..)
-     + SD SRTM not implemented (yet..)
+     + SD SRTM via onboard storage not implemented (yet..)
      + NO Sleep mode on (yet..)
+     
+     If testing "Classic" (as in not ETECS..) make sure to disable the settings/estimation/ac_char
+     Disable <define name="USE_AIRSPEED" value="FALSE"/> at first no airspeed tests
+     Use also flightplan Versatile if no airspeed sensor is ues and use
+     flightplan versatile_airspeed only with enabled airspeed sensor
 -->
 
 <airframe name="Eflite_T28">
 
   <firmware name="fixedwing">
   
-<!-- ********************** For in the real flying hardware ********************-->
+    <!-- ********************** For in the real flying hardware ********************-->
     <target name="ap" board="px4fmu_4.0">
 
-      <configure name="AHRS_ALIGNER_LED" value="2"/>
       <configure name="CPU_LED" value="1"/>
       <!--  TODO: After first flights try to find optimum value -->
       <!-- PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY -->
@@ -46,10 +50,9 @@ NOTES:
       <configure name="NAVIGATION_FREQUENCY" value="16"/> <!--  unit="Hz" -->
       <configure name="CONTROL_FREQUENCY" value="120"/> <!--  unit="Hz" -->
       <configure name="TELEMETRY_FREQUENCY" value="60"/> <!--  unit="Hz" -->
-      <!-- <configure name="MODULES_FREQUENCY" value="512"/> --> <!--  unit="Hz" -->
+      <configure name="MODULES_FREQUENCY" value="512"/> <!--  unit="Hz" -->
       
       <module name="imu" type="mpu9250_spi">
-        <!-- <define name="USE_ADC_2"/>-->
         <configure name="IMU_MPU9250_SPI_DEV" value="spi1"/>
         <configure name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>
         <define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
@@ -63,8 +66,8 @@ NOTES:
       </module> 
       
       <!--  <module name="sonar_adc">
-        <configure name="ADC_SONAR" value="ADC_1"/>
-        <define name="USE_SONAR"/>
+        <configure name="ADC_SONAR" value="ADC_1"/> now used for internal V
+        <define name="USE_SONAR" value="FALSE"/>
         <define name="SENSOR_SYNC_SEND_SONAR"For debugging flight/>
       </module>-->
       
@@ -85,8 +88,9 @@ NOTES:
        <!-- <module name="spektrum_soft_bind"/> TODO: Not working yet -->
       
        <!-- Not of use in sim so here-->
-       <module name="tune_airspeed"/>
-       <module name="sys_mon"/>
+       <!--   module name="tune_airspeed"/> --><!--  TODO: enable -->
+       <!--  <module name="sys_mon"/> Check processor load for higher loop, nav, module etc. frequencies -->
+       <!--  <module name="mag_calib_ukf"/> Not used yet -->
               
      </target>
     
@@ -99,46 +103,48 @@ NOTES:
       <!--  module name="telemetry" 	type="transparent"/>-->
       <module name="imu" type="aspirin_v2.2"/>
         <module name="baro_sim"/>
-      <!-- <module name="ahrs" type="int_cmpl_quat">
-        <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
-        <define name="USE_MAGNETOMETER" value="TRUE"/>
-        <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/>
-      </module>-->
+        
+      <!-- For various parameter info here  https://wiki.paparazziuav.org/wiki/Subsystem/ahrs -->
+      <module name="ahrs" type="int_cmpl_quat">
+      </module>
       <!--<module name="uart"/>--><!-- TODO Exteral HITL PC debugging e.g a photocam trigger etc -->
     </target>
 
 <!-- *********************** Another way for simulation of the flight ****************************-->  
-    <!-- <target name="nps" board="pc"> -->
+    <!-- <target name="jsbsim" board="pc"> -->
       <!-- Note NPS needs the ppm type radio_control module -->
-    <!-- <module name="radio_control" type="ppm"> -->
-    <!-- <module name="fdm" type="jsbsim"/> -->
+      <!-- 
+      <module name="radio_control" type="ppm"> 
+      <module name="fdm" type="jsbsim"/> 
+      <module name="udp"/>
+      -->
     <!-- </target>-->
     
-    <!--  <target name="yasim" board="pc">
-      <module name="radio_control" type="ppm">
-      <module name="fdm" type="yasim"/>
-    </target>-->
+    <!-- <target name="yasim" board="pc"> -->
+      <!-- Note NPS needs the ppm type radio_control module -->
+      <!-- 
+      <module name="radio_control" type="ppm"> 
+      <module name="fdm" type="yasim"/> 
+      <module name="udp"/>
+      -->
+     <!-- </target> -->
       
 <!-- ********** Common Defines and Config and values for both Real Hardware and Simulation ***** -->
     
     <!--<define name="RADIO_CONTROL_NB_CHANNEL" value="7"/>-->
      
-    <define name="USE_AIRSPEED"/>
+    <!--  <define name="USE_AIRSPEED"/> -->
     
-    <define name="AGR_CLIMB"/> <!-- For testing performance -->
+    <define name="AGR_CLIMB"/> <!--Has AGR mode for testing performance -->
     <define name="TUNE_AGRESSIVE_CLIMB"/>
-    <define name="STRONG_WIND"/>
+    <define name="STRONG_WIND"/> 
     <define name="WIND_INFO"/>
     <define name="WIND_INFO_RET"/>
        
     <define name="autopilot_motors_on" value="FALSE"/>
     <!-- temp fix for geomag, normally only used for rotorcraft -->
-   <!--  <define name="SENSOR_SYNC_SEND"/>-->
-      
-    <!-- <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/> -->
-    <!-- <define name="USE_AHRS_GPS_ACCELERATIONS"/>-->
-      
-
+    <define name="SENSOR_SYNC_SEND"/>
+   
     <configure name="USE_BARO_BOARD" value="FALSE"/> <!-- TODO -->
     <!-- amount of time it take for the bat to trigger check -->
     <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->    
@@ -149,22 +155,37 @@ NOTES:
 
     <!-- Not working ATM <module name="spektrum_soft_bind"/> -->
     
-    <module name="ahrs" type="int_cmpl_quat">
-      <define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />       <!-- Meaning the external hmc-->
-      <configure name="USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE >;-)-->
-     <!--   <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>--> <!-- FALSE thus data from magneto only, testing, brrrr -->
-      <!-- <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/> -->
-      <!--<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> -->
+    <!-- <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/> -->
+    <!-- <define name="USE_AHRS_GPS_ACCELERATIONS"/>-->
+    <!-- <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/> -->
+    <module name="ahrs" type="float_cmpl_quat">  
+    	<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE -->
+     	<configure name="AHRS_ALIGNER_LED" value="2"/>
+     	<define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/> <!-- with those high roll n pith angles better id calibrated well -->
+     	<define name="AHRS_USE_GPS_HEADING" value="TRUE"/> <!-- Use GPS course to update heading for time being,if FALSE data from magneto only, testing, brrrr... -->
+     	<define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/> <!-- Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"-->
+     	<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="FALSE"/> <!-- AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction" -->
+     	<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="TRUE"/> <!-- apply a low pass filter on rotational velocity"-->
+     	<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="5.0"/> <!-- don't update gyro bias if heading deviation is above this threshold in degrees"-->
+     	<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="1.0"/> <!-- CAREFULL,  Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
+  <!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
+     	<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="5.0"/> <!-- Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations -->
+
+     	<!-- <define name="AHRS_ICQ_IMU_ID" value="ABI_BROADCAST"/>--> <!-- ABI sender id of IMU to use -->
+     	<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/> <!-- ABI sender id of magnetometer to use, this case the external HMC on GPS board -->
+      	<!-- <define name="AHRS_ICQ_GPS_ID" value="GPS_MULTI_ID"/>--> <!-- ABI sender id of GPS to use -->
     </module>
       
     <module name="ins" type="alt_float"/>
+    
       <!-- For easier on desk testing transparent_usb, else transparent -->
     <!--  <module name="telemetry" type="transparent_usb"/>--> <!-- FIXME: gives compile error -->
     <module name="telemetry" type="transparent">  
        <configure name="MODEM_PORT" value="UART2"/> <!--  Telem1 on pixracer -->
        <configure name="MODEM_BAUD" value="B57600"/>
-    </module> 
-    <module name="control" type="energy"/>
+    </module>
+     
+    <module name="control"/> <!-- type="energy"/>--> <!--  Disabled for first tuning testflight -->
     <module name="navigation"/>
     <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
@@ -262,9 +283,8 @@ NOTES:
    </module>
    <module name="geo_mag"/>
     <!--<module name="gps" type="ubx_ucenter"/> -->
-    <!-- This GPS is a REAL ublox M8N, so setting can be saved, no need for ubx_ucenter one has can
-     set it oneself since we have all kinds of nift Galilleio setting we rather keep that --> 
-
+    <!-- This GPS is a REAL ublox M8N, so setting can be saved, no need for ubx_ucenter one has can set it oneself since we have all kinds of nift Galilleio setting we rather keep that --> 
+  
     <module name="airspeed_ets">
       <define name="AIRSPEED_ETS_SYNC_SEND"/> <!-- TODO Disable after first 10 test flights -->
       <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
@@ -300,17 +320,16 @@ NOTES:
     <!-- <module name="nav" type="bungee_takeoff"/> -->
     <!-- module name="nav" type="catapult"/> --><!-- TODO Switch it on later after first flights -->
 
-    <module name="mag" type="hmc58xx">
-    
+    <module name="mag" type="hmc58xx"> 
    <!-- We will use the magnetometor that is available on our GPS board
       Thi one is temperature compensated and furtherest away from all other devices
       so less influens (still to measure raw mag values to check this though )
       In case we where sloppy builing in the GPS+mag combo , we always are ;)
       we nead to compensate this a bit e.g. the pitch
-      lucky the tree axis are aligned already in hardware ;)
-    <define name="MAG_TO_IMU_THETA" value="6" unit="deg"/>-->
+      lucky the tree axis are aligned already in hardware ;) -->
+   <!-- <define name="MAG_TO_IMU_THETA" value="6" unit="deg"/>-->
       <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
-      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="FALSE"/><!-- When all calib and works to TRUE -->
       <define name="HMC58XX_CHAN_X" value="1"/>
       <define name="HMC58XX_CHAN_Y" value="0"/>
       <define name="HMC58XX_CHAN_Z" value="2"/>
@@ -332,9 +351,8 @@ NOTES:
     <define name="BEACON_ROTATE" value="MAX_PPRZ" />
     <define name="BEACON_FLASH" value="0" />
     <define name="BEACON_OFF" value="-MAX_PPRZ" />
-    <define name="AGR_CLIMB_PITCH" value="40" unit="deg"/>
   </section>
-  
+    
   <servos>
     <servo name="S_THROTTLE" no="0" min="1100" neutral="1130" max="1900"/>
     <servo name="S_AILERON" no="1" min="1100" neutral="1500" max="1900"/>
@@ -343,7 +361,14 @@ NOTES:
     <servo name="S_LANDINGEAR" no="4" min="1100" neutral="1110" max="1900"/>
     <servo name="S_FLAP" no="5" min="1100" neutral="1500" max="1900"/>
   </servos>
+
+   <!--For mixed controlflaps -->
+  <section name="MIXER">
+     <!-- just a tiny bit works well-->
+     <define name="ASSIST_ROLL_WITH_RUDDER" value="0.09"/>
+  </section>
   
+  <!-- ************************ RC COMMANDS ***************************** -->
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
     <set command="ROLL" value="@ROLL"/>
@@ -351,8 +376,31 @@ NOTES:
     <set command="YAW" value="@YAW"/>
     <set command="GEAR" value="@AUX1"/>
     <set command="FLAP" value="@AUX2"/>
+    <!-- for tuning via RC these ones below -->
+    <!--
+    <set command="GAIN1"    value="@GAIN1"/>
+    <set command="CALIB"    value="@CALIB"/>-->
   </rc_commands>
 
+  
+  <!-- ************************ AUTO RC COMMANDS ***************************** -->
+  <auto_rc_commands>
+    <!-- To still be able to use rudder in auto mode, which is handy with sidewind landing in auto1 stabilization mode only YAW
+    Handy if in auto1 for sidewind stabilized crabbing landing, also for steering if someting not OK with course gains in Autonomous flight
+    TODO disable again after strong wind sidewind autolanding is 100% tuned
+      Note that in auto2 mode the Flaps and Gears are after test then controlable by flightplan conditions e.g landng block extend gear and flaps -->
+    <set command="YAW" value="@YAW"/>   <!-- TODO: Diable later -->
+    <set command="GEAR" value="@GEAR"/> <!-- TODO: Diable later -->
+    <set command="FLAP" value="@FLAP"/> <!-- TODO: Diable later -->
+      
+    <!-- To be able to set gain values via RC Transmitter these ones below.
+    This way the can keep his eye on a fast moving plane and set somegain values
+    makes life of a single testpiloted AC much easier -->
+    <!--
+    <set command="GAIN1"    value="@GAIN1"/>
+    <set command="CALIB"    value="@CALIB"/> -->
+  </auto_rc_commands>
+
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL" failsafe_value="0"/>
@@ -366,11 +414,13 @@ NOTES:
     <set servo="S_THROTTLE" value="@THROTTLE"/>
     <set servo="S_AILERON" value="@ROLL"/>
     <set servo="S_ELEVATOR" value="@PITCH"/>
-    <set servo="S_RUDDER" value="@YAW"/>
+    <set servo="S_RUDDER" value="@YAW - @ROLL*ASSIST_ROLL_WITH_RUDDER"/>
     <set servo="S_LANDINGEAR" value="@GEAR"/>
     <set servo="S_FLAP" value="@FLAP"/>
   </command_laws>
   
+  <!-- Do not set MAX_ROLL, MAX_PITCH to small of a value, otherwise one can NOT control the plane very well manually -->
+  <!-- If you have dual rate swith it of with same swtch as mode switch thus auto1 means dualrate is switched off also -->
   <section name="AUTO1" prefix="AUTO1_">
     <define name="MAX_ROLL" value="60" unit="deg"/> <!-- more autority while testflying for first time -->
     <define name="MAX_PITCH" value="60" unit="deg"/> <!-- more autority while testflying for first time -->
@@ -394,11 +444,10 @@ NOTES:
   </section>
 
   <!-- ************************* SENSORS ************************* -->
-
   <section name="IMU" prefix="IMU_"> <!-- TODO -->
     <!-- ***************** MAGNETO *****************-->
     <!-- replace this with your own calibration (on the correct sensor?) -->
-    <!-- TODO: Calibrate, 
+    <!-- TODO: Calibrate -->
     <!-- RE-CALIBRATE after your aircraft changes e.g. cabeling or something else !-->
     <define name="MAG_X_NEUTRAL" value="0"/>
     <define name="MAG_Y_NEUTRAL" value="0"/>
@@ -406,6 +455,8 @@ NOTES:
     <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
     <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
     <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
+    
+    <!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!--  TODO: at least 3 axis in worst case -->
    
     <define name="BODY_TO_IMU_PHI" value="0.0"/>
     <define name="BODY_TO_IMU_THETA" value="0.0"/>
@@ -422,13 +473,10 @@ NOTES:
      <define name="H_Y" value="0.00563406"/>
      <define name="H_Z" value="0.923948"/>
    -->
-    <!-- Local Magnetic field DE Testfield -->
-    <define name="H_X" value="0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value="0.85490967783446"/>
-    
-    <!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
-    <!--  <define name="GRAVITY_HEURISTIC_FACTOR" value="2"/>--><!-- TODO test and determine best val for heavy vibrating airfame -->
+    <!-- Local Magnetic field DE Testfield -->    
+    <define name="H_X" value="0.412814"/>
+    <define name="H_Y" value="-0.0228189"/> 
+    <define name="H_Z" value="0.91053"/>
   </section>
 
   <section name="INS" prefix="INS_">
@@ -446,10 +494,12 @@ NOTES:
   </section>
 
   <!-- ************************* GAINS ************************* -->
+  
+  <!-- ************************* H ************************* -->
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
      <!-- TODO: Tune value -->
-     <define name="COURSE_PGAIN" value="0.80"/>
-     <define name="COURSE_DGAIN" value="0.10"/>
+     <define name="COURSE_PGAIN" value="0.70"/>
+     <define name="COURSE_DGAIN" value="0.07"/>
      <!-- 
      The prebank is an adjustment to the roll setting which is performed when the aircraft is
      trying to do a circle and when it is close to the circumference of the circle. This way
@@ -465,8 +515,8 @@ NOTES:
     -->
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.95"/>
     <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
-    <define name="PITCH_MAX_SETPOINT" value="40" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
-    <define name="PITCH_MIN_SETPOINT" value="-40" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
+    <define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
+    <define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
     <define name="PITCH_PGAIN" value="10000"/>
     <define name="PITCH_DGAIN" value="3.5"/>
     <define name="ELEVATOR_OF_ROLL" value="1600" unit="PPRZ_MAX"/>
@@ -475,53 +525,90 @@ NOTES:
     <define name="ROLL_RATE_GAIN" value="200."/>
   </section>
 
+
+  <!--  We have value of Classic as well as ETECH, this since airframe is frst flown Classic the ETECS, make tunng a bit easier
+   It is NOT (yet?) switchable on the fly in flight -->
+   
+  <!-- ************************* V ************************* -->
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
     <!-- power -->
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.4" unit="volt"/>
+  
+    <!-- Classic -->
     <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.2"/>
-    <define name="AIRSPEED_PGAIN" value="0.1"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="5."/> <!-- TODO Determine -->
-    <define name="MAX_ACCELERATION" value="3."/> <!-- TODO Determine -->
-    <!-- energy --> 
-    <define name="ENERGY_TOT_PGAIN" value="0.35"/>
-    <define name="ENERGY_TOT_IGAIN" value="0.30"/>
-    <define name="ENERGY_DIFF_PGAIN" value="0.40"/>
-    <define name="ENERGY_DIFF_IGAIN" value="0.35"/>
-    <define name="GLIDE_RATIO" value="7."/> <!-- TODO Determine -->
+    <define name="ALTITUDE_PGAIN" value="0.06"/> <!--unit="(m/s)/m"-->
+
     <!-- auto throttle -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/> <!-- TODO Determine -->
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.5"/> <!-- TODO Determine -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>  <!-- TODO Determine -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/> <!-- TODO Determine --> 
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
+   
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
+
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <!-- TODO: Determine -->
+
+    <define name="AUTO_THROTTLE_PGAIN" value="0.0007" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.002"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.2" unit="rad/(m/s)"/> <!-- TODO: Determine -->
+    <define name="THROTTLE_SLEW_LIMITER" value="0.8" unit="m/s/s"/> 
+
+    <!-- Best to never set AUTO_AIRSPEED_SETPOINT lower than airframe stall speed if you hate repairs ;) -->
+     <!-- investigate: if higher _AIRSPEED_SETPOINT then airframe tries to maintain a constand ground speed UNKNOWN -->
+    <define name="AUTO_AIRSPEED_SETPOINT" value="20.0" unit="m/s"/>
+    <define name="AUTO_AIRSPEED_PGAIN" value="0.1"/>
+    <define name="AUTO_AIRSPEED_IGAIN" value="0.05"/>
+    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
+    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
+    
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="17.0" unit="m/s"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
+
+    <define name="AIRSPEED_PGAIN" value="0.1"/>
+    
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="5.0" unit="m/s"/> <!-- TODO: Determine -->
+    <define name="MAX_ACCELERATION" value="4.0" unit="G"/> <!-- TODO: Determine -->
+    
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/> <!-- TODO: Determine -->
+    <define name="AUTO_PITCH_IGAIN" value="0.065"/> <!-- TODO: Determine -->
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.45"/> <!-- TODO: Determine -->
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.40"/> <!-- TODO: Determine -->
+    <!-- <define name="THROTTLE_SLEW" value="0.3"/> --> <!-- limiter for powerful motor -->
+    
+    <!-- ETECS --> 
+    <define name="ENERGY_TOT_PGAIN" value="0.35"/> <!-- TODO: Determine -->
+    <define name="ENERGY_TOT_IGAIN" value="0.30"/> <!-- TODO: Determine -->
+    <define name="ENERGY_DIFF_PGAIN" value="0.40"/> <!-- TODO: Determine -->
+    <define name="ENERGY_DIFF_IGAIN" value="0.35"/> <!-- TODO: Determine -->
+    
+    <define name="GLIDE_RATIO" value="7."/> <!-- 7 to 1 --> <!-- TODO: Determine -->
+   
     <!-- extra's -->
     <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
     <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
-
-    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
-    <define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="m/s/s"/>
     
-    <!-- only in the case if we take ground mapping photos and the camera cannot keep up....
-      <define name="AUTO_GROUNDSPEED_SETPOINT" value="16." unit="m/s"/>
-      <define name="AUTO_GROUNDSPEED_PGAIN" value="0.7"/>
-      <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-    -->
-  </section>
+    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/> <!-- TODO: Determine -->
+    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/> <!-- TODO: Determine -->
+    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/> <!-- TODO: Determine -->
 
-  <!-- ************************ AUTO RC COMMANDS ***************************** -->
- 
-  <auto_rc_commands>
-    <!-- To still be able to use rudder in auto mode, which is handy with sidewind landing in auto1 stabilization mode only YAW
-      Handy if in auto1 for sidewind stabilized crabbing landing, also for steering if someting not OK with course gains in Autonomous flight
-      TODO disable again after strong wind sidewind autolanding is 100% tuned
-      Note that in auto2 mode the Flaps and Gears are after test then controlable by flightplan conditions e.g landng block extend gear and flaps -->
-      <set command="YAW" value="@YAW"/>   <!-- TODO: Diable later -->
-      <set command="GEAR" value="@GEAR"/> <!-- TODO: Diable later -->
-      <set command="FLAP" value="@FLAP"/> <!-- TODO: Diable later -->
-  </auto_rc_commands>
+  </section>
+  
+  <!-- ***************************** AGGRESIVE ******************************* -->
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20" unit="M"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="8" unit="M"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.85" unit="%"/> <!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="45" unit="deg"/> <!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.4" unit="%"/> <!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-30" unit="deg"/> <!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.6"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="0.9"/>
+  </section>
 
   <!-- ************************* BAT ************************* -->
   <section name="BAT">
@@ -531,7 +618,7 @@ NOTES:
     <!-- A simple powerblock module from CN -->
     <!--  <define name="VoltageOfAdc(adc)" value="11.8"/>--> <!-- Quick send data test -->
    <!--  <define name="VoltageOfAdc(adc)" value="24 - (0.004043478f * adc)"/>-->
-     <!--    <define name="VOLTAGE_ADC_SCALE" value="0.004511719f"/> --><!--  war 0.018 0.008 R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K--->
+     <!--    <define name="VOLTAGE_ADC_SCALE" value="0.004511719f"/> --> <!--  war 0.018 0.008 R1 (Bat - ADC input) = 22k, R2 (ADC input - GND) = 2.2K -->
    <!--  <define name="VOLTAGE_OFFSET" value="0" unit="V"/>
     <define name="VoltageOfAdc(adc)" value="((float)adc * VOLTAGE_ADC_SCALE + VOLTAGE_OFFSET)"/>
    <define name="DefaultVoltageOfAdc(adc)" value="(0.00384*adc)"/>-->
@@ -545,42 +632,50 @@ NOTES:
   </section>
 
   <!-- ************************* MISC ************************* -->
-  <section name="MISC">
-  
-    <!-- Values here are only referred to by the flightplan m*_s*_airspeed.xml -->
+  <section name="MISC">   
+    <define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="35." unit="m/s"/>
+    
+    <!-- Values here are only referred to by the flightplan m*_s*_airspeed.xml in final AC-->
     <define name="CLIMB_AIRSPEED" value="7." unit="m/s"/> <!-- TODO get best values -->
     <define name="TRACKING_AIRSPEED" value="20." unit="m/s"/> <!-- TODO get best values -->
-    <define name="NOMINAL_AIRSPEED" value="21." unit="m/s"/> <!-- TODO get best values -->
     <define name="GLIDE_AIRSPEED" value="16." unit="m/s"/> <!-- TODO get best values -->
     <define name="STALL_AIRSPEED" value="12." unit="m/s"/> <!-- measue limit of plane in testflight and set 80% from this --> <!-- No flaps, an pct flp ratio-->
     <define name="RACE_AIRSPEED" value="21." unit="m/s"/> <!-- TODO determine -->
+    
+    <define name="MIN_SPEED_FOR_TAKEOFF" value="4." unit="m/s"/> <!-- TODO determine and change to make it for airspeed -->
+ 
+    <define name="AIRSPEED_SETPOINT_SLEW" value="0.4" unit="m/s/s"/> <!-- TODO get best values -->
+        
     <define name="TAKEOFF_PITCH_ANGLE" value="40" unit="deg" /> <!-- TODO get best values -->
     <define name="FLARE_PITCH_ANGLE" value="15" unit="deg" /> <!-- TODO get best values -->
-    <define name="AIRSPEED_SETPOINT_SLEW" value="0.4" unit="m/s/s"/> <!-- TODO get best values -->
-  
+    
+    <define name="NAV_GLIDE_PITCH_TRIM" value="-1.0" unit="deg"/> <!-- TODO determine -->
+    
     <define name="CARROT" value="6." unit="s"/> <!-- TODO maye ~?s -->
+    
     <define name="DEFAULT_CIRCLE_RADIUS" value="100." unit="m"/> <!-- TODO determine -->
     <define name="LANDING_CIRCLE_RADIUS" value="90."/> <!-- TODO determine -->
      <!-- MIN_CIRCLE_RADIUS used and needed for spiral navigation function and panic autolanding turns-->
     <define name="MIN_CIRCLE_RADIUS" value="80."/> <!-- TODO determine -->
-    <define name="NAV_GLIDE_PITCH_TRIM" value="-1.0" unit="deg"/> <!-- TODO determine -->
-    <define name="MIN_SPEED_FOR_TAKEOFF" value="6." unit="m/s"/> <!-- TODO determine and change to make it for airspeed -->
-       
+
     <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
     If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
     <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
     <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
-     or  fly a long range mission you define the wanted mode behaviour here.
-     If you do not define it, it defaults to flying to the flightplan HOME -->
+    or  fly a long range mission you define the wanted mode behaviour here.
+    If you do not define it, it defaults to flying to the flightplan HOME -->
     <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO1"/> <!-- set it to PPRZ_MODE_AUTO2 after initial GPS and AIRSPEED ref test flight -->
     
     <!-- TODO SET some modem values with multipoint also the $AC_ID -->
     <!--  Here XBEE init will be misused to set SiK Si10xx based modems as the Hope and RFdesign -->
-   <!--  <define name="XBEE_INIT" value="ATS17=$AC_ID\rATS16=134\rAT&W\rATZ\r" type="string"/>  -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-     <!--define name="IMU_MAG_OFFSET" value="RadOfDeg(-5.8)"/  TODO: at least 3 axis in worst case -->
+    <!--  <define name="XBEE_INIT" value="ATS17=$AC_ID\rATS16=134\rAT&W\rATZ\r" type="string"/>  -->
+    <!--  <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
   </section>
 
+  <!-- ************************* CATAPULT ************************* -->
+  <!--  Can as well be your handlaunch, te human catapult ;) -->
   <section name="CATAPULT" prefix="NAV_CATAPULT_"> 
     <define name="MOTOR_DELAY" value="0.2" unit="s"/> <!-- TODO determine -->
     <define name="HEADING_DELAY" value="3.0" unit="s"/><!--  Set to quite a lower value if MAG is working 100% OK -->
@@ -588,7 +683,8 @@ NOTES:
     <define name="INITIAL_PITCH" value="15.0" unit="deg"/>
     <define name="INITIAL_THROTTLE" value="1.0"/>
   </section>
-
+ 
+  <!-- ************************* GLS_APPROACH ************************* -->
   <section name="GLS_APPROACH" prefix="APP_">
     <define name="ANGLE" value="5" unit="deg"/> <!-- TODO determine -->
     <define name="INTERCEPT_AF_SD" value="10" unit="m"/> <!-- TODO determine -->
@@ -599,11 +695,12 @@ NOTES:
   <section name="GCS">
     <define name="SPEECH_NAME" value="Tee 28"/>
     <define name="AC_ICON" value="fixedwing"/> <!--  Just to make sure ;) -->
-    <define name="ALT_SHIFT_PLUS_PLUS" value="50"/>
-    <define name="ALT_SHIFT_PLUS" value="10"/>
-    <define name="ALT_SHIFT_MINUS" value="-10"/>
+    <define name="ALT_SHIFT_PLUS_PLUS" value="50"/> <!-- TODO: change for more testflight convinience -->
+    <define name="ALT_SHIFT_PLUS" value="10"/>  <!-- TODO: change for more testflight convinience -->
+    <define name="ALT_SHIFT_MINUS" value="-10"/>  <!-- TODO: change for more testflight convinience -->
   </section>
   
+  <!-- ************************ SIMU ******************************** -->
   <section name="SIMU">
     <define name="WEIGHT" value ="1."/>
     <define name="YAW_RESPONSE_FACTOR" value =".9"/>   <!--default 1.-->
diff --git a/conf/userconf/OPENUAS/openuas_conf.xml b/conf/userconf/OPENUAS/openuas_conf.xml
index 9a68b5b5aa..004d1bc1db 100644
--- a/conf/userconf/OPENUAS/openuas_conf.xml
+++ b/conf/userconf/OPENUAS/openuas_conf.xml
@@ -5,9 +5,9 @@
    airframe="airframes/OPENUAS/openuas_eflite_t28.xml"
    radio="radios/spektrum.xml"
    telemetry="telemetry/OPENUAS/openuas_fixedwing_imu_rc.xml"
-   flight_plan="flight_plans/versatile_airspeed.xml"
-   settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml settings/control/ctl_energy.xml"
-   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/tune_airspeed.xml modules/imu_common.xml"
+   flight_plan="flight_plans/versatile.xml"
+   settings="settings/fixedwing_basic.xml [settings/estimation/ac_char.xml] [settings/control/ctl_energy.xml]"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_cmpl_quat.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
    gui_color="#ffffffffffff"
   />
   <aircraft
@@ -18,8 +18,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
    gui_color="#fffffe72b9fd"
+   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml"
   />
   <aircraft
    name="Leapfrogeye"