diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml
index 3ab7562012..98914a44c0 100644
--- a/conf/airframes/ENAC/fixed-wing/apogee.xml
+++ b/conf/airframes/ENAC/fixed-wing/apogee.xml
@@ -6,26 +6,13 @@
 
 <airframe name="Apogee">
 
-  <modules>
-    <!--load name="sys_mon.xml"/-->
-    <!-- <load name="mcp355x.xml"> -->
-    <!--   <define name="USE_SPI1"/> -->
-    <!-- </load> -->
-    <!--load name="extra_dl.xml">
-      <configure name="EXTRA_DL_PORT" value="UART6"/>
-      <configure name="EXTRA_DL_BAUD" value="B57600"/>
-    </load>
-    <load name="meteo_france_DAQ.xml"/-->
-    <load name="flight_recorder.xml"/>
-  </modules>
-
   <firmware name="fixedwing">
     <target name="ap" board="apogee_1.0_chibios">
-      <subsystem name="radio_control" type="sbus"/>
+      <module name="radio_control" type="sbus"/>
       <configure name="PERIODIC_FREQUENCY" value="100"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
     <define name="USE_I2C1"/>
@@ -35,19 +22,30 @@
     <!--define name="PITCH_TRIM"/-->
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
-    <subsystem name="sdlog"/>
+    <module name="telemetry" type="xbee_api"/>
+    <module name="sdlog"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu"     type="apogee"/>
-    <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control"/>
-    <subsystem name="navigation"/>
+    <module name="imu"     type="apogee"/>
+    <module name="ahrs"    type="float_dcm"/>
+    <module name="ins"     type="alt_float"/>
+    <module name="control"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
+    <module name="gps" type="ublox"/>
 
-    <!--subsystem name="spi_master"/-->
+    <!--module name="sys_mon"/-->
+
+    <!--module name="spi_master"/-->
+    <!-- <module name="mcp355x"> -->
+    <!--   <define name="USE_SPI1"/> -->
+    <!-- </module> -->
+    <!--module name="extra_dl">
+      <configure name="EXTRA_DL_PORT" value="UART6"/>
+      <configure name="EXTRA_DL_BAUD" value="B57600"/>
+    </module>
+    <module name="meteo_france_DAQ"/-->
+    <module name="flight_recorder"/>
   </firmware>
 
 <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/crrcsim.xml b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
index eaeb95e89c..97b216a498 100644
--- a/conf/airframes/ENAC/fixed-wing/crrcsim.xml
+++ b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
@@ -10,17 +10,6 @@
 
 <airframe name="Funjet II">
 
-  <modules>
-    <!--load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </load-->
-    <!--load name="baro_board.xml">
-      <define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
-    </load-->
-    <load name="pbn.xml"/>
-  </modules>
-
   <firmware name="fixedwing">
     <define name="USE_I2C0"/>
     <define name="USE_I2C1"/>
@@ -29,35 +18,44 @@
     <define name="USE_AIRSPEED"/>
 
     <target name="sim" board="pc">
-      <subsystem name="imu"     type="umarim"/>
+      <module name="imu"     type="umarim"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="crrcsim"/>
-      <subsystem name="imu"     type="nps"/>
+      <module name="fdm" type="crrcsim"/>
+      <module name="imu"     type="nps"/>
     </target>
     <target name="ap" board="umarim_lite_2.0">
-      <subsystem name="imu"     type="umarim"/>
+      <module name="imu"     type="umarim"/>
     </target>
 
-    <subsystem name="radio_control" type="ppm"/>
+    <module name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry"     type="transparent"/>
+    <module name="telemetry"     type="transparent"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control" type="new">
+    <module name="ahrs"    type="float_dcm"/>
+    <module name="ins"     type="alt_float"/>
+    <module name="control" type="new">
       <define name="USE_GYRO_PITCH_RATE"/>
-    </subsystem>
+    </module>
     <!-- Sensors -->
-    <subsystem name="gps"           type="ublox"/>
+    <module name="gps"           type="ublox"/>
 
-    <subsystem name="current_sensor">
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="navigation"/>
+    <module name="navigation"/>
+
+    <!--module name="light">
+      <define name="LIGHT_LED_STROBE" value="5"/>
+      <define name="LIGHT_LED_NAV" value="3"/>
+    </module-->
+    <!--module name="baro_board">
+      <define name="BARO_ABS_EVENT" value="BaroPbnUpdate"/>
+    </module-->
+    <module name="pbn"/>
   </firmware>
 
   <servos>
diff --git a/conf/airframes/ENAC/fixed-wing/eternity1.xml b/conf/airframes/ENAC/fixed-wing/eternity1.xml
index f8895fe7f2..41b6abf941 100644
--- a/conf/airframes/ENAC/fixed-wing/eternity1.xml
+++ b/conf/airframes/ENAC/fixed-wing/eternity1.xml
@@ -10,9 +10,6 @@
 
 <airframe name="Eternity 1">
 
-  <modules>
-  </modules>
-
   <firmware name="fixedwing">
     <target name="ap" board="umarim_lite_2.0"/>
     <target name="sim" board="pc"/>
@@ -22,17 +19,17 @@
     <define name="USE_I2C0"/>
     <define name="USE_I2C1"/>
 
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry" type="transparent"/>
-    <subsystem name="imu" type="umarim"/>
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control"/>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="navigation"/>
-    <subsystem name="current_sensor">
+    <module name="radio_control" type="ppm"/>
+    <module name="telemetry" type="transparent"/>
+    <module name="imu" type="umarim"/>
+    <module name="ahrs" type="float_dcm"/>
+    <module name="ins"     type="alt_float"/>
+    <module name="control"/>
+    <module name="gps" type="ublox"/>
+    <module name="navigation"/>
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
-    </subsystem>
+    </module>
 
   </firmware>
 
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 71ff99db8c..e609d6614f 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -7,10 +7,6 @@
 
 <airframe name="FireStorm">
 
-  <modules>
-    <load name="nav_poles.xml"/>
-  </modules>
-
   <firmware name="fixedwing">
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
@@ -23,25 +19,26 @@
       <define name="USE_I2C1"/>
     </target>
 
-    <subsystem name="radio_control" type="ppm"/>
+    <module name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent">
+    <module name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B57600"/>
-    </subsystem>
+    </module>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control" type="adaptive"/>
-    <subsystem name="navigation"/>
+    <module name="imu"     type="umarim"/>
+    <module name="ahrs"    type="float_dcm"/>
+    <module name="ins"     type="alt_float"/>
+    <module name="control" type="adaptive"/>
+    <module name="navigation"/>
+    <module name="nav"     type="poles"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
+    <module name="gps" type="ublox"/>
 
-    <subsystem name="current_sensor">
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_0"/>
-    </subsystem>
+    </module>
   </firmware>
 
   <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 3340f32b10..06b55319b4 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -10,62 +10,55 @@
 
 <airframe name="Funjet II">
 
-  <firmware name="test_progs">
-    <target name="test_math_trig_compressed" board="apogee_1.0"/>
-  </firmware>
-
-  <modules>
-    <load name="mag_hmc58xx.xml">
-      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
-    </load>
-    <!--load name="sys_mon.xml"/-->
-    <!--load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </load-->
-    <!--load name="pbn.xml"/-->
-  </modules>
-
   <firmware name="fixedwing">
     <configure name="PERIODIC_FREQUENCY" value="125"/>
 
     <target name="ap" board="apogee_1.0">
-      <subsystem name="radio_control" type="sbus"/>
+      <module name="radio_control" type="sbus"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
+    <module name="telemetry" type="transparent"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu" type="apogee">
+    <module name="imu" type="apogee">
       <!--define name="USE_MAGNETOMETER"/-->
       <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
       <define name="APOGEE_SMPLRT_DIV" value="7"/>
-    </subsystem>
-    <!--subsystem name="ins"     type="float_invariant">
+    </module>
+    <!--module name="ins"     type="float_invariant">
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
       <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
       <define name="MPL3115_OVERSAMPLING" value="2"/>
-    </subsystem-->
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="ins" type="alt_float"/>
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    </module-->
+    <module name="ahrs" type="float_dcm"/>
+    <module name="ins" type="alt_float"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox">
+    <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="current_sensor">
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
-    </subsystem>
+    </module>
 
+    <module name="mag" type="hmc58xx">
+      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+    </module>
+    <!--module name="sys_mon"/-->
+    <!--module name="light">
+      <define name="LIGHT_LED_STROBE" value="5"/>
+      <define name="LIGHT_LED_NAV" value="3"/>
+    </module-->
+    <!--module name="pbn"/-->
   </firmware>
 
 <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml
index e2bfb1a1eb..e9e0601928 100644
--- a/conf/airframes/ENAC/fixed-wing/jp.xml
+++ b/conf/airframes/ENAC/fixed-wing/jp.xml
@@ -2,73 +2,70 @@
 
 <airframe name="JP">
 
-  <modules>
-    <load name="mag_hmc58xx.xml">
-      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
-      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
-    </load>
-    <load name="airspeed_adc.xml">
-      <configure name="ADC_AIRSPEED" value="ADC_1"/>
-      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
-      <define name="AIRSPEED_ADC_BIAS" value="430"/>
-    </load>
-    <load name="gps_ubx_ucenter.xml"/>
-    <!--load name="sys_mon.xml"/-->
-  </modules>
-
   <firmware name="fixedwing">
     <define name="USE_I2C1"/>
     <configure name="PERIODIC_FREQUENCY" value="125"/>
 
     <target name="ap" board="apogee_1.0_chibios">
-      <subsystem name="ins" type="float_invariant">
+      <module name="ins" type="float_invariant">
         <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
         <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
         <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
         <define name="MPL3115_OVERSAMPLING" value="2"/>
-      </subsystem>
+      </module>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="ahrs" type="float_dcm"/>
-      <subsystem name="ins" type="alt_float"/>
+      <module name="ahrs" type="float_dcm"/>
+      <module name="ins" type="alt_float"/>
     </target>
     <target name="nps" board="pc">
-      <!-- Note NPS needs the ppm type radio_control subsystem -->
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="ins" type="float_invariant">
+      <!-- Note NPS needs the ppm type radio_control module -->
+      <module name="fdm" type="jsbsim"/>
+      <module name="ins" type="float_invariant">
         <configure name="AHRS_PROPAGATE_FREQUENCY" value="125"/>
         <configure name="AHRS_CORRECT_FREQUENCY" value="125"/>
         <define name="BARO_BOARD_APOGEE_FREQ" value="50"/>
         <define name="MPL3115_OVERSAMPLING" value="2"/>
         <define name="SEND_INVARIANT_FILTER"/>
-      </subsystem>
+      </module>
     </target>
 
-    <subsystem name="radio_control" type="ppm"/>
+    <module name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
+    <module name="telemetry" type="xbee_api"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu" type="apogee">
+    <module name="imu" type="apogee">
       <define name="USE_MAGNETOMETER"/>
       <define name="APOGEE_LOWPASS_FILTER" value="MPU60X0_DLPF_20HZ"/>
       <define name="APOGEE_SMPLRT_DIV" value="7"/>
-    </subsystem>
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    </module>
+    <module name="mag" type="hmc58xx">
+      <define name="MODULE_HMC58XX_UPDATE_AHRS"/>
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
+    </module>
+    <module name="airspeed" type="adc">
+      <configure name="ADC_AIRSPEED" value="ADC_1"/>
+      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="0.5"/>
+      <define name="AIRSPEED_ADC_BIAS" value="430"/>
+    </module>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox">
+    <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B115200"/>
       <define name="GPS_UBX_UCENTER_RATE" value="200"/>
       <define name="USE_GPS_UBX_RXM_RAW"/>
       <define name="USE_GPS_UBX_RXM_SFRB"/>
       <define name="LOG_RAW_GPS"/>
-    </subsystem>
+    </module>
+    <module name="gps" type="ubx_ucenter"/>
 
-    <subsystem name="current_sensor">
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_2"/>
-    </subsystem>
+    </module>
+    <!--module name="sys_mon"/-->
   </firmware>
 
   <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index f28601124c..67fc062509 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -15,23 +15,23 @@
     <target name="ap" 			        board="tiny_2.11"/>
     <target name="sim" 			        board="pc"/>
 
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="control"/>
-    <subsystem name="ins"           type="alt_float"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"/>
+    <module name="radio_control" type="ppm"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="control"/>
+    <module name="infrared"      type="adc"/>
+    <module name="ahrs"          type="infrared"/>
+    <!--module name="ins"         type="vn100"/-->
+    <module name="ins"           type="alt_float"/>
+    <module name="gps"           type="ublox"/>
+    <module name="navigation"/>
 
-    <!--subsystem name="spi">
+    <!--module name="spi">
       <define name="USE_SPI_SLAVE0"/>
       <define name="USE_SPI1"/>
-    </subsystem-->
+    </module-->
   </firmware>
 
   <modules>
-    <load name="infrared_adc.xml"/>
-    <load name="ahrs_infrared.xml"/>
-    <!--load name="ins_vn100.xml"/-->
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
index 01dbe12421..9b4aeb6274 100644
--- a/conf/airframes/ENAC/fixed-wing/mythe.xml
+++ b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -8,37 +8,6 @@
 
 <airframe name="Funjet">
 
-  <modules>
-    <load name="airspeed_adc.xml">
-      <configure name="ADC_AIRSPEED" value="ADC_0"/>
-      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
-      <define name="AIRSPEED_ADC_BIAS" value="110"/>
-    </load>
-    <load name="AOA_adc.xml">
-      <configure name="ADC_AOA" value="ADC_2"/>
-    </load>
-    <!--load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
-    </load-->
-    <!--load name="baro_hca.xml">
-      <define name="I2C0_SCLL" value="25"/>
-      <define name="I2C0_SCLH" value="25"/>
-    </load-->
-    <!--load name="baro_bmp.xml">
-      <configure name="BMP_I2C_DEV" value="i2c1"/>
-    </load-->
-    <!--load name="baro_ms5611_i2c.xml">
-      <configure name="MS5611_I2C_DEV" value="i2c0"/>
-    </load-->
-    <!--load name="baro_mpl3115.xml">
-      <configure name="MPL3115_I2C_DEV" value="i2c0"/>
-      <define name="SENSOR_SYNC_SEND"/>
-    </load-->
-    <!--load name="airspeed_ads1114.xml"/-->
-    <!--load name="mcp355x.xml"/-->
-    <!--load name="sys_mon.xml"/-->
-  </modules>
-
   <firmware name="fixedwing">
     <!--define name="AGR_CLIMB"/-->
     <define name="USE_AIRSPEED"/>
@@ -49,30 +18,59 @@
     <target name="sim" board="pc"/>
     <target name="ap" board="umarim_1.0"/>
 
-    <subsystem name="radio_control" type="ppm">
+    <module name="radio_control" type="ppm">
       <define name="USE_PPM_RSSI_GPIO"/>
       <define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
       <define name="PPM_RSSI_PIN" value="10"/>
       <define name="PPM_RSSI_VALID_LEVEL" value="0"/>
-    </subsystem>
+    </module>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
+    <module name="telemetry" type="xbee_api"/>
+
+    <module name="airspeed"  type="adc">
+      <configure name="ADC_AIRSPEED" value="ADC_0"/>
+      <define name="AIRSPEED_ADC_QUADRATIC_SCALE" value="1.09378"/>
+      <define name="AIRSPEED_ADC_BIAS" value="110"/>
+    </module>
+    <!--module name="airspeed"  type="ads1114"/-->
+    <module name="AOA"       type="adc">
+      <configure name="ADC_AOA" value="ADC_2"/>
+    </module>
+    <!--module name="adc"    type="generic">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/>
+    </module-->
+    <!--module name="baro"   type="hca">
+      <define name="I2C0_SCLL" value="25"/>
+      <define name="I2C0_SCLH" value="25"/>
+    </module-->
+    <!--module name="baro"   type="bmp">
+      <configure name="BMP_I2C_DEV" value="i2c1"/>
+    </module-->
+    <!--module name="baro"   type="ms5611_i2c">
+      <configure name="MS5611_I2C_DEV" value="i2c0"/>
+    </module-->
+    <!--module name="baro"   type="mpl3115">
+      <configure name="MPL3115_I2C_DEV" value="i2c0"/>
+      <define name="SENSOR_SYNC_SEND"/>
+    </module-->
+    <!--module name="mcp355x"/-->
+    <!--module name="sys_mon"/-->
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="float_dcm"/>
-    <subsystem name="ins"     type="alt_float"/>
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    <module name="imu"     type="umarim"/>
+    <module name="ahrs"    type="float_dcm"/>
+    <module name="ins"     type="alt_float"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
+    <module name="gps" type="ublox"/>
 
-    <subsystem name="current_sensor">
+    <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>
-    </subsystem>
+    </module>
 
-    <!--subsystem name="spi"/-->
+    <!--module name="spi"/-->
   </firmware>
 
 <!-- commands section -->
diff --git a/conf/airframes/ENAC/fixed-wing/quark1.xml b/conf/airframes/ENAC/fixed-wing/quark1.xml
index 8159bba1c4..6330eac7a4 100644
--- a/conf/airframes/ENAC/fixed-wing/quark1.xml
+++ b/conf/airframes/ENAC/fixed-wing/quark1.xml
@@ -2,10 +2,6 @@
 
 <airframe name="Quark">
 
-  <modules>
-    <load name="gps_ubx_ucenter.xml"/>
-  </modules>
-
   <firmware name="fixedwing">
     <define name="USE_I2C0"/>
     <define name="USE_I2C1"/>
@@ -20,19 +16,20 @@
     <target name="sim" board="pc"/>
     <target name="ap" board="umarim_lite_2.0"/>
 
-    <subsystem name="radio_control" type="datalink"/>
+    <module name="radio_control" type="datalink"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
+    <module name="telemetry" type="transparent"/>
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu"   type="umarim"/>
-    <subsystem name="ahrs"  type="float_dcm"/>
-    <subsystem name="ins"   type="alt_float"/>
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    <module name="imu"   type="umarim"/>
+    <module name="ahrs"  type="float_dcm"/>
+    <module name="ins"   type="alt_float"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
+    <module name="gps" type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
   </firmware>
 
 
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index bd995e3cc2..2aeb1a1794 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -7,24 +7,21 @@
 
 <airframe name="Black Cat">
 
-  <modules>
-    <load name="light.xml"/>
-  </modules>
-
   <firmware name="fixedwing">
     <define name="PITCH_TRIM"/>
 
     <target name="ap" 			board="tiny_2.11"/>
     <target name="sim" 			board="pc"/>
 
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="xbee_api"/>
-    <subsystem name="control"       type="adaptive"/>
-    <subsystem name="imu"           type="mpu9250_i2c"/>
-    <subsystem name="ahrs"          type="float_dcm"/>
-    <subsystem name="ins"           type="alt_float"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"/>
+    <module name="radio_control" type="ppm"/>
+    <module name="telemetry"     type="xbee_api"/>
+    <module name="control"       type="adaptive"/>
+    <module name="imu"           type="mpu9250_i2c"/>
+    <module name="ahrs"          type="float_dcm"/>
+    <module name="ins"           type="alt_float"/>
+    <module name="gps"           type="ublox"/>
+    <module name="navigation"/>
+    <module name="light"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index c5d83a9188..b021ff1bf8 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -10,11 +10,6 @@
 
   <autopilot name="fixedwing_autopilot.xml"/>
 
-  <modules>
-    <!--load name="airspeed_ads1114.xml"/-->
-    <!--load name="mcp355x.xml"/-->
-  </modules>
-
   <firmware name="fixedwing">
     <define name="USE_I2C0"/>
     <define name="USE_I2C1"/>
@@ -27,26 +22,29 @@
     <target name="sim" board="pc"/>
     <target name="ap" board="umarim_1.0"/>
 
-    <subsystem name="radio_control" type="ppm">
+    <module name="radio_control" type="ppm">
       <define name="USE_PPM_RSSI_GPIO"/>
       <define name="PPM_RSSI_IOPIN" value="IO0PIN"/>
       <define name="PPM_RSSI_PIN" value="17"/>
       <define name="PPM_RSSI_VALID_LEVEL" value="0"/>
-    </subsystem>
+    </module>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
+    <module name="telemetry" type="xbee_api"/>
+
+    <!--module name="airspeed" type="ads1114"/-->
+    <!--module name="mcp355x"/-->
 
     <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="imu" type="umarim"/>
-    <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="ins" type="alt_float"/>
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
+    <module name="imu" type="umarim"/>
+    <module name="ahrs" type="float_dcm"/>
+    <module name="ins" type="alt_float"/>
+    <module name="control" type="new"/>
+    <module name="navigation"/>
     <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
+    <module name="gps" type="ublox"/>
 
-    <!--subsystem name="spi"/-->
+    <!--module name="spi"/-->
   </firmware>
 
 <!-- commands section -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
index 97d522394f..ce07d2166a 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
@@ -9,47 +9,47 @@
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
+      <module name="telemetry" type="transparent_udp"/>
+      <module name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
-	<!-- Subsystem section -->
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="ardrone2"/>
-    <subsystem name="imu" type="ardrone2"/>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
+    <!-- Subsystem section -->
+    <module name="motor_mixing"/>
+    <module name="actuators" type="ardrone2"/>
+    <module name="imu" type="ardrone2"/>
+    <module name="gps" type="ublox"/>
+    <!--module name="gps" type="ubx_ucenter"/-->
+    <module name="stabilization" type="int_quat"/>
     <!-- AHRS + INS for indoor or outdoor -->
-    <!--subsystem name="ahrs" type="int_cmpl_euler"/>
-    <subsystem name="ins" type="extended"/-->
+    <!--module name="ahrs" type="int_cmpl_euler"/>
+    <module name="ins" type="extended"/-->
     <!-- INS for outdoor only -->
-    <subsystem name="ins" type="float_invariant"/>
+    <module name="ins" type="float_invariant"/>
+
+    <module name="agl_dist">
+      <define name="USE_SONAR"/>
+    </module>
+    <module name="video_thread">
+      <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
+    </module>
+    <module name="video_rtp_stream">
+      <configure name="VIEWVIDEO_USE_NETCAT" value="FALSE"/>
+    </module>
+    <module name="rotorcraft_cam"/>
+    <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512">
-    <!--load name="gps_ubx_ucenter.xml"/-->
-    <load name="agl_dist.xml">
-      <define name="USE_SONAR"/>
-    </load>
-    <load name="video_thread.xml">
-      <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
-    </load>
-    <load name="video_rtp_stream.xml">
-      <configure name="VIEWVIDEO_USE_NETCAT" value="FALSE"/>
-    </load>
-    <load name="rotorcraft_cam.xml"/>
-    <load name="bat_voltage_ardrone2.xml"/>
-  </modules>
+  <modules main_freq="512"/>
 
   <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
   <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
 
   <!-- local magnetic field -->
   <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
index 84bac7c4b1..62417047b4 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
@@ -9,49 +9,49 @@
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
+      <module name="telemetry" type="transparent_udp"/>
+      <module name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
 	<!-- Subsystem section -->
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="ardrone2"/>
-    <subsystem name="imu" type="ardrone2"/>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
+    <module name="motor_mixing"/>
+    <module name="actuators" type="ardrone2"/>
+    <module name="imu" type="ardrone2"/>
+    <module name="gps" type="ublox"/>
+    <!--module name="gps" type="ubx_ucenter"/-->
+    <module name="stabilization" type="int_quat"/>
     <!-- AHRS + INS for indoor or outdoor -->
-    <!--subsystem name="ahrs" type="int_cmpl_euler"/>
-    <subsystem name="ins" type="extended"/-->
+    <!--module name="ahrs" type="int_cmpl_euler"/>
+    <module name="ins" type="extended"/-->
     <!-- INS for outdoor only -->
-    <subsystem name="ins" type="float_invariant"/>
-  </firmware>
+    <module name="ins" type="float_invariant"/>
 
-  <modules main_freq="512">
-    <!--load name="gps_ubx_ucenter.xml"/-->
-    <load name="agl_dist.xml">
+    <module name="agl_dist">
       <define name="USE_SONAR"/>
-    </load>
-    <load name="video_thread.xml">
+    </module>
+    <module name="video_thread">
       <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
-    </load>
-    <load name="video_rtp_stream.xml">
+    </module>
+    <module name="video_rtp_stream">
       <define name="VIDEO_SOCK_OUT_OFFSET" value="$(AC_ID)"/>
       <define name="VIDEO_DOWNSIZE_FACTOR" value="2"/>
       <define name="VIDEO_QUALITY_FACTOR" value="80"/>
       <define name="VIDEO_FPS" value="1"/>
-    </load>
-    <load name="rotorcraft_cam.xml"/>
-  </modules>
+    </module>
+    <module name="rotorcraft_cam"/>
+  </firmware>
+
+  <modules main_freq="512"/>
 
   <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
   <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
 
   <!-- local magnetic field -->
   <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic.xml b/conf/airframes/ENAC/quadrotor/ard2_basic.xml
index cbe93b264a..f97b564cc2 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_basic.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_basic.xml
@@ -9,38 +9,38 @@
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
+      <module name="telemetry" type="transparent_udp"/>
+      <module name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
 	<!-- Subsystem section -->
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="ardrone2"/>
-    <subsystem name="imu" type="ardrone2"/>
-    <!--subsystem name="gps" type="piksi"/-->
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
+    <module name="motor_mixing"/>
+    <module name="actuators" type="ardrone2"/>
+    <module name="imu" type="ardrone2"/>
+    <!--module name="gps" type="piksi"/-->
+    <module name="gps" type="ublox"/>
+    <!--module name="gps" type="ubx_ucenter"/-->
+    <module name="stabilization" type="int_quat"/>
     <!-- AHRS + INS for indoor or outdoor -->
-    <subsystem name="ahrs" type="float_invariant"/>
-    <subsystem name="ins" type="extended"/>
+    <module name="ahrs" type="float_invariant"/>
+    <module name="ins" type="extended"/>
     <!-- INS for outdoor only -->
-    <!--subsystem name="ins" type="float_invariant"/-->
+    <!--module name="ins" type="float_invariant"/-->
+
+    <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512">
-    <!--load name="gps_ubx_ucenter.xml"/-->
-    <load name="bat_voltage_ardrone2.xml"/>
-  </modules>
+  <modules main_freq="512"/>
 
   <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
   <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
 
   <!-- local magnetic field -->
   <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
diff --git a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml b/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
index e5a74c080b..966051497f 100644
--- a/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
+++ b/conf/airframes/ENAC/quadrotor/ard2_basic_adhoc.xml
@@ -12,37 +12,37 @@
       <define name="USE_SONAR"/>
       <define name="USE_BARO_MEDIAN_FILTER"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
+      <module name="telemetry" type="transparent_udp"/>
+      <module name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
 	<!-- Subsystem section -->
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="ardrone2"/>
-    <subsystem name="imu" type="ardrone2"/>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
+    <module name="motor_mixing"/>
+    <module name="actuators" type="ardrone2"/>
+    <module name="imu" type="ardrone2"/>
+    <module name="gps" type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="stabilization" type="int_quat"/>
     <!-- AHRS + INS for indoor or outdoor -->
-    <!--subsystem name="ahrs" type="int_cmpl_euler"/>
-    <subsystem name="ins" type="extended"/-->
+    <!--module name="ahrs" type="int_cmpl_euler"/>
+    <module name="ins" type="extended"/-->
     <!-- INS for outdoor only -->
-    <subsystem name="ins" type="float_invariant"/>
+    <module name="ins" type="float_invariant"/>
+
+    <module name="bat_voltage_ardrone2"/>
   </firmware>
 
-  <modules main_freq="512">
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="bat_voltage_ardrone2.xml"/>
-  </modules>
+  <modules main_freq="512"/>
 
   <!-- include common control -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_base_control"/>
   <!-- include arframe calibration -->
-  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID.xml"/>
+  <include href="conf/airframes/ENAC/quadrotor/ard2_$AC_ID"/>
 
   <!-- local magnetic field -->
   <!-- http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
diff --git a/conf/airframes/ENAC/quadrotor/bebop_201.xml b/conf/airframes/ENAC/quadrotor/bebop_201.xml
index 933d872347..abb123d0e1 100644
--- a/conf/airframes/ENAC/quadrotor/bebop_201.xml
+++ b/conf/airframes/ENAC/quadrotor/bebop_201.xml
@@ -5,37 +5,35 @@
   <firmware name="rotorcraft">
 
     <target name="ap" board="bebop">
-      <subsystem name="telemetry" type="transparent_udp"/>
-      <subsystem name="radio_control" type="datalink"/>
+      <module name="telemetry" type="transparent_udp"/>
+      <module name="radio_control" type="datalink"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
     <!--define name="USE_SONAR" value="TRUE"/-->
 
     <!-- Subsystem section -->
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="bebop"/>
-    <subsystem name="imu" type="bebop"/>
-    <subsystem name="gps" type="furuno"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <!--subsystem name="ahrs" type="int_cmpl_quat"/>
-    <subsystem name="ins" type="extended"/-->
-    <subsystem name="ins" type="float_invariant"/>
-  </firmware>
+    <module name="motor_mixing"/>
+    <module name="actuators" type="bebop"/>
+    <module name="imu" type="bebop"/>
+    <module name="gps" type="furuno"/>
+    <module name="stabilization" type="int_quat"/>
+    <!--module name="ahrs" type="int_cmpl_quat"/>
+    <module name="ins" type="extended"/-->
+    <module name="ins" type="float_invariant"/>
 
-  <modules main_freq="512">
-    <load name="sonar_bebop.xml">
+    <module name="sonar" type="bebop">
       <define name="SENSOR_SYNC_SEND_SONAR"/>
-    </load>
-    <!--load name="send_imu_mag_current.xml"/>
-    <load name="file_logger.xml">
+    </module>
+    <!--module name="send_imu_mag_current"/>
+    <module name="file_logger">
       <define name="FILE_LOGGER_PATH" value="\\/data/ftp/internal_000/\\" type="string"/>
-    </load-->
-    <!--load name="video_rtp_stream.xml">
+    </module-->
+    <!--module name="video_rtp_stream">
       <define name="VIEWVIDEO_FPS" value="60"/>
       <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
       <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -45,8 +43,10 @@
       <define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
       <define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
       <define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
-    </load-->
-  </modules>
+    </module-->
+  </firmware>
+
+  <modules main_freq="512"/>
 
   <commands>
     <axis name="PITCH" failsafe_value="0"/>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 36386acf51..78b009636e 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -2,15 +2,6 @@
 
 <airframe name="Blender">
 
-  <modules main_freq="512">
-    <load name="servo_switch.xml"/>
-    <load name="rotorcraft_cam.xml"/>
-    <!--load name="sonar_adc.xml"/-->
-    <!--load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
-    </load-->
-  </modules>
-
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
 
@@ -20,24 +11,33 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
 
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="skiron">
+    <module name="radio_control" type="ppm"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="actuators"     type="skiron">
       <define name="SKIRON_I2C_SCL_TIME" value="25"/>
-    </subsystem>
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators"     type="pwm">
+    </module>
+    <module name="motor_mixing"/>
+    <module name="actuators"     type="pwm">
       <define name="USE_PWM0"/>
-    </subsystem>
-    <subsystem name="imu"           type="navgo"/>
-    <subsystem name="gps"           type="ublox">
+    </module>
+    <module name="imu"           type="navgo"/>
+    <module name="gps"           type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
-    </subsystem>
-    <subsystem name="stabilization" type="int_euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="ins"           type="hff"/>
+    </module>
+    <module name="stabilization" type="int_euler"/>
+    <module name="ahrs"          type="int_cmpl_quat"/>
+    <module name="ins"           type="hff"/>
+
+    <module name="servo_switch"/>
+    <module name="rotorcraft_cam"/>
+    <!--module name="sonar" type="adc"/-->
+    <!--module name="adc_generic">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
+    </module-->
   </firmware>
 
+  <modules main_freq="512"/>
+
   <section name="MIXING" prefix="MOTOR_MIXING_">
     <define name="TRIM_ROLL" value="-50"/>
     <define name="TRIM_PITCH" value="-150"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index dbcb5d6552..9b7914ca59 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -1,27 +1,6 @@
 <airframe name="BOOZ2_G1">
 
-  <modules main_freq="512">
-    <load name="servo_switch.xml"/>
-    <load name="rotorcraft_cam.xml"/>
-    <load name="sonar_adc.xml">
-      <configure name="ADC_SONAR" value="ADC_0"/>
-      <define name="USE_SONAR"/>
-      <!--define name="SENSOR_SYNC_SEND_SONAR"/-->
-    </load>
-    <!--load name="baro_mpl3115.xml">
-      <configure name="MPL3115_I2C_DEV" value="i2c1"/>
-      <define name="SENSOR_SYNC_SEND"/>
-    </load-->
-    <!--load name="mavlink_decoder.xml">
-      <configure name="MAVLINK_PORT" value="UART0"/>
-      <configure name="MAVLINK_BAUD" value="B115200"/>
-    </load>
-    <load name="px4flow.xml"/-->
-    <!--load name="adc_generic.xml">
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
-    </load-->
-    <!--load name="sys_mon.xml"/-->
-  </modules>
+  <modules main_freq="512"/>
 
   <firmware name="rotorcraft">
     <define name="DEBUG_VFF_EXTENDED"/>
@@ -34,23 +13,44 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <!--target name="nps" board="pc">
-      <subsystem name="fdm"         type="jsbsim"/>
+      <module name="fdm"         type="jsbsim"/>
     </target-->
 
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="asctec"/>
-    <subsystem name="actuators"     type="pwm">
+    <module name="radio_control" type="ppm"/>
+    <module name="telemetry"     type="transparent"/>
+    <module name="actuators"     type="asctec"/>
+    <module name="actuators"     type="pwm">
       <define name="USE_PWM0"/>
       <define name="USE_PWM1"/>
-    </subsystem>
-    <subsystem name="imu"           type="b2_v1.1"/>
-    <subsystem name="gps"           type="ublox">
+    </module>
+    <module name="imu"           type="b2_v1.1"/>
+    <module name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
-    </subsystem>
-    <subsystem name="stabilization" type="int_euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
-    <subsystem name="ins"           type="extended"/>
+    </module>
+    <module name="stabilization" type="int_euler"/>
+    <module name="ahrs"          type="int_cmpl_euler"/>
+    <module name="ins"           type="extended"/>
+
+    <module name="servo_switch"/>
+    <module name="rotorcraft_cam"/>
+    <module name="sonar_adc">
+      <configure name="ADC_SONAR" value="ADC_0"/>
+      <define name="USE_SONAR"/>
+      <!--define name="SENSOR_SYNC_SEND_SONAR"/-->
+    </module>
+    <!--module name="baro_mpl3115">
+      <configure name="MPL3115_I2C_DEV" value="i2c1"/>
+      <define name="SENSOR_SYNC_SEND"/>
+    </module-->
+    <!--module name="mavlink_decoder">
+      <configure name="MAVLINK_PORT" value="UART0"/>
+      <configure name="MAVLINK_BAUD" value="B115200"/>
+    </module>
+    <module name="px4flow"/-->
+    <!--module name="adc_generic">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
+    </module-->
+    <!--module name="sys_mon"/-->
   </firmware>
 
   <servos driver="Asctec">
diff --git a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml b/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
index 054f8be54b..51361abe42 100644
--- a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
+++ b/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
@@ -24,11 +24,11 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/examples/ladybird_lisa_s.xml"
-     radio="radios/cockpitSX.xml"
-     telemetry="telemetry/default_rotorcraft.xml"
-     flight_plan="flight_plans/rotorcraft_basic.xml"
-     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+     airframe="airframes/examples/ladybird_lisa_s"
+     radio="radios/cockpitSX"
+     telemetry="telemetry/default_rotorcraft"
+     flight_plan="flight_plans/rotorcraft_basic"
+     settings="settings/rotorcraft_basic settings/control/rotorcraft_guidance settings/control/stabilization_att_int"
 -->
 
 <airframe name="quadrotor_lisa_s">
@@ -185,14 +185,11 @@
    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
- <modules main_freq="512">
-   <load name="gps_ubx_ucenter.xml"/>
-   <!--load name="send_imu_mag_current.xml"/-->
- </modules>
+ <modules main_freq="512"/>
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_s_1.0">
-      <subsystem name="radio_control" type="superbitrf_rc">
+      <module name="radio_control" type="superbitrf_rc">
 	    <!-- To store the binding parameters for the superbit radio in your -->
         <!-- airframe file uncomment the following three lines and set the -->
         <!-- correct values based on the output of the superbitrf telemetry messages. -->
@@ -202,19 +199,19 @@
         <define name="RADIO_MODE" value="RADIO_FLAP"/>
         <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
         <!--define name="SUPERBITRF_FORCE_DSM2" value="TRUE"/-->
-      </subsystem>
+      </module>
 
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
       <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="ppm"/>
     </target>
 
-    <subsystem name="motor_mixing"/>
-    <subsystem name="actuators" type="pwm">
+    <module name="motor_mixing"/>
+    <module name="actuators" type="pwm">
       <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
            With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
            If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
@@ -224,18 +221,21 @@
       <!-- Setting the PWM interval to 36KHz -->
       <define name="SERVO_HZ" value="36000"/>
       <define name="USE_SERVOS_1AND2"/>
-    </subsystem>
+    </module>
 
-    <subsystem name="telemetry" type="superbitrf"/>
+    <module name="telemetry" type="superbitrf"/>
     <!-- Comment the previous line and uncomment the following one if you need
          to use the debug serial interface for telemetry. -->
-    <!--subsystem name="telemetry" type="transparent"/-->
-    <subsystem name="imu" type="lisa_s_v1.0">
+    <!--module name="telemetry" type="transparent"/-->
+    <module name="imu" type="lisa_s_v1.0">
       <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
-    </subsystem>
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs" type="int_cmpl_quat"/>
-    <subsystem name="ins"/>
+    </module>
+    <module name="gps" type="ublox"/>
+    <module name="gps" type="ubx_ucenter"/>
+    <module name="stabilization" type="int_quat"/>
+    <module name="ahrs" type="int_cmpl_quat"/>
+    <module name="ins"/>
+
+    <!--module name="send_imu_mag_current"/-->
   </firmware>
 </airframe>