diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index cc8f78e1f7..275f05fe4b 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -3,17 +3,17 @@
   <modules main_freq="512">
     <load name="servo_switch.xml"/>
     <load name="rotorcraft_cam.xml"/>
-    <load name="sonar_maxbotix_booz.xml"/>
+    <load name="sonar_adc.xml"/>
     <!--load name="baro_mpl3115.xml">
       <define name="MPL3115_I2C_DEV" value="i2c1"/>
       <define name="USE_I2C1"/>
       <define name="SENSOR_SYNC_SEND"/>
     </load-->
-    <load name="mavlink_decoder.xml">
+    <!--load name="mavlink_decoder.xml">
       <configure name="MAVLINK_PORT" value="UART0"/>
       <configure name="MAVLINK_BAUD" value="B115200"/>
     </load>
-    <load name="px4flow.xml"/>
+    <load name="px4flow.xml"/-->
     <!--load name="adc_generic.xml">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
     </load-->
@@ -41,9 +41,9 @@
       <define name="USE_PWM1"/>
     </subsystem>
     <subsystem name="imu"           type="b2_v1.1"/>
-    <!--subsystem name="gps"           type="ublox">
+    <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
-    </subsystem-->
+    </subsystem>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="extended"/>
diff --git a/conf/airframes/ENAC/quadrotor/hen1.xml b/conf/airframes/ENAC/quadrotor/hen1.xml
index 2fe0d7e579..fdcc63192f 100644
--- a/conf/airframes/ENAC/quadrotor/hen1.xml
+++ b/conf/airframes/ENAC/quadrotor/hen1.xml
@@ -3,6 +3,11 @@
 <airframe name="Hummingbird (Asctec) Enac-Navgo 1">
 
   <modules main_freq="512">
+    <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-->
@@ -29,9 +34,9 @@
     <subsystem name="actuators"     type="asctec_v2"/>
     <subsystem name="motor_mixing"/>
     <subsystem name="imu"           type="navgo"/>
-    <subsystem name="gps"           type="ublox">
+    <!--subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
-    </subsystem>
+    </subsystem-->
     <subsystem name="stabilization" type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
@@ -164,12 +169,12 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1800"/>
-    <define name="PHI_DGAIN"  value="240"/>
+    <define name="PHI_PGAIN"  value="1500"/>
+    <define name="PHI_DGAIN"  value="200"/>
     <define name="PHI_IGAIN"  value="200"/>
 
-    <define name="THETA_PGAIN"  value="1800"/>
-    <define name="THETA_DGAIN"  value="240"/>
+    <define name="THETA_PGAIN"  value="1500"/>
+    <define name="THETA_DGAIN"  value="200"/>
     <define name="THETA_IGAIN"  value="200"/>
 
     <define name="PSI_PGAIN"  value="1000"/>
diff --git a/sw/airborne/modules/optical_flow/px4flow.c b/sw/airborne/modules/optical_flow/px4flow.c
index 01608bc862..345ed01b0b 100644
--- a/sw/airborne/modules/optical_flow/px4flow.c
+++ b/sw/airborne/modules/optical_flow/px4flow.c
@@ -42,7 +42,7 @@ bool_t optical_flow_available;
 struct mavlink_msg_req req;
 
 // callback function on message reception
-static void decode_optical_flow_msg(struct mavlink_message * msg) {
+static void decode_optical_flow_msg(struct mavlink_message * msg __attribute__ ((unused))) {
   optical_flow_available = TRUE;
 }