diff --git a/conf/airframes/OpenUAS/conf_openuas_obc2014.xml b/conf/airframes/OpenUAS/conf_openuas_obc2014.xml
index 4aceeb3dfa..8cec5dc71d 100644
--- a/conf/airframes/OpenUAS/conf_openuas_obc2014.xml
+++ b/conf/airframes/OpenUAS/conf_openuas_obc2014.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_smooth.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
+   settings_modules="modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/infrared_adc.xml modules/tune_airspeed.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/conf/airframes/TUDelft/IMAV2013/conf.xml b/conf/airframes/TUDelft/IMAV2013/conf.xml
index 5e0b0c0ac6..6952b07622 100644
--- a/conf/airframes/TUDelft/IMAV2013/conf.xml
+++ b/conf/airframes/TUDelft/IMAV2013/conf.xml
@@ -7,8 +7,8 @@
    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_rate.xml settings/control/stabilization_att_int.xml"
-   gui_color="red"
    settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
+   gui_color="red"
   />
   <aircraft
    name="Ardrone2_184"
@@ -18,8 +18,8 @@
    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_rate.xml settings/control/stabilization_att_int.xml"
-   gui_color="red"
    settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
+   gui_color="red"
   />
   <aircraft
    name="Ardrone2_186"
diff --git a/conf/airframes/TUDelft/airframes/bebop_default.xml b/conf/airframes/TUDelft/airframes/bebop_default.xml
deleted file mode 100644
index 58b7429a5d..0000000000
--- a/conf/airframes/TUDelft/airframes/bebop_default.xml
+++ /dev/null
@@ -1,219 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="bebop">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
-
-    <target name="nps" board="pc">
-      <subsystem name="fdm" type="jsbsim"/>
-    </target>
-
-    <!--define name="USE_SONAR" value="TRUE"/-->
-
-	<!-- Subsystem section -->
-    <subsystem name="telemetry" type="transparent_udp"/>
-    <subsystem name="radio_control" type="datalink"/>
-    <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="float_mlkf"/>
-    <subsystem name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>
-    <load name="send_imu_mag_current.xml"/>
-    <!--load name="logger_file.xml">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </load-->
-    <load name="video_rtp_stream.xml">
-      <define name="VIEWVIDEO_FPS" value="60"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
-      <define name="VIEWVIDEO_DEVICE" value="/dev/video0"/>
-      <define name="VIEWVIDEO_SUBDEV" value="/dev/v4l-subdev0"/>
-      <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>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="AIR_DATA" prefix="AIR_DATA_">
-    <define name="CALC_AIRSPEED" value="FALSE"/>
-    <define name="CALC_TAS_FACTOR" value="FALSE"/>
-    <define name="CALC_AMSL_BARO" value="TRUE"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="18"/>
-    <define name="MAG_Y_NEUTRAL" value="157"/>
-    <define name="MAG_Z_NEUTRAL" value="49"/>
-    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
-    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
-    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-
-    <define name="IGAIN_P" value="75"/>
-    <define name="IGAIN_Q" value="75"/>
-    <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="920"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="920"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="8000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="0"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/TUDelft/conf.xml b/conf/airframes/TUDelft/conf.xml
index 6f51bb4fdf..25644f61e1 100644
--- a/conf/airframes/TUDelft/conf.xml
+++ b/conf/airframes/TUDelft/conf.xml
@@ -46,7 +46,7 @@
   <aircraft
    name="Bebop_default"
    ac_id="20"
-   airframe="airframes/TUDelft/airframes/bebop_default.xml"
+   airframe="airframes/examples/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 19165e6732..1b163bbe44 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -98,6 +98,17 @@
    settings_modules="modules/air_data.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="Quad_Elle0"
+   ac_id="165"
+   airframe="airframes/examples/quadrotor_elle0.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 settings/estimation/ahrs_float_mlkf.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
+   gui_color="white"
+  />
   <aircraft
    name="Quad_LisaMX"
    ac_id="30"
@@ -131,17 +142,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
-  <aircraft
-   name="Quad_Elle0"
-   ac_id="165"
-   airframe="airframes/examples/quadrotor_elle0.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 settings/estimation/ahrs_float_mlkf.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
-   gui_color="white"
-  />
   <aircraft
    name="Quad_NavGo"
    ac_id="151"
@@ -252,17 +252,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
-  <aircraft
-   name="setup_lisam2"
-   ac_id="16"
-   airframe="airframes/examples/setup_lisam2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/dummy.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/setup_actuators.xml"
-   settings_modules=""
-   gui_color="blue"
-  />
   <aircraft
    name="setup_elle0"
    ac_id="17"
@@ -274,4 +263,15 @@
    settings_modules=""
    gui_color="blue"
   />
+  <aircraft
+   name="setup_lisam2"
+   ac_id="16"
+   airframe="airframes/examples/setup_lisam2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/dummy.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings="settings/setup_actuators.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
 </conf>