diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index cafe45fd41..f46b131164 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -171,7 +171,7 @@
     </target>
     <target name="sim" 			board="pc" />
     <subsystem name="navigation"/>
-
+    <subsystem name="control"/>
 
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index 672f32428e..e21148cf1c 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -177,7 +177,7 @@
 
     <!-- Actuators -->
     <subsystem name="actuators" 	type="4017"/>
-
+    <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"      type="roll"/>
     <subsystem name="attitude"  type="infrared"/>
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index 37c17c0329..eb5e212666 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -17,6 +17,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="actuators" 	type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_lea5h"/>
     <subsystem name="navigation"/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 9324f42e03..45aa719c44 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -167,7 +167,7 @@
 
     <!-- Actuators -->
     <subsystem name="actuators" 	type="4015"/>
-
+    <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="adc"           type="generic">
       <param name="ADC_GENERIC1" value="ADC_7"/> <!-- current sensor -->
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 8410219453..20cf110b65 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -27,10 +27,11 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox_lea5h"/>
     <subsystem name="airspeed"      type="ets"/>
-    <subsystem name="navigation"/>
+    <subsystem name="navigation"    type="extra"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index c139665185..24a835c46b 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -23,6 +23,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="actuators" type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude" type="infrared"/>
     <subsystem name="gps" type="ublox_lea5h"/>
     <subsystem name="navigation"/>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index d64c7306fd..34fd1e4935 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -27,7 +27,7 @@
 
     <!-- Actuators -->
     <subsystem name="actuators" 	type="4017"/>
-
+    <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_lea5h"/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index a1b1d84836..d0db9ae5db 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -28,6 +28,7 @@
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="actuators" type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude" type="infrared"/>
     <subsystem name="gps" type="ublox_lea5h"/>
     <subsystem name="navigation" type="extra"/>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 25db54658f..3aea467f05 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -177,7 +177,7 @@
 
     <!-- Actuators -->
     <subsystem name="actuators" 	type="4017"/>
-
+    <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
     <subsystem name="attitude" 		type="infrared">
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 8c1c0bdff1..ab819b661b 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -26,6 +26,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gyro"          type="roll"/>
     <subsystem name="gps"           type="ublox_lea5h"/>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 8d8dcfe489..2604a777bb 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -27,6 +27,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="4017"/>
+    <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox_lea4p"/>
     <subsystem name="navigation"/>
diff --git a/conf/autopilot/fixedwing.xml b/conf/autopilot/fixedwing.xml
index c6886675ec..3b36e4da10 100644
--- a/conf/autopilot/fixedwing.xml
+++ b/conf/autopilot/fixedwing.xml
@@ -21,6 +21,7 @@
  </subsystem>
  <!-- Actuators -->
  <subsystem name="actuators" 	types="4015|4017|ppm"/>
+ <subsystem name="control"      types="NONE|adaptive|new"/>
  <!-- Sensors -->
  <subsystem name="gyro"         types="roll|pitch">
    <param name="ADC_GYRO_ROLL"  value="ADC_3"/><!-- this is already the default if not set, change if needed -->
diff --git a/conf/autopilot/subsystems/fixedwing/control.makefile b/conf/autopilot/subsystems/fixedwing/control.makefile
new file mode 100644
index 0000000000..af8394033a
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/control.makefile
@@ -0,0 +1,4 @@
+# Standard fixed wing control loops
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
diff --git a/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile b/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
new file mode 100644
index 0000000000..f69a2cbefd
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/control_adaptive.makefile
@@ -0,0 +1,4 @@
+# fixed wing control loops with adaptive horizontal control
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl.c
diff --git a/conf/autopilot/subsystems/fixedwing/control_new.makefile b/conf/autopilot/subsystems/fixedwing/control_new.makefile
new file mode 100644
index 0000000000..d76dd74d61
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/control_new.makefile
@@ -0,0 +1,4 @@
+# new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control
+
+
+ap.srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl_n.c
diff --git a/conf/autopilot/subsystems/fixedwing/navigation.makefile b/conf/autopilot/subsystems/fixedwing/navigation.makefile
index 49bd04e31d..195cfe2a5b 100644
--- a/conf/autopilot/subsystems/fixedwing/navigation.makefile
+++ b/conf/autopilot/subsystems/fixedwing/navigation.makefile
@@ -4,7 +4,7 @@
 #add these to all targets
 
 $(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
 
diff --git a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
index 9635a7d522..613a308a7c 100644
--- a/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
+++ b/conf/autopilot/subsystems/fixedwing/navigation_extra.makefile
@@ -4,7 +4,7 @@
 #add these to all targets
 
 $(TARGET).CFLAGS += -DNAV
-$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
 $(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c