diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index c29e6e3fdb..5746b1b94f 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -189,9 +189,6 @@
     <subsystem name="gps" 		type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 
-    <modules>
-    </modules>
-
   </firmware>
 
 
diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd
index 782dd5d140..4470e05e99 100644
--- a/conf/airframes/airframe.dtd
+++ b/conf/airframes/airframe.dtd
@@ -23,7 +23,7 @@
 <!ELEMENT modules (load)*>
 <!ELEMENT load EMPTY>
 <!ELEMENT param EMPTY>
-<!ELEMENT firmware (target|subsystem|modules)*>
+<!ELEMENT firmware (target|subsystem)*>
 <!ELEMENT target (param|define)*>
 <!ELEMENT subsystem (param)*>
 
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index e78f3273d2..774600563d 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -188,9 +188,6 @@
     <subsystem name="gps" 		type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 
-    <modules>
-    </modules>
-
   </firmware>
 
 
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index 1ed8095e33..081f3e631f 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -15,11 +15,17 @@ SETUP_INC = -I$(SRC_SETUP) -I$(SRC_SETUP_ARCH)
 
 
 
+$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 
 
 # a test program to tunnel between both uart
 
-tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.CFLAGS += -DFBW -DLED
 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
 
 
+# a test program to setup actuators
+setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+
+
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index affa94103d..dda71a9722 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -101,21 +101,3 @@ ap.srcs += lisa/lisa_analog_plug.c
 endif
 
 
-#
-# GPS choice
-#
-# include fixedwing_gps_ublox_lea5h.makefile
-# or
-# include fixedwing_gps_ublox_lea4p.makefile
-# or
-# nothing
-#
-
-
-#
-# AHRS choice
-#
-# include fixedwing_attitude_infrared.makefile
-# or
-# not done yet
-#