diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 9c64039a93..6c72f9d4e0 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -1,14 +1,36 @@
-<!DOCTYPE airframe SYSTEM "airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
 
 <!-- Twinstar II, 2x Jeti 12 advance
      Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     PerkinElmer TPS334 IR Sensors
      Tilted infrared sensor
      XBee modem
-     K66, LEA 5H
+     R6107SP, LEA 5H
 -->
 
-<airframe name="Drops K66">
+<airframe name="Drops">
+
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc"/>
+    <target name="ap" 			board="tiny_2.1">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <subsystem name="radio_control"     type="ppm"/>
+    <subsystem name="telemetry" 	type="xbee_api"/>
+    <subsystem name="control_adaptive"/>
+    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="gps" 		type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+    <subsystem name="navigation_bomb"/>
+
+    <subsystem name="gyro" type="roll">
+      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+    </subsystem>
+  </firmware>
 
 <!-- commands section -->
   <servos>
@@ -70,7 +92,7 @@
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
     <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="32"/> 
+    <!--define name="GYRO_NB_SAMPLES" value="32"/--> 
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -120,8 +142,6 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
@@ -154,7 +174,7 @@
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
 
-   <define name="THROTTLE_SLEW" value="0.1"/>
+    <define name="THROTTLE_SLEW" value="0.1"/>
 
   </section>
 
@@ -168,14 +188,19 @@
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-8898.3046875"/>
     <define name="PITCH_DGAIN" value="-1694.91503906"/>
+    <define name="PITCH_IGAIN" value="0"/>
 
     <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
     <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
-
-    <define name="ROLL_KFF" value="-500"/>
     <define name="ROLL_IGAIN" value="-5000"/>
+
+    <define name="ROLL_KFFA" value="500"/>
+    <define name="ROLL_KFFD" value="0"/>
+
+    <define name="PITCH_KFFA" value="0"/>
+    <define name="PITCH_KFFD" value="0"/>
   </section>
 
   <section name="NAV">
@@ -209,13 +234,9 @@
     	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
     	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="XBEE"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
   </section>
- <makefile>
+
+<!--makefile>
 CONFIG = \"tiny_2_1.h\"
 
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -280,5 +301,7 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
 
 sim.srcs += bomb.c
 
-  </makefile>
+</makefile-->
+
 </airframe>
+
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
new file mode 100644
index 0000000000..5da7f694b1
--- /dev/null
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -0,0 +1,190 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+     Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
+     XBee modem with AT firmware
+     LEA 5H GPS
+-->
+
+<airframe name="Delta Wing">
+
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc"/>
+    <target name="ap" 			board="lisa_l_1.0"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ARDUIMU_I2C_DEV" value="i2c2"/>
+      <define name="PERIPHERALS_AUTO_INIT"/>
+      <define name="USE_I2C2"/>
+      <define name="USE_AD1"/>
+
+    <subsystem name="radio_control"     type="spektrum"/>
+    <subsystem name="telemetry" 	type="transparent"/>
+    <subsystem name="control"/>
+    <!--subsystem name="attitude" 		type="infrared"/-->
+    <subsystem name="gps" 		type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+    <!-- Interfaces -->
+    <subsystem name="i2c"/>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+    <load name="ins_arduimu.xml">
+    </load>
+  </modules>
+
+  <firmware name="lisa_l_test_progs">
+    <target name="tunnel"           board="lisa_l_1.0"/>
+    <target name="test_led"         board="lisa_l_1.0"/>
+    <target name="test_uart"        board="lisa_l_1.0"/>
+    <target name="test_servos"      board="lisa_l_1.0"/>
+    <target name="test_telemetry"   board="lisa_l_1.0"/>
+    <target name="test_baro"        board="lisa_l_1.0"/>
+    <target name="test_imu_b2"      board="lisa_l_1.0"/>
+    <target name="test_imu_b2_2"    board="lisa_l_1.0"/>
+    <target name="test_imu_aspirin" board="lisa_l_1.0"/>
+    <target name="test_rc_spektrum" board="lisa_l_1.0"/>
+    <target name="test_rc_ppm"      board="lisa_l_1.0"/>
+    <target name="test_adc"         board="lisa_l_1.0"/>
+    <target name="test_hmc5843"     board="lisa_l_1.0"/>
+    <target name="test_itg3200"     board="lisa_l_1.0"/>
+    <target name="test_adxl345"             board="lisa_l_1.0"/>
+    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
+  </firmware>
+
+
+
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="1" min="1900" neutral="1521" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1510" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="RadOfDeg(50)"/>
+    <define name="MAX_PITCH" value="RadOfDeg(35)"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ADC_IR1_NEUTRAL" value="2048"/>
+    <define name="ADC_IR2_NEUTRAL" value="2048"/>
+    <define name="ADC_TOP_NEUTRAL" value="2048"/>
+
+    <define name="LATERAL_CORRECTION" value="-1"/>
+    <define name="LONGITUDINAL_CORRECTION" value="1"/>
+    <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+    <define name="HORIZ_SENSOR_TILTED" value="1"/>
+    <define name="IR1_SIGN" value="1"/>
+    <define name="IR2_SIGN" value="-1"/>
+    <define name="TOP_SIGN" value="1"/>
+
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+        <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+        <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+        <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 77de4b18a2..f97b1f2fea 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -34,7 +34,7 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="attitude"         type="infrared"/>
-    <subsystem name="gps"              type="ublox_lea5h"/>
+    <subsystem name="gps"              type="ublox_lea4p"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
@@ -57,7 +57,7 @@
   <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1529" max="1100"/>
     <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
   </servos>
 
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index ba646479fb..ced804cc9e 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -6,7 +6,7 @@
      LEA 5H
 -->
 
-<airframe name="Funjet mm 1">
+<airframe name="Funjet mm 1 arduimu">
 
   <firmware name="fixedwing">
     <target name="sim"                 board="pc">
@@ -40,7 +40,9 @@
     <subsystem name="gps"              type="ublox_lea5h">
       <param name="GPS_BAUD"           value="B38400"/>
     </subsystem>
+    <!-- Nav -->
     <subsystem name="navigation"/>
+    <!-- Interfaces -->
     <subsystem name="i2c"/>
   </firmware>
 
@@ -60,8 +62,8 @@
   <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1442" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1549" max="1900"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1479" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1496" max="1900"/>
     <servo name="HATCH"         no="7" min="1070" neutral="1070" max="2200"/>
   </servos>
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 4109d14975..764f7af860 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -9,6 +9,28 @@
 
 <airframe name="SlowFast">
 
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc"/>
+    <target name="ap" 			board="tiny_2.1">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+    </target>
+
+    <subsystem name="radio_control"     type="ppm"/>
+    <subsystem name="telemetry" 	type="xbee_api"/>
+    <subsystem name="control"/>
+    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="gps" 		type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+
+    <subsystem name="gyro" type="roll">
+      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+    </subsystem>
+  </firmware>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
@@ -255,16 +277,4 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
   </makefile>
 -->
 
-  <firmware name="fixedwing">
-    <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="tiny_2.1"/>
-
-    <subsystem name="radio_control"     type="ppm"/>
-    <subsystem name="telemetry" 	type="xbee_api"/>
-    <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
-    <subsystem name="gps" 		type="ublox_lea5h"/>
-    <subsystem name="navigation"/>
-  </firmware>
-
 </airframe>
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index ab3381e4f9..ff61ea0c45 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -9,6 +9,38 @@
 
 <airframe name="SlowFast">
 
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc"/>
+    <target name="ap" 			board="tiny_2.1">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="ALT_KALMAN"/>
+      <define name="WIND_INFO"/>
+      <define name="WIND_INFO_RET"/>
+      <define name="USE_I2C0"/>
+    </target>
+
+    <subsystem name="radio_control"     type="ppm"/>
+    <subsystem name="telemetry" 	type="xbee_api"/>
+    <subsystem name="control"/>
+    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="gps" 		type="ublox_lea5h"/>
+    <subsystem name="navigation"/>
+
+    <subsystem name="i2c"/>
+    <subsystem name="gyro" type="roll">
+      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+    </subsystem>
+  </firmware>
+
+  <!-- modules -->
+  <modules>
+    <load name="airspeed_ets.xml">
+      <!--param name="USE_AIRSPEED" value="1"/-->
+      <param name="SENSOR_SYNC_SEND" value="1"/>
+    </load>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
@@ -138,6 +170,16 @@
 
    <define name="THROTTLE_SLEW" value="0.1"/>
 
+    <!-- airspeed control -->
+    <define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
+    <define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
+    <define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+    <define name="AIRSPEED_MAX" value="45"/>
+    <define name="AIRSPEED_MIN" value="14"/>
+
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -191,11 +233,6 @@
     <define name="ROLL_RATE_DGAIN" value="0.0"/>
   </section>
 
- <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="XBEE"/>
-    <define name="DEVICE_ADDRESS" value="...."/>
-  </section>
-
 <!--
  <makefile>
 CONFIG = \"tiny_2_1.h\"
@@ -253,17 +290,6 @@ sim.srcs += nav_line.c nav_survey_rectangle.c
 
   </makefile>
 -->
-  <firmware name="fixedwing">
-    <target name="sim" 			board="pc"/>
-    <target name="ap" 			board="tiny_2.1"/>
-
-    <subsystem name="radio_control"     type="ppm"/>
-    <subsystem name="telemetry" 	type="xbee_api"/>
-    <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
-    <subsystem name="gps" 		type="ublox_lea5h"/>
-    <subsystem name="navigation"/>
-  </firmware>
-
 
 </airframe>
+
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
new file mode 100755
index 0000000000..2c010bd134
--- /dev/null
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -0,0 +1,242 @@
+<!-- this is a mikrokopter frame equiped with Lisa/L and mikrokopter controllers -->
+
+<airframe name="qmk1">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"    no="3" min="0" neutral="0" max="255"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
+  </section>
+
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="3"/>
+    <define name="MAX_MOTOR" value="200"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{  -256,  -256, 256, 256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="32858"/>
+    <define name="GYRO_Q_NEUTRAL" value="33152"/>
+    <define name="GYRO_R_NEUTRAL" value="31779"/>
+    <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32907"/>
+    <define name="ACCEL_Y_NEUTRAL" value="33046"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32830"/>
+    <define name="ACCEL_X_SENS" value="2.57332012257" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.56968772349" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.56894625325" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="58"/>
+    <define name="MAG_Y_NEUTRAL" value="92"/>
+    <define name="MAG_Z_NEUTRAL" value="-3"/>
+    <define name="MAG_X_SENS" value="4.70018395734" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
+    <define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
+
+<!-- old calibration
+    <define name="MAG_X_NEUTRAL" value="30"/>
+    <define name="MAG_Y_NEUTRAL" value="80"/>
+    <define name="MAG_Z_NEUTRAL" value="19"/>
+    <define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
+    <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
+-->
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+
+  </section>
+
+ <section name="AUTOPILOT">
+   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
+ </section>
+
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="-2000"/>
+    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-2000"/>
+    <define name="THETA_DGAIN"  value="-400"/>
+    <define name="THETA_IGAIN"  value="-400"/>
+
+    <define name="PSI_PGAIN"  value="-1000"/>
+    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_IGAIN"  value="-10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="INS" prefix="INS_">
+<!--    <define name="BARO_SENS" value="15." integer="16"/> -->
+    <define name="BARO_SENS" value="10." integer="16"/>
+  </section>
+
+ <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR" value="2000000"/>
+   <define name="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
+   <define name="HOVER_KI"    value="0"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <!--define name="INV_M" value ="0.2"/-->
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+<!-- -->
+ <modules main_freq="512">
+   <load name="vehicle_interface_overo_link.xml"/>
+ </modules>
+<!-- -->
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.0">
+<!--      <define name="BOOZ_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
+    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+  </firmware>
+
+  <firmware name="lisa_l_test_progs">
+    <target name="test_led"   board="lisa_l_1.0"/>
+    <target name="test_uart"   board="lisa_l_1.0"/>
+    <target name="test_servos"   board="lisa_l_1.0"/>
+    <target name="test_telemetry"   board="lisa_l_1.0"/>
+    <target name="test_baro"        board="lisa_l_1.0"/>
+    <target name="test_imu_b2"      board="lisa_l_1.0"/>
+    <target name="test_imu_b2_2"    board="lisa_l_1.0"/>
+    <target name="test_imu_aspirin" board="lisa_l_1.0"/>
+    <target name="test_rc_spektrum" board="lisa_l_1.0"/>
+    <target name="test_rc_ppm"      board="lisa_l_1.0"/>
+    <target name="test_adc"         board="lisa_l_1.0"/>
+    <target name="test_hmc5843"     board="lisa_l_1.0"/>
+    <target name="test_itg3200"     board="lisa_l_1.0"/>
+    <target name="test_adxl345"             board="lisa_l_1.0"/>
+    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
+  </firmware>
+
+  <firmware name="lisa_passthrough">
+    <target name="overo_test_passthrough" board="lisa_l_1.0"  >
+      <param name="HOST"          value="A7"/>
+      <param name="USER"          value=""/>
+      <param name="TARGET_DIR"    value="~"/>
+      <param name="PERIODIC_FREQ" value="512"/>
+    </target>
+    <target name="stm_passthrough" board="lisa_l_1.0">
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="imu" type="b2_v1.1"/>
+    </target>
+ </firmware>
+
+
+</airframe>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
new file mode 100644
index 0000000000..0122b8b518
--- /dev/null
+++ b/conf/settings/tuning_loiter.xml
@@ -0,0 +1,109 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use to tune a new A/C -->
+
+<settings>
+  <dl_settings>
+    <dl_settings NAME="flight params">
+      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
+      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
+    </dl_settings>
+
+    <dl_settings NAME="mode">
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
+      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
+      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"/>
+      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
+
+      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
+        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
+        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+        <key_press key="greater" value="1"/>
+        <key_press key="less" value="-1"/>
+      </dl_setting>
+    </dl_settings>
+
+    <dl_settings NAME="control">
+      <dl_settings NAME="ir">
+        <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
+        <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
+
+        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/>
+        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
+
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
+        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
+
+      </dl_settings>
+
+
+      <dl_settings NAME="attitude">
+        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
+        <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
+        <dl_setting MAX="0" MIN="-50000" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
+        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
+        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
+
+
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
+
+      </dl_settings>
+
+      <dl_settings name="alt">
+        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="auto_throttle">
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
+          <strip_button name="Loiter" value="0.1"/>
+          <strip_button name="Cruise" value="0"/>
+          <strip_button name="Dash" value="1"/>
+        </dl_setting>
+
+
+        <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
+<!-- commented by poine - does anybody use that ?at all ? -->
+        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
+        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
+        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
+      </dl_settings>
+
+      <dl_settings name="auto_pitch">
+        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
+      </dl_settings>
+
+      <dl_settings name="nav">
+        <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
+        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
+        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
+        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
+        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
+        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
+        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
+        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
+        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
+        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
+        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
+        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
+      </dl_settings>
+    </dl_settings>
+  </dl_settings>
+</settings>