diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_214.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_214.xml
index 44d50cf0e8..d8ce964308 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_214.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2_214.xml
@@ -3,25 +3,25 @@
   <section name="IMU" prefix="IMU_">
 
     <!-- Accelerometer calibration -->
-    <define name="ACCEL_X_NEUTRAL" value="-55"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-23"/>
-    <define name="ACCEL_Z_NEUTRAL" value="167"/>
-    <define name="ACCEL_X_SENS" value="2.44458087869" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.44890407802" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.42513322403" integer="16"/>
+    <define name="ACCEL_X_NEUTRAL" value="-67"/>
+    <define name="ACCEL_Y_NEUTRAL" value="-19"/>
+    <define name="ACCEL_Z_NEUTRAL" value="219"/>
+    <define name="ACCEL_X_SENS" value="2.44402019869" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.44875128187" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.42587369757" integer="16"/>
 
     <!-- Magnetometer calibration -->
-    <define name="MAG_X_NEUTRAL" value="-102"/>
-    <define name="MAG_Y_NEUTRAL" value="-352"/>
-    <define name="MAG_Z_NEUTRAL" value="-253"/>
-    <define name="MAG_X_SENS" value="8.33898133234" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.07996703412" integer="16"/>
-    <define name="MAG_Z_SENS" value="6.37318453861" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="-68"/>
+    <define name="MAG_Y_NEUTRAL" value="-333"/>
+    <define name="MAG_Z_NEUTRAL" value="-305"/>
+    <define name="MAG_X_SENS" value="8.27980230766" integer="16"/>
+    <define name="MAG_Y_SENS" value="8.37184374456" integer="16"/>
+    <define name="MAG_Z_SENS" value="6.60725149679" integer="16"/>
 
     <!-- Magnetometer current calibration -->
-    <define name= "MAG_X_CURRENT_COEF" value="-0.00471194351216"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="0.00278784113365"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-0.000305781405045"/>
+    <define name= "MAG_X_CURRENT_COEF" value="-0.00284737868011"/>
+    <define name= "MAG_Y_CURRENT_COEF" value="0.00240832136469"/>
+    <define name= "MAG_Z_CURRENT_COEF" value="-0.000908830770325"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2a.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2a.xml
deleted file mode 100644
index 577a10b306..0000000000
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2a.xml
+++ /dev/null
@@ -1,223 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   ELLE0 1.2 with STM32F4    http://wiki.paparazziuav.org/wiki/ELLE0
-     * IMU:         MPU9250 & MS5611          http://wiki.paparazziuav.org/wiki/ELLE0#IMU
-     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
-     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
-     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="TeensyFly Quad Elle0 v1_2a">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="elle0_1.2">
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_MODE"        value="RADIO_FLAP"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="elle0"/>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-
-    <module name="send_imu_mag_current"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="nav" type="survey_rectangle_rotorcraft">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </module>
-
-    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
-  </firmware>
-
-
-  <servos driver="Pwm">
-    <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="2000"/>
-    <servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_RIGHT"  no="2" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_LEFT"   no="3" min="1000" neutral="1100" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL"  value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW"   value="0"/>
-    <define name="NB_MOTOR"   value="4"/>
-    <define name="SCALE"      value="256"/>
-    <!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
-    <define name="ROLL_COEF"   value="{  256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF"  value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF"    value="{ -144,  144, -144,  144 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"  value="motor_mixing.commands[0]"/>
-    <set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BACK_RIGHT"  value="motor_mixing.commands[2]"/>
-    <set servo="BACK_LEFT"   value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-
-    <!-- Accelerometer calibration -->
-    <define name="ACCEL_X_NEUTRAL" value="-53"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-10"/>
-    <define name="ACCEL_Z_NEUTRAL" value="13"/>
-    <define name="ACCEL_X_SENS" value="2.44427442675" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.45085830533" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.42961472475" integer="16"/>
-
-    <!-- Magnetometer calibration -->
-    <define name="MAG_X_NEUTRAL" value="114"/>
-    <define name="MAG_Y_NEUTRAL" value="-596"/>
-    <define name="MAG_Z_NEUTRAL" value="60"/>
-    <define name="MAG_X_SENS" value="9.62237756981" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.07172424255" integer="16"/>
-    <define name="MAG_Z_SENS" value="7.17342108751" integer="16"/>
-
-    <!-- Magnetometer current calibration -->
-    <define name= "MAG_X_CURRENT_COEF" value="-0.00118863160987"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="0.00188133273043"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-0.000581966610048"/>
-
-    <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>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.36852472"/>
-    <define name="H_Y" value="0.10300471"/>
-    <define name="H_Z" value="0.9238937"/>
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="30." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="30." unit="deg"/>
-    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="DEADBAND_A"     value="0"/>
-    <define name="DEADBAND_E"     value="0"/>
-    <define name="DEADBAND_R"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="750"/>
-    <define name="PHI_DGAIN"  value="300"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="750"/>
-    <define name="THETA_DGAIN"  value="300"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="2820"/>
-    <define name="PSI_DGAIN"  value="1536"/>
-    <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="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED"   value="1.5" />
-    <define name="DESCEND_VSPEED" value="-1.0" />
-  </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="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
-    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE"    value="4"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <!-- TOGGLE STATES -->
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"   value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"   value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
-    <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="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL"             value="12.4" unit="V"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ICONS_THEME"         value="flat_theme"/>
-    <define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
-    <define name="ALT_SHIFT_PLUS"      value="10"/>
-    <define name="ALT_SHIFT_MINUS"     value="-10"/>
-    <define name="SPEECH_NAME"         value="Teensy Fly Quad Elle0 v1_2a"/>
-    <define name="AC_ICON"             value="quadrotor_x"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2b.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2b.xml
deleted file mode 100644
index 36c662a5e6..0000000000
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2b.xml
+++ /dev/null
@@ -1,223 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   ELLE0 1.2 with STM32F4    http://wiki.paparazziuav.org/wiki/ELLE0
-     * IMU:         MPU9250 & MS5611          http://wiki.paparazziuav.org/wiki/ELLE0#IMU
-     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
-     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
-     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="TeensyFly Quad Elle0 v1_2b">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="elle0_1.2">
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_MODE"        value="RADIO_FLAP"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="elle0"/>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-
-    <module name="send_imu_mag_current"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="nav" type="survey_rectangle_rotorcraft">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </module>
-
-    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
-  </firmware>
-
-
-  <servos driver="Pwm">
-    <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="2000"/>
-    <servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_RIGHT"  no="2" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_LEFT"   no="3" min="1000" neutral="1100" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL"  value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW"   value="0"/>
-    <define name="NB_MOTOR"   value="4"/>
-    <define name="SCALE"      value="256"/>
-    <!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
-    <define name="ROLL_COEF"   value="{  256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF"  value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF"    value="{ -144,  144, -144,  144 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"  value="motor_mixing.commands[0]"/>
-    <set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BACK_RIGHT"  value="motor_mixing.commands[2]"/>
-    <set servo="BACK_LEFT"   value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-
-    <!-- Accelerometer calibration -->
-    <define name="ACCEL_X_NEUTRAL" value="-105"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-71"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-329"/>
-    <define name="ACCEL_X_SENS" value="2.44835524329" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.4507612688" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.41133261482" integer="16"/>
-
-    <!-- Magnetometer calibration -->
-    <define name="MAG_X_NEUTRAL" value="-28"/>
-    <define name="MAG_Y_NEUTRAL" value="-243"/>
-    <define name="MAG_Z_NEUTRAL" value="176"/>
-    <define name="MAG_X_SENS" value="9.48837576047" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.84361654773" integer="16"/>
-    <define name="MAG_Z_SENS" value="7.59864656662" integer="16"/>
-
-    <!-- Magnetometer current calibration -->
-    <define name= "MAG_X_CURRENT_COEF" value="-0.002616138231"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="0.00334020213634"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="0.00758478782222"/>
-
-    <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>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.36852472"/>
-    <define name="H_Y" value="0.10300471"/>
-    <define name="H_Z" value="0.9238937"/>
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="30." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="30." unit="deg"/>
-    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="DEADBAND_A"     value="0"/>
-    <define name="DEADBAND_E"     value="0"/>
-    <define name="DEADBAND_R"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="750"/>
-    <define name="PHI_DGAIN"  value="300"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="750"/>
-    <define name="THETA_DGAIN"  value="300"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="2820"/>
-    <define name="PSI_DGAIN"  value="1536"/>
-    <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="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED"   value="1.5" />
-    <define name="DESCEND_VSPEED" value="-1.0" />
-  </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="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
-    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE"    value="4"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <!-- TOGGLE STATES -->
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"   value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"   value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
-    <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="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL"             value="12.4" unit="V"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ICONS_THEME"         value="flat_theme"/>
-    <define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
-    <define name="ALT_SHIFT_PLUS"      value="10"/>
-    <define name="ALT_SHIFT_MINUS"     value="-10"/>
-    <define name="SPEECH_NAME"         value="Teensy Fly Quad Elle0 v1_2b"/>
-    <define name="AC_ICON"             value="quadrotor_x"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2c.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2c.xml
deleted file mode 100644
index 0d5f8c9fb8..0000000000
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0_v1_2c.xml
+++ /dev/null
@@ -1,223 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- this is a quadrotor frame in X-configuration equiped with
-     * Autopilot:   ELLE0 1.2 with STM32F4    http://wiki.paparazziuav.org/wiki/ELLE0
-     * IMU:         MPU9250 & MS5611          http://wiki.paparazziuav.org/wiki/ELLE0#IMU
-     * Actuators:   PWM motor controllers     http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
-     * GPS:         Ublox                     http://wiki.paparazziuav.org/wiki/Subsystem/gps
-     * RC:          two Spektrum sats         http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
--->
-
-<airframe name="TeensyFly Quad Elle0 v1_2c">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="elle0_1.2">
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_MODE"        value="RADIO_FLAP"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-    </module>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-    </module>
-
-    <module name="telemetry"     type="transparent"/>
-    <module name="imu"           type="elle0"/>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-
-    <module name="send_imu_mag_current"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="nav" type="survey_rectangle_rotorcraft">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </module>
-
-    <!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
-  </firmware>
-
-
-  <servos driver="Pwm">
-    <servo name="FRONT_LEFT"  no="0" min="1000" neutral="1100" max="2000"/>
-    <servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_RIGHT"  no="2" min="1000" neutral="1100" max="2000"/>
-    <servo name="BACK_LEFT"   no="3" min="1000" neutral="1100" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL"  value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW"   value="0"/>
-    <define name="NB_MOTOR"   value="4"/>
-    <define name="SCALE"      value="256"/>
-    <!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
-    <define name="ROLL_COEF"   value="{  256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF"  value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF"    value="{ -144,  144, -144,  144 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"  value="motor_mixing.commands[0]"/>
-    <set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BACK_RIGHT"  value="motor_mixing.commands[2]"/>
-    <set servo="BACK_LEFT"   value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-
-    <!-- Accelerometer calibration -->
-    <define name="ACCEL_X_NEUTRAL" value="-55"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-23"/>
-    <define name="ACCEL_Z_NEUTRAL" value="167"/>
-    <define name="ACCEL_X_SENS" value="2.44458087869" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.44890407802" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.42513322403" integer="16"/>
-
-    <!-- Magnetometer calibration -->
-    <define name="MAG_X_NEUTRAL" value="-102"/>
-    <define name="MAG_Y_NEUTRAL" value="-352"/>
-    <define name="MAG_Z_NEUTRAL" value="-253"/>
-    <define name="MAG_X_SENS" value="8.33898133234" integer="16"/>
-    <define name="MAG_Y_SENS" value="8.07996703412" integer="16"/>
-    <define name="MAG_Z_SENS" value="6.37318453861" integer="16"/>
-
-    <!-- Magnetometer current calibration -->
-    <define name= "MAG_X_CURRENT_COEF" value="-0.00471194351216"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="0.00278784113365"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-0.000305781405045"/>
-
-    <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>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.36852472"/>
-    <define name="H_Y" value="0.10300471"/>
-    <define name="H_Z" value="0.9238937"/>
-  </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="30." unit="deg"/>
-    <define name="SP_MAX_THETA"   value="30." unit="deg"/>
-    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="DEADBAND_A"     value="0"/>
-    <define name="DEADBAND_E"     value="0"/>
-    <define name="DEADBAND_R"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="250" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="750"/>
-    <define name="PHI_DGAIN"  value="300"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="750"/>
-    <define name="THETA_DGAIN"  value="300"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="2820"/>
-    <define name="PSI_DGAIN"  value="1536"/>
-    <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="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.63"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED"   value="1.5" />
-    <define name="DESCEND_VSPEED" value="-1.0" />
-  </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="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
-    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE"    value="4"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <!-- TOGGLE STATES -->
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1"   value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"   value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="3920" />
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="39200"/>
-    <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="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL"             value="12.4" unit="V"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ICONS_THEME"         value="flat_theme"/>
-    <define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
-    <define name="ALT_SHIFT_PLUS"      value="10"/>
-    <define name="ALT_SHIFT_MINUS"     value="-10"/>
-    <define name="SPEECH_NAME"         value="Teensy Fly Quad Elle0 v1_2c"/>
-    <define name="AC_ICON"             value="quadrotor_x"/>
-  </section>
-
-</airframe>