diff --git a/conf/airframes/AGGIEAIR/ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
similarity index 94%
rename from conf/airframes/AGGIEAIR/ark_hexa_1-8.xml
rename to conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
index 6d87049c2b..caea43e863 100644
--- a/conf/airframes/AGGIEAIR/ark_hexa_1-8.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
@@ -1,10 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!--
-ARK RT
+Aggie Air ARK
 -->
 
-<airframe name="Quadrotor LisaMX_2.1 pwm">
+<airframe name="ARK Hexarotor 1.8">
 
   <firmware name="rotorcraft">
 
@@ -12,6 +12,8 @@ ARK RT
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="FLASH_MODE" value="DFU"/>
     </target>
 
     <!-- NOTE: if you want to use extra_dl module for HITL
@@ -49,12 +51,23 @@ ARK RT
 
   <modules>
     <module name="sys_mon"/>
+    <module name="copilot"/>
     <module name="extra_dl">
       <!-- in order to use uart1 without chibios we need to remap the peripheral-->
       <define name="REMAP_UART1" value="TRUE"/>
       <configure name="EXTRA_DL_PORT" value="UART1"/>
       <configure name="EXTRA_DL_BAUD" value="B921600"/>
     </module>
+    <module name="lidar_sf11">
+      <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
+    </module>
+    <!--module name="battery_monitor.xml">
+      <define name="BATMON_REV4" value="1"/>
+      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
+      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
+      <define name="BATMON_TEMP_OFFSET" value="250"/>
+      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
+    </module-->
   </modules>
 
   <!--These values are set for the Castle Creations HV Lite 60A ESCs-->
diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lia.xml b/conf/airframes/AGGIEAIR/aggieair_ark_quad_lia.xml
deleted file mode 100644
index 50f21db030..0000000000
--- a/conf/airframes/AGGIEAIR/aggieair_ark_quad_lia.xml
+++ /dev/null
@@ -1,238 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="Quadrotor Lia pwm">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lia_1.1_chibios">
-      <module name="radio_control" type="sbus">
-        <configure name="SBUS_PORT" value="UART5"/>
-      </module>
-    </target>
-
-    <configure name="PERIODIC_FREQUENCY" value="160"/>
-
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <!--configure name="USE_HITL" value="1"/-->
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B921600"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-    </target>
-
-    <module name="stabilization" type="int_quat"/>
-
-    <module name="motor_mixing"/>
-    <module name="actuators"     type="pwm">
-      <define name="SERVO_HZ" value="PERIODIC_FREQUENCY"/>
-    </module>
-
-    <module name="telemetry"   type="transparent">
-      <configure name="MODEM_PORT"        value="UART3"/>
-      <configure name="MODEM_BAUD"        value="B57600"/>
-    </module>
-
-    <module name="ins"       type="vectornav">
-      <configure name="VN_PORT" value="UART2"/>
-      <configure name="VN_BAUD" value="B921600"/>
-    </module>
-
-    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
-  </firmware>
-
-
-  <modules>
-    <module name="sys_mon"/>
-    <module name="extra_dl">
-      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
-      <define name="REMAP_UART1" value="TRUE"/>
-      <configure name="EXTRA_DL_PORT" value="UART1"/>
-      <configure name="EXTRA_DL_BAUD" value="B921600"/>
-    </module>
-    <module name="lidar_lite">
-      <configure name="LIDAR_LITE_I2C_DEV" value="i2c2"/>
-    </module>
-    <module name="battery_monitor.xml">
-      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
-      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
-      <define name="BATMON_TEMP_OFFSET" value="250"/>
-      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
-    </module>
-  </modules>
-
-    <servos driver="Pwm">
-    <servo name="FL" no="0" min="1000" neutral="1100" max="1900"/>
-    <servo name="FR" no="1" min="1000" neutral="1100" max="1900"/>
-    <servo name="BR" no="2" min="1000" neutral="1100" max="1900"/>
-    <servo name="BL" no="3" min="1000" neutral="1100" max="1900"/>
-  </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_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="-179"/>
-    <define name="MAG_Y_NEUTRAL" value="-21"/>
-    <define name="MAG_Z_NEUTRAL" value="79"/>
-    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
-
-    <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="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" value="140" unit="deg/s"/>
-    <define name="SP_MAX_Q" value="140" unit="deg/s"/>
-    <define name="SP_MAX_R" value="140" unit="deg/s"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="800"/>
-    <define name="GAIN_Q" value="800"/>
-    <define name="GAIN_R" value="700"/>
-
-    <define name="IGAIN_P" value="240"/>
-    <define name="IGAIN_Q" value="240"/>
-    <define name="IGAIN_R" value="160"/>
-  </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="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="1000"/>
-    <define name="PHI_DGAIN"  value="400"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="1000"/>
-    <define name="THETA_DGAIN"  value="400"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="500"/>
-    <define name="PSI_DGAIN"  value="300"/>
-    <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="0.5"/>
-    <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="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"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_THROTTLE" value="0"/>
-    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
-
-    <define name="JS_AXIS_ROLL" value="1"/>
-
-    <define name="JS_AXIS_PITCH" value="2"/>
-    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>
-
-    <define name="JS_AXIS_YAW" value="3"/>
-    <define name="JS_AXIS_YAW_REVERSED" value="1"/>
-
-    <define name="JS_AXIS_MODE" value="7"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <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">
-    <!-- Flight values -->
-    <!--
-    <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"/>
-    -->
-
-    <!-- Simulator values -->
-    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
-    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay.xml b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
new file mode 100644
index 0000000000..8c76981b3e
--- /dev/null
+++ b/conf/airframes/AGGIEAIR/aggieair_blujay.xml
@@ -0,0 +1,301 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+AggieAir Blujayujay
+-->
+
+<airframe name="Bl">
+
+  <firmware name="fixedwing">
+    <target name="ap" board="lisa_mx_2.1">
+      <module name="radio_control" type="sbus">
+        <configure name="SBUS_PORT" value="UART5"/>
+      </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
+      <configure name="FLASH_MODE" value="DFU"/>
+    </target>
+
+    <!-- NOTE: if you want to use extra_dl module for HITL
+    you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
+    <configure name="PERIODIC_FREQUENCY" value="100"/>
+    <define name="CONTROL_FREQUENCY" value="100"/>
+    <configure name="TELEMETRY_FREQUENCY" value="100"/>
+    <define name="SERVO_HZ" value="100"/>
+
+    <target name="nps" board="pc">
+      <module name="fdm" type="jsbsim"/>
+      <module name="radio_control" type="spektrum"/>
+      <configure name="USE_HITL" value="1"/>
+      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
+      <configure name="INS_BAUD" value="B921600"/>
+      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
+      <configure name="AP_BAUD" value="B921600"/>
+    </target>
+
+    <module name="control"/>
+    <module name="navigation"/>
+
+    <module name="telemetry"   type="transparent">
+      <configure name="MODEM_PORT"        value="UART3"/>
+      <configure name="MODEM_BAUD"        value="B115200"/>
+    </module>
+
+    <module name="ins"       type="vectornav">
+      <configure name="VN_PORT" value="UART2"/>
+      <configure name="VN_BAUD" value="B921600"/>
+    </module>
+
+    <define name="AGR_CLIMB" />
+    <define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
+    <define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
+  </firmware>
+
+  <modules>
+    <module name="nav" type="line"/>
+    <module name="nav" type="flower"/>
+    <module name="nav" type="survey_poly_osam"/>
+    <module name="nav" type="launcher"/>
+    <module name="nav" type="skid_landing"/>
+    <module name="sys_mon"/>
+    <module name="copilot"/>
+    <module name="extra_dl">
+      <!-- in order to use uart1 without chibios we need to remap the peripheral-->
+      <define name="REMAP_UART1" value="TRUE"/>
+      <configure name="EXTRA_DL_PORT" value="UART1"/>
+      <configure name="EXTRA_DL_BAUD" value="B921600"/>
+    </module>
+    <module name="lidar_sf11">
+      <configure name="LIDAR_SF11_I2C_DEV" value="i2c2"/>
+    </module>
+    <!--module name="battery_monitor.xml">
+      <define name="BATMON_REV4" value="1"/>
+      <define name="BATMON_CURRENT_OFFSET" value="-120"/>
+      <define name="BATMON_CURRENT_SENSITIVITY" value="25.6"/>
+      <define name="BATMON_TEMP_OFFSET" value="250"/>
+      <define name="BATMON_TEMP_SENSITIVITY" value="10"/>
+    </module-->
+  </modules>
+
+  <!-- commands section -->
+  <!-- Servo Configuration -->
+  <servos>
+    <servo name="FLAP" no="0" min="900" neutral="1500" max="2100"/>
+    <servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
+    <servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
+    <servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
+    <servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
+    <servo name="THROTTLE" no="5" min="1100" neutral="1100" max="1900"/>
+  </servos>
+
+  <!-- Servo Command Structure -->
+  <commands>
+    <axis name="THROTTLE"   failsafe_value="0"/>
+    <axis name="ROLL"       failsafe_value="0"/>
+    <axis name="PITCH"      failsafe_value="0"/>
+    <axis name="YAW"          failsafe_value="0"/>
+    <axis name="FLAP"         failsafe_value="0"/>
+  </commands>
+
+  <!-- RC Command Structure -->
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"	value="@YAW"/>
+    <set command="FLAP"     value="@FLAP"/>
+  </rc_commands>
+
+  <!-- Define RC commands to Servo in Auto Mode -->
+  <auto_rc_commands>
+    <set command="YAW"  value="@YAW"/>
+    <set command="FLAP"     value="@FLAP"/>
+  </auto_rc_commands>
+
+  <!-- Define Mixing Parameters -->
+  <section name="MIXER">
+    <define name="AILERON_AILERON_RATE" value="0.9"/>
+    <define name="ELEV_ELEV_RATE" value="0.8"/>
+  </section>
+
+  <!-- Define RC commands to Servos in Manual -->
+  <command_laws>
+    <let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
+
+    <set servo="THROTTLE"       value="@THROTTLE"/>
+    <set servo="AILERON_RIGHT"      value="$aileron"/>  <!--flip signs if necessary -->
+    <set servo="AILERON_LEFT"     value=" - $aileron"/>
+    <set servo="ELEVATOR"       value="$elevator"/>
+    <set servo="RUDDER"         value="@YAW"/>
+    <set servo="FLAP"       value="@FLAP"/>
+  </command_laws>
+
+  <!-- Define Max Roll and Pitch setpoints in Auto1 -->
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.7"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <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"/>
+
+    <!-- Dummy Mag values for NPS -
+         replace with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+  </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="MISC">
+    <define name="NOMINAL_AIRSPEED"   value="16."     unit="m/s"/> <!-- GCS only -->
+    <define name="CARROT"             value="5."  unit="s"/>   <!-- GCS only -->
+    <define name="KILL_MODE_DISTANCE"   value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.136"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
+    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>    
+    
+      <!--New Landing V_CTL_loop --> 
+    <define name="LANDING_THROTTLE_PGAIN" value="600"/>
+	  <define name="LANDING_THROTTLE_IGAIN" value="30"/>
+	  <define name="LANDING_THROTTLE_MAX" value="0.60" unit="%"/>
+	  <define name="LANDING_DESIRED_SPEED" value="18.00" unit="(m/s)"/>
+	  <define name="LANDING_PITCH_PGAIN" value="0.3"/>
+	  <define name="LANDING_PITCH_IGAIN" value="0.0130"/>
+	  <define name="LANDING_PITCH_LIMITS" value="0.2000" unit="rad"/>
+	  <define name="LANDING_PITCH_FLARE" value="0.15000" unit="rad"/>
+    <define name="LANDING_ALT_THROTTLE_KILL" value="6" unit="m"/>
+    <define name="LANDING_ALT_FLARE" value="3" unit="m"/> 
+    <define name="USE_LIDAR" value="TRUE"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="1.33"/>
+    <define name="COURSE_DGAIN" value="0."/>
+    <define name="ROLL_MAX_SETPOINT" value="0.575959" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
+    <define name="PITCH_PGAIN" value="12900."/>   
+    
+    <!-- ORIGINAL GAIN-->
+    <define name="PITCH_DGAIN" value="1.5"/>
+    
+    <!-- SIMULATOR GAIN 
+    <define name="PITCH_DGAIN" value="151.5"/>
+    -->
+    <define name="ELEVATOR_OF_ROLL" value="1250"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000"/>
+    <define name="ROLL_RATE_GAIN" value="1600"/>
+    <define name="ROLL_SLEW" value="0.1"/>
+    <define name="ELE_IGAIN" value="0."/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.1"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0" 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>
+
+  <!-- Launcher Takeoff Configuration -->
+  <section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
+    <define name="PITCH" value="0.23" unit="rad"/>
+    <define name="HEIGHT" value="70" unit="m"/>
+    <define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
+    <define name="DISTANCE" value="30" unit="m"/>
+    <define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
+  </section>
+
+  <!-- Skid Landing Configuration -->
+  <section name="LANDING" prefix="SKID_LANDING_">
+    <define name="AF_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_HEIGHT" value="50" unit="m"/>
+    <define name="FINAL_STAGE_TIME" value="10" unit="s"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="JSBSIM_LAUNCHSPEED" value="25"/>
+    <define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
+    <define name="JS_AXIS_THROTTLE" value="0"/>
+    <define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_ROLL" value="1"/>
+
+    <define name="JS_AXIS_PITCH" value="2"/>
+    <define name="JS_AXIS_PITCH_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_YAW" value="3"/>
+    <define name="JS_AXIS_YAW_REVERSED" value="1"/>
+
+    <define name="JS_AXIS_FLAPS" value="5"/>
+    <define name="JS_AXIS_MODE" value="7"/>
+
+    <define name="JSBSIM_ROLL_TRIM" value="0.008"/>
+    <define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
+    <define name="JSBSIM_YAW_TRIM" value="0.001"/>
+  </section>
+
+  <!-- Define current estimator and Battery Level Warnings -->
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
+    <define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
+
+    <!-- Flight values -->
+    <!--
+    <define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
+    -->
+
+    <!-- Simulator values -->
+    <define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
+    <define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
index 28794ae253..840a9a99fa 100644
--- a/conf/airframes/AGGIEAIR/aggieair_conf.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -1,4 +1,15 @@
 <conf>
+  <aircraft
+   name="Ark_Hexa_1.8"
+   ac_id="4"
+   airframe="airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
+   settings="settings/rotorcraft_basic.xml settings/nps.xml"
+   settings_modules="modules/lidar_sf11.xml modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
+   gui_color="#ffff954c0000"
+  />
   <aircraft
    name="Ark_Quad"
    ac_id="2"
@@ -11,15 +22,15 @@
    gui_color="#ffff954c0000"
   />
   <aircraft
-   name="Ark_Quad_Lia"
-   ac_id="4"
-   airframe="airframes/AGGIEAIR/aggieair_ark_quad_lia.xml"
+   name="Blujay"
+   ac_id="6"
+   airframe="airframes/AGGIEAIR/aggieair_blujay.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
-   telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
-   settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
-   gui_color="#ffff954c0000"
+   telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
+   flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
+   settings="settings/fixedwing_basic.xml settings/nps.xml"
+   settings_modules="modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   gui_color="#00009e93ffff"
   />
   <aircraft
    name="ECU"
@@ -34,7 +45,7 @@
   />
   <aircraft
    name="Iris"
-   ac_id="66"
+   ac_id="5"
    airframe="airframes/AGGIEAIR/aggieair_iris_indi.xml"
    radio="radios/AGGIEAIR/aggieair_FrSky3dr.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_iris.xml"
@@ -44,9 +55,9 @@
    gui_color="#337e387bffff"
   />
   <aircraft
-   name="Minion_Lia"
+   name="Minion_RP3"
    ac_id="1"
-   airframe="airframes/AGGIEAIR/aggieair_rp3_lia.xml"
+   airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index f2ebf14fab..3ffe2d87d3 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -12,7 +12,7 @@
 
   <firmware name="rotorcraft">
 
-    <target name="ap" board="px4fmu_2.4_chibios" />
+    <target name="ap" board="px4fmu_2.4" />
       <configure name="PERIODIC_FREQUENCY" value="200"/>
       <configure name="TELEMETRY_FREQUENCY" value="60"/>
 
@@ -126,7 +126,7 @@
 
   <modules main_freq="PERIODIC_FREQUENCY">
     <!-- allow flashing FBW target through AP -->
-    <!--module name="px4_flash"/-->
+    <module name="px4_flash"/>
 
     <!-- CPU utilization monitor -->
     <module name="sys_mon"/>
diff --git a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
similarity index 99%
rename from conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
rename to conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
index 5316b543f5..513cf85d26 100644
--- a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
@@ -1,10 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!--
-RP3 Lisa MX
+AggieAir RP3 Minion
 -->
 
-<airframe name="RP3 Lisa MX">
+<airframe name="Minion PR3">
 
   <firmware name="fixedwing">
     <target name="ap" board="lisa_mx_2.1">
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 9aa8dc6aae..457bb9a3cc 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -112,12 +112,12 @@
   <aircraft
    name="Minion_Lia"
    ac_id="42"
-   airframe="airframes/AGGIEAIR/aggieair_rp3_lia.xml"
+   airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules=""
    gui_color="#00009e93ffff"
   />
   <aircraft
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 1624342c9d..7e3949fc26 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -2,12 +2,12 @@
   <aircraft
    name="Ark_Quad"
    ac_id="41"
-   airframe="airframes/AGGIEAIR/ark_hexa_1-8.xml"
+   airframe="airframes/AGGIEAIR/aggieair_ark_quad_lisa_mx.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/nps.xml"
-   settings_modules="modules/gps.xml modules/stabilization_float_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
+   settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
    gui_color="#ffff954c0000"
   />
   <aircraft
@@ -233,12 +233,12 @@
   <aircraft
    name="Minion_Lia"
    ac_id="42"
-   airframe="airframes/AGGIEAIR/aggieair_rp3_lia.xml"
+   airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules=""
    gui_color="#00009e93ffff"
   />
   <aircraft
diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml
index 79377ac88e..8738d4ffc4 100644
--- a/conf/conf_tests_coverity.xml
+++ b/conf/conf_tests_coverity.xml
@@ -211,12 +211,12 @@
   <aircraft
    name="Minion_Lia"
    ac_id="42"
-   airframe="airframes/AGGIEAIR/aggieair_rp3_lia.xml"
+   airframe="airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
    settings="settings/fixedwing_basic.xml settings/nps.xml"
-   settings_modules="modules/lidar_lite.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
+   settings_modules=""
    gui_color="#00009e93ffff"
   />
   <aircraft