diff --git a/conf/airframes/twinstar5.xml b/conf/airframes/twinstar5.xml
index 0b9ff77e25..544ae305f9 100644
--- a/conf/airframes/twinstar5.xml
+++ b/conf/airframes/twinstar5.xml
@@ -113,6 +113,9 @@
   <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/classix_proto1.makefile
 
+fbw.CFLAGS += -DFBW -DCONFIG=\"classix_proto1.h\" -DLED -DTIME_LED=1
+fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
+
 fbw.srcs += commands.c
 
 fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
@@ -125,11 +128,16 @@ fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLI
 fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
 
 fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+
 fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
 
 fbw.srcs += $(SRC_ARCH)/adc_hw.c
 
 
+
+ap.CFLAGS += -DAP -DCONFIG=\"classix_proto1.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap_2.c main.c
+
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0
 ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
 
diff --git a/conf/airframes/twinstar6.xml b/conf/airframes/twinstar6.xml
new file mode 100644
index 0000000000..f3edbed8ba
--- /dev/null
+++ b/conf/airframes/twinstar6.xml
@@ -0,0 +1,153 @@
+<airframe name="Twinstar six">
+
+  <servos>
+    <servo name="GAZ"           no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILERON_LEFT"  no="0" min="1000" neutral="1500" max="2000"/>
+    <servo name="AILERON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
+    <servo name="ELEVATOR"      no="6" min="1000" neutral="1500" max="2000"/>
+    <servo name="RUDDER"        no="7" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_ROLL"      no="8" min="1000" neutral="1500" max="2000"/>
+    <servo name="CAM_PITCH"     no="4" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <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="CAM_ROLL"  failsafe_value="0"/>
+    <axis name="CAM_PITCH" failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+    <set command="YAW"      value="@YAW"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILERON_DIFF" value="0.66"/>
+    <define name="COMBI_SWITCH" value="1.0"/>
+  </section>
+
+  <command_laws>
+    <set servo="GAZ" value="@THROTTLE"/>
+    <set servo="ELEVATOR" value="@PITCH"/>
+    <let var="roll" value="@ROLL"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
+    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
+    <set servo="CAM_ROLL" value="@CAM_ROLL"/>
+    <set servo="CAM_PITCH" value="@CAM_PITCH"/>
+  </command_laws>
+
+
+  <section name="INFRARED" prefix="IR_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
+    <define name="DEFAULT_CONTRAST" value="200"/>
+    <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
+    <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
+    <linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
+    <define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
+    <define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
+    <define name="ADC_ROLL_NEUTRAL" value="-1026"/>
+    <define name="ADC_PITCH_NEUTRAL" value="5"/>
+  </section>
+ 
+  <section name="PID">
+    <define name="ROLL_PGAIN" value="10000."/>
+    <define name="PITCH_OF_ROLL" value="0.0"/>
+    <define name="PITCH_PGAIN" value="15000."/>
+    <define name="MAX_ROLL" value="0.35"/>
+    <define name="MAX_PITCH" value="0.35"/>
+    <define name="MIN_PITCH" value="-0.35"/>
+    <define name="AILERON_OF_GAZ" value="0.0"/>
+  </section>
+ 
+  <section name="ALT" prefix="CLIMB_">
+    <define name="PITCH_PGAIN" value="-0.1"/>
+    <define name="PITCH_IGAIN" value="0.025"/>
+    <define name="PGAIN" value="-0.03"/>
+    <define name="IGAIN" value="0.1"/>
+    <define name="MAX" value="1."/>
+    <define name="LEVEL_GAZ" value="0.31"/>
+    <define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
+    <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
+  </section>
+ 
+  <section name="NAV">
+    <define name="COURSE_PGAIN" value="-0.2"/>
+    <define name="ALTITUDE_PGAIN" value="-0.025"/>
+    <define name="NAV_PITCH" value="0."/>
+  </section>
+ 
+  <section name="BAT">
+    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+    <define name="VOLTAGE_ADC_A" value="0.0175"/>
+    <define name="VOLTAGE_ADC_B" value="0.088"/>
+    <define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
+    <define name="LOW_BATTERY" value="93" unit="1e-1V"/>
+  </section>
+ 
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+  </section>
+ 
+  <section name="SIMU">
+    <define name="ROLL_RESPONSE_FACTOR" value="2."/>
+    <define name="YAW_RESPONSE_FACTOR" value="1.25"/>
+    <define name="WEIGHT" value="1.3"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_GAZ" value="CLIMB_LEVEL_GAZ+0.05" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
+    <define name="HOME_RADIUS" value="50" unit="m"/>
+  </section>
+
+  <makefile>
+include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
+
+fbw.srcs += commands.c
+
+fbw.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
+fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
+
+fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
+fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
+
+fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
+fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
+
+fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
+fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
+
+fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+
+fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
+
+fbw.srcs += $(SRC_ARCH)/adc_hw.c
+
+
+ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap_2.c main.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0
+ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
+
+ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
+ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
+ap.srcs += gps_ubx.c gps.c
+
+ap.CFLAGS += -DADC -DUSE_AD0_3
+ap.srcs += $(SRC_ARCH)/adc_hw.c 
+
+  </makefile>
+</airframe>