diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index cb1d171c40..2af70572de 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -3,11 +3,14 @@
 <airframe name="bebop_indi">
 
   <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
+    <target name="ap" board="bebop">
+      <define name="STABILIZATION_INDI_G2_R" value="0.1450"/>
+    </target>
 
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
       <module name="udp"/>
+      <define name="STABILIZATION_INDI_G2_R" value="0.0"/>
     </target>
 
     <!--define name="USE_SONAR" value="TRUE"/-->
@@ -154,7 +157,6 @@
     <define name="G1_P" value="0.0639"/>
     <define name="G1_Q" value="0.0361"/>
     <define name="G1_R" value="0.0022"/>
-    <define name="G2_R" value="0.1450"/>
 
     <!-- reference acceleration for attitude control -->
     <define name="REF_ERR_P" value="600.0"/>
@@ -215,8 +217,6 @@
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/BR/bebop_indi_frog2.xml b/conf/airframes/BR/bebop_indi_frog2.xml
deleted file mode 100644
index 3a204d3bc8..0000000000
--- a/conf/airframes/BR/bebop_indi_frog2.xml
+++ /dev/null
@@ -1,225 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop_indi">
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="udp"/>
-    </target>
-
-    <!--define name="USE_SONAR" value="TRUE"/-->
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="bebop"/>
-    <module name="imu" type="bebop"/>
-    <module name="gps" type="furuno"/>
-    <module name="stabilization" type="indi"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
-    <!--module name="logger_file">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </module-->
-    <module name="video_thread">
-      <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
-      <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
-    </module>
-    <module name="cv_blob_locator"/>
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
-    </module>
-    <module name="nav" type="survey_rectangle_rotorcraft">
-      <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
-    </module>
-    <module name="nav" type="survey_poly_rotorcraft">
-      <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
-    </module>
-    <module name="digital_cam_video">
-      <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
-    </module>
-    <module name="video_exif"/>
-  </modules>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="6000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_RIGHT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_LEFT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <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="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-  </command_laws>
-
-  <section name="AIR_DATA" prefix="AIR_DATA_">
-    <define name="CALC_AIRSPEED" value="FALSE"/>
-    <define name="CALC_TAS_FACTOR" value="FALSE"/>
-    <define name="CALC_AMSL_BARO" value="TRUE"/>
-  </section>
-
-  <include href="conf/airframes/TUDELFT/calibrations/bebop4.xml"/>
-
-  <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"/>
-  </section>
-
-  <!-- local magnetic field -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- Toulouse -->
-    <!--define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/-->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-  </section>
-
-
-  <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoint limits for attitude stabilization rc flight -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-  </section>
-
-  <section name="ATTITUDE_REFERENCE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- attitude reference generation model -->
-    <define name="REF_OMEGA_P" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.9"/>
-    <define name="REF_MAX_P" value="600." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.9"/>
-    <define name="REF_MAX_Q" value="600." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="450" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="600." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.0639"/>
-    <define name="G1_Q" value="0.0361"/>
-    <define name="G1_R" value="0.0022"/>
-    <define name="G2_R" value="0.1450"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="600.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="28.0"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_OMEGA" value="50.0"/>
-    <define name="FILT_ZETA" value="0.55"/>
-    <define name="FILT_OMEGA_R" value="50.0"/>
-    <define name="FILT_ZETA_R" value="0.55"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.1"/>
-    <define name="ACT_DYN_Q" value="0.1"/>
-    <define name="ACT_DYN_R" value="0.1"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="283"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="2.5"/>
-    <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="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="11.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="11.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml b/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
deleted file mode 100644
index ec60e63146..0000000000
--- a/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
+++ /dev/null
@@ -1,197 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-YAPA + XSens + XBee
--->
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1100" neutral="1000" max="1900"/>
-    <servo name="RUDDER" no="2" min="1100" neutral="1500" max="1900"/>
-    <servo name="ELEVATOR" no="6" min="1000" neutral="1500" max="2000"/>
-    <servo name="CAM_TILT" no="7" min="700" neutral="1600" max="2500"/>
-    <servo name="CAM_PAN" no="3" min="800" neutral="1650" max="2500"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="CAM_PAN" failsafe_value="0"/>
-    <axis name="CAM_TILT" failsafe_value="0"/>
-  </commands>
-
-  <ap_only_commands>
-    <copy command="CAM_PAN"/>
-    <copy command="CAM_TILT"/>
-  </ap_only_commands>
-
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <command_laws>
-    <set servo="CAM_PAN" value="@CAM_PAN"/>
-    <set servo="CAM_TILT" value="@CAM_TILT"/>
-
-    <!-- Differential Aileron Depending on Brake Value -->
-    <set servo="RUDDER" value="@ROLL"/>
-
-    <!-- Differential Thurst -->
-    <set servo="THROTTLE" value="@THROTTLE"/>
-
-    <!-- Pitch with Brake-Trim Function -->
-    <set servo="ELEVATOR" value="@PITCH"/>
-  </command_laws>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad"/>
-  </section>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="PANTILT" prefix="CAM_">
-    <!-- these are in degrees, either specify both unit and code_unit or none -->
-    <define name="PAN_MIN" value="-45"/>
-    <define name="PAN_NEUTRAL" value="33"/>
-    <define name="PAN_MAX" value="156"/>
-    <define name="PAN0" value="0"/>
-    <define name="TILT_MIN" value="-62" unit="deg" code_unit="deg"/>
-    <define name="TILT_NEUTRAL" value="47" unit="deg" code_unit="deg"/>
-    <define name="TILT_MAX" value="122" unit="deg" code_unit="deg"/>
-    <define name="TILT0" value="90" unit="deg" code_unit="deg"/>
-    <define name="MODE0" value="1"/>
-  </section>
-
-  <section name="BAT">
-    <define name="LOW_BAT_LEVEL" value="7" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <!--   <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-         <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
-  </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="0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="12000."/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
-    <define name="ROLL_RATE_GAIN" value="600."/>
-  </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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
-    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <module name="ahrs_chimu_spi" >
-      <define name="CHIMU_BIG_ENDIAN" />
-    </module>
-    <module name="cam_point" />
-    <module name="gps" type="ubx_ucenter"/>
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <define name="STRONG_WIND"/>
-    <define name="WIND_INFO"/>
-    <define name="WIND_INFO_RET"/>
-    <define name="LOITER_TRIM"/>
-    <define name="POINT_CAM_PITCH_ROLL" />
-
-    <target name="ap" board="tiny_2.11">
-    </target>
-    <!--    <target name="sim" board="pc"/> -->
-
-    <module name="radio_control" type="ppm"/>
-    <module name="gps" type="ublox" />
-
-
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </module>
-
-    <!-- Actuators -->
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="navigation"/>
-
-    <module name="spi_slave_hs"/>
-    <module name="ins" type="alt_float"/>
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml b/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
deleted file mode 100644
index aa97f0c6e2..0000000000
--- a/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
+++ /dev/null
@@ -1,186 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
-    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@YAW"/>
-  </rc_commands>
-
-  <section name="SERVO_MIXER_GAINS">
-    <define name="AILERON_RATE_UP" value="0.50f"/>
-    <define name="AILERON_RATE_DOWN" value="0.25f"/>
-
-    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
-    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
-
-    <define name="PITCH_GAIN" value="0.9f"/>
-
-    <define name="YAW_THRUST" value="0.0f"/>
-    <define name="BRAKE_AILEVON" value="-0.68f"/>
-    <define name="BRAKE_PITCH" value="0.0f"/>
-    <define name="MAX_BRAKE_RATE" value="150"/>
-
-    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
-  </section>
-
-  <command_laws>
-    <!-- Differential Aileron Depending on Brake Value -->
-    <set servo="AILERON_LEFT" value="@ROLL"/>
-    <set servo="AILERON_RIGHT" value="@ROLL"/>
-
-    <!-- Differential Thurst -->
-    <set servo="THROTTLE" value="@THROTTLE"/>
-
-    <!-- Pitch with Brake-Trim Function -->
-    <set servo="ELEVATOR" value="@PITCH"/>
-  </command_laws>
-
-  <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="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="12000."/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
-    <define name="ROLL_RATE_GAIN" value="600."/>
-  </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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
-    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <module name="ins_chimu_spi" >
-			<define name="CHIMU_BIG_ENDIAN" />
-		</module>
-
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" board="tiny_2.11">
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="LOITER_TRIM"/>
-			<!--      <define name="NB_CHANNELS" value="5" />  -->
-    </target>
-    <target name="sim" board="pc"/>
-
-    <module name="radio_control" type="ppm"/>
-    <module name="gps" type="ublox" />
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </module>
-
-    <!-- Actuators -->
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="navigation"/>
-<!--    <module name="gps"    type="ublox"/> -->
-
-    <module name="spi_slave_hs"/>
-
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index cede159f39..2b87b62b4f 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -7,8 +7,8 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   gui_color="white"
    settings_modules="modules/imu_quality_assessment.xml modules/gps_ubx_ucenter.xml"
+   gui_color="white"
   />
   <aircraft
    name="Bebop"
diff --git a/conf/airframes/CDW/cdw_twoseas_conf.xml b/conf/airframes/CDW/cdw_twoseas_conf.xml
deleted file mode 100644
index ff32d5f35c..0000000000
--- a/conf/airframes/CDW/cdw_twoseas_conf.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<conf>
-  <aircraft
-   name="TwoSeasTwenty"
-   ac_id="2"
-   airframe="airframes/CDW/cdw_twoseastwenty.xml"
-   radio="radios/CDW/cdw_t8fg_sbus.xml"
-   telemetry="telemetry/default_fixedwing.xml"
-   flight_plan="flight_plans/versatile.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
-   settings_modules="modules/light.xml"
-   gui_color="blue"
-  />
-</conf>
diff --git a/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml b/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
deleted file mode 100644
index b244e475a8..0000000000
--- a/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
+++ /dev/null
@@ -1,187 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
-    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@YAW"/>
-  </rc_commands>
-
-  <section name="SERVO_MIXER_GAINS">
-    <define name="AILERON_RATE_UP" value="0.50f"/>
-    <define name="AILERON_RATE_DOWN" value="0.25f"/>
-
-    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
-    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
-
-    <define name="PITCH_GAIN" value="0.9f"/>
-
-    <define name="YAW_THRUST" value="0.0f"/>
-    <define name="BRAKE_AILEVON" value="-0.68f"/>
-    <define name="BRAKE_PITCH" value="0.0f"/>
-    <define name="MAX_BRAKE_RATE" value="150"/>
-
-    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
-  </section>
-
-  <command_laws>
-    <!-- Differential Aileron Depending on Brake Value -->
-    <set servo="AILERON_LEFT" value="@ROLL"/>
-    <set servo="AILERON_RIGHT" value="@ROLL"/>
-
-    <!-- Differential Thurst -->
-    <set servo="THROTTLE" value="@THROTTLE"/>
-
-    <!-- Pitch with Brake-Trim Function -->
-    <set servo="ELEVATOR" value="@PITCH"/>
-  </command_laws>
-
-  <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="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="12000."/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
-    <define name="ROLL_RATE_GAIN" value="600."/>
-  </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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
-    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <module name="ins_chimu_spi" >
-<!--			<define name="CHIMU_BIG_ENDIAN" />  -->
-		</module>
-
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" board="tiny_2.11">
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="LOITER_TRIM"/>
-			<!--      <define name="NB_CHANNELS" value="5" />  -->
-    </target>
-    <target name="sim" board="pc"/>
-
-    <module name="radio_control" type="ppm"/>
-    <module name="gps" type="ublox" />
-
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </module>
-
-    <!-- Actuators -->
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="navigation"/>
-<!--    <module name="gps"    type="ublox"/> -->
-
-    <module name="spi_slave_hs"/>
-
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/CDW/test/ChimuLisaFw.xml b/conf/airframes/CDW/test/ChimuLisaFw.xml
deleted file mode 100644
index 76b7c9f06e..0000000000
--- a/conf/airframes/CDW/test/ChimuLisaFw.xml
+++ /dev/null
@@ -1,169 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 1.1 board (http://wiki.paparazziuav.org/wiki/Tiny)
-     Tilted infrared sensor
-     Xbee modem in API mode
--->
-
-<airframe name="Microjet Tiny 1.1">
-
-  <servos>
-    <servo name="MOTOR"         no="0" min="1290" neutral="1290" max="1810"/>
-    <servo name="AILEVON_LEFT"  no="1" min="2000" neutral="1510" max="1000"/>
-    <servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1535" max="2000"/>
-  </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="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </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="0.7"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.4"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="12000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
-    <define name="ROLL_SLEW" value="0.1"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
-    <define name="ROLL_RATE_GAIN" value="1500"/>
-  </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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="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"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </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>
-
-  <modules>
-    <module name="ins_chimu_uart">
-      <configure name="CHIMU_UART_NR" value="3"/>
-    </module>
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" 			board="lisa_l_1.0"/>
-    <target name="sim" 			board="pc" />
-    <target name="jsbsim"       board="pc"/>
-
-    <define name="AGR_CLIMB" />
-    <define name="LOITER_TRIM" />
-
-    <module name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <module name="telemetry" 	type="transparent">
-      <configure name="MODEM_BAUD" 		value="B9600"/>
-    </module>
-
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="gps" 		    type="ublox_utm"/>
-    <module name="navigation"/>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel"           board="tiny_1.1" />
-    <target name="usb_tunnel"       board="tiny_1.1">
-      <configure name="TUNNEL_PORT" value="UART0"/>
-    </target>
-    <target name="setup_actuators"  board="tiny_1.1" />
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/CDW/test/ChimuTinyFw.xml b/conf/airframes/CDW/test/ChimuTinyFw.xml
deleted file mode 100644
index 185fc3414f..0000000000
--- a/conf/airframes/CDW/test/ChimuTinyFw.xml
+++ /dev/null
@@ -1,189 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
-    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@YAW"/>
-  </rc_commands>
-
-  <section name="SERVO_MIXER_GAINS">
-    <define name="AILERON_RATE_UP" value="0.50f"/>
-    <define name="AILERON_RATE_DOWN" value="0.25f"/>
-
-    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
-    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
-
-    <define name="PITCH_GAIN" value="0.9f"/>
-
-    <define name="YAW_THRUST" value="0.0f"/>
-    <define name="BRAKE_AILEVON" value="-0.68f"/>
-    <define name="BRAKE_PITCH" value="0.0f"/>
-    <define name="MAX_BRAKE_RATE" value="150"/>
-
-    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
-  </section>
-
-  <command_laws>
-    <!-- Differential Aileron Depending on Brake Value -->
-    <set servo="AILERON_LEFT" value="@ROLL"/>
-    <set servo="AILERON_RIGHT" value="@ROLL"/>
-
-    <!-- Differential Thurst -->
-    <set servo="THROTTLE" value="@THROTTLE"/>
-
-    <!-- Pitch with Brake-Trim Function -->
-    <set servo="ELEVATOR" value="@PITCH"/>
-  </command_laws>
-
-  <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="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="12000."/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
-    <define name="ROLL_RATE_GAIN" value="600."/>
-  </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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
-    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <module name="ins_chimu_uart">
-      <configure name="CHIMU_UART_NR" value="0"/>
-    </module>
-
-    <module name="gps" type="i2c" />
-
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" board="tiny_2.11">
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="LOITER_TRIM"/>
-    </target>
-    <target name="sim" board="pc"/>
-
-    <module name="radio_control" type="ppm"/>
-    <module name="gps" type="ublox" >
-      <configure name="GPS_PORT" value="gps_i2c" />
-    </module>
-
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </module>
-
-    <!-- Actuators -->
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="navigation"/>
-<!--    <module name="gps"    type="ublox"/> -->
-
-
-  </firmware>
-
-</airframe>
diff --git a/conf/airframes/CDW/test/yapa3_aspirin2.xml b/conf/airframes/CDW/test/yapa3_aspirin2.xml
deleted file mode 100644
index 4ceca3f239..0000000000
--- a/conf/airframes/CDW/test/yapa3_aspirin2.xml
+++ /dev/null
@@ -1,271 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-	Tiny2 + Aspirin2 + XBee
--->
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="9" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="8" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_RIGHT" no="7" min="2000" neutral="1500" max="1000"/>
-    <servo name="ELEVATOR" no="6" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="5" min="1100" neutral="1500" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@YAW"/>
-  </rc_commands>
-
-  <command_laws>
-    <set servo="AILERON_LEFT" value="@ROLL"/>
-    <set servo="AILERON_RIGHT" value="@ROLL"/>
-    <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-  </command_laws>
-
-  <!-- Local magnetic field -->
-  <section name="AHRS" prefix="AHRS_" >
-    <define name="H_X" value="0.51562740288882" />
-    <define name="H_Y" value="-0.05707735220832" />
-    <define name="H_Z" value="0.85490967783446" />
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Calibration Neutral -->
-    <define name="GYRO_P_NEUTRAL" value="0"/>
-    <define name="GYRO_Q_NEUTRAL" value="0"/>
-    <define name="GYRO_R_NEUTRAL" value="0"/>
-
-    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
-    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.359" integer="16"/>
-
-    <define name="GYRO_P_Q" value="0."/>
-    <define name="GYRO_P_R" value="0"/>
-    <define name="GYRO_Q_P" value="0."/>
-    <define name="GYRO_Q_R" value="0."/>
-    <define name="GYRO_R_P" value="0."/>
-    <define name="GYRO_R_Q" value="0."/>
-
-    <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="-40"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-15"/>
-    <define name="ACCEL_Z_NEUTRAL" value="375"/>
-
-    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
-    <define name="ACCEL_X_SENS" value="9.81" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="9.81" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="9.81" integer="16"/>
-
-<!--
-    <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
--->
-    <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
-
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-
-    <define name="MAG_X_SENS" value="1" integer="16"/>
-    <define name="MAG_Y_SENS" value="1" integer="16"/>
-    <define name="MAG_Z_SENS" value="1" integer="16"/>
-
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
-    <define name="MAG_Z_SIGN" value="1"/>
-
-    <define name="BODY_TO_IMU_PHI" value="0"/>
-    <define name="BODY_TO_IMU_THETA" value="0"/>
-    <define name="BODY_TO_IMU_PSI" 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="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
-  </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="-0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" 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="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-12000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_SLEW" value="1."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" 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="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- 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="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
-    <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-<!--
-    <module name="light">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="2"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </module>
-    -->
-    <!--    <module name="digital_cam_i2c"/>  -->
-
- <!--    <module name="ins_ppzuavimu" /> -->
-
-<!--
-    <module name="digital_cam" >
-      <define name="DC_SHUTTER_GPIO" value="GPIOB,GPIO18"/>
-    </module>
-    -->
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="yapa_2.0">
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-
-      <configure name="PERIODIC_FREQUENCY" value="120"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-
-      <configure name="AHRS_ALIGNER_LED" value="3"/>
-    </target>
-    <target name="sim" board="pc"/>
-
-    <define name="AGR_CLIMB"/>
-    <define name="LOITER_TRIM"/>
-
-    <!-- Sensors -->
-    <!--
-    <module name="ahrs" type="int_cmpl_quat">
-      <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
-    </module>
-    <module name="imu" type="aspirin_i2c"/>
-    -->
-    <module name="imu" type="aspirin2_i2c"/>
-    <module name="ahrs" type="float_dcm">
-<!--      <configure name="USE_MAGNETOMETER" /> -->
-    </module>
-
-    <module name="ins" type="alt_float"/>
-    <module name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <module name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
-    </module>
-
-    <!-- Actuators -->
-    <module name="control"/>
-    <!-- Sensors -->
-    <module name="navigation"/>
-    <module name="gps" type="ublox_utm"/>
-
-
-</firmware>
-
-
-</airframe>
diff --git a/conf/airframes/TUDELFT/IMAV2013/calibrations/184_calib.xml b/conf/airframes/TUDELFT/IMAV2013/calibrations/184_calib.xml
deleted file mode 100644
index 383607ba9b..0000000000
--- a/conf/airframes/TUDELFT/IMAV2013/calibrations/184_calib.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<!-- ARDrone calibration file -->
-
-<airframe>
-  <section name="IMU" prefix="IMU_">
-
-    <!-- Magneto calibration (done) -->
-    <define name="MAG_X_NEUTRAL" value="8"/>
-    <define name="MAG_Y_NEUTRAL" value="22"/>
-    <define name="MAG_Z_NEUTRAL" value="-182"/>
-    <define name="MAG_X_SENS" value="15.6093106965" integer="16"/>
-    <define name="MAG_Y_SENS" value="13.7479252753" integer="16"/>
-    <define name="MAG_Z_SENS" value="16.7383397999" integer="16"/>
-
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
-  </section>
-</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDELFT/IMAV2013/calibrations/186_calib.xml b/conf/airframes/TUDELFT/IMAV2013/calibrations/186_calib.xml
deleted file mode 100644
index 92af0c8aac..0000000000
--- a/conf/airframes/TUDELFT/IMAV2013/calibrations/186_calib.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<!-- ARDrone calibration file -->
-
-<airframe>
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero (done) -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2076"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration (done) -->
-    <define name="MAG_X_NEUTRAL" value="8"/>
-	<define name="MAG_Y_NEUTRAL" value="-7"/>
-	<define name="MAG_Z_NEUTRAL" value="-227"/>
-	<define name="MAG_X_SENS" value="15.5234215153" integer="16"/>
-	<define name="MAG_Y_SENS" value="14.2647577704" integer="16"/>
-	<define name="MAG_Z_SENS" value="14.9418031715" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name= "MAG_X_CURRENT_COEF" value="0.00202964254187"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="-0.000446794092786"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-0.000974773119924"/>
-  </section>
-</airframe>
\ No newline at end of file
diff --git a/conf/airframes/TUDELFT/calibrations/bebop4.xml b/conf/airframes/TUDELFT/calibrations/bebop4.xml
deleted file mode 100644
index 3e892a46dc..0000000000
--- a/conf/airframes/TUDELFT/calibrations/bebop4.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<!-- ARDrone calibration file -->
-
-<airframe>
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-<define name="MAG_X_NEUTRAL" value="-153"/>
-<define name="MAG_Y_NEUTRAL" value="-94"/>
-<define name="MAG_Z_NEUTRAL" value="177"/>
-<define name="MAG_X_SENS" value="7.61319449798" integer="16"/>
-<define name="MAG_Y_SENS" value="7.77519836733" integer="16"/>
-<define name="MAG_Z_SENS" value="7.92423518744" integer="16"/>
-
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.00175105205138"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.000172518663485"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.00022802329524"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index 3b95b242f3..d4c17f712f 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -54,6 +54,17 @@
    settings_modules=""
    gui_color="#fffff996b847"
   />
+  <aircraft
+   name="Ardrone2_182"
+   ac_id="182"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
+   gui_color="red"
+  />
   <aircraft
    name="Bebop2_Smeur"
    ac_id="21"
@@ -87,6 +98,17 @@
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
    gui_color="#ffffbc3bce5b"
   />
+  <aircraft
+   name="ChouChou_LisaS"
+   ac_id="135"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="blue"
+  />
   <aircraft
    name="Heli450"
    ac_id="99"
@@ -164,6 +186,17 @@
    settings_modules="[modules/geo_mag.xml] [modules/air_data.xml] modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
    gui_color="#8c63ffff8e00"
   />
+  <aircraft
+   name="MavRick_LisaS"
+   ac_id="131"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing_imu.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="white"
+  />
   <aircraft
    name="MentorEnergy"
    ac_id="1"
@@ -172,7 +205,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/versatile_airspeed.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ac_char.xml"
-   settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
+   settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
    gui_color="white"
   />
   <aircraft
@@ -186,10 +219,21 @@
    settings_modules="modules/gps_ubx_ucenter.xml"
    gui_color="#f1d3c1b7ffff"
   />
+  <aircraft
+   name="Quadrotor_LisaS"
+   ac_id="132"
+   airframe="airframes/examples/quadrotor_lisa_s.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="blue"
+  />
   <aircraft
    name="SkyWalker"
    ac_id="2"
-   airframe="airframes/CDW/cdw_yapa_xsens.xml"
+   airframe="airframes/TUDELFT/tudelft_yapa_xsens.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
@@ -197,6 +241,39 @@
    settings_modules="modules/light.xml modules/digital_cam.xml"
    gui_color="#b748fe64fe64"
   />
+  <aircraft
+   name="TwoSeasTwenty"
+   ac_id="200"
+   airframe="airframes/TUDELFT/tudelft_twoseastwenty.xml"
+   radio="radios/CDW/cdw_t8fg_sbus.xml"
+   telemetry="telemetry/default_fixedwing.xml"
+   flight_plan="flight_plans/versatile.xml"
+   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml"
+   settings_modules="modules/light.xml"
+   gui_color="blue"
+  />
+  <aircraft
+   name="Walkera_GeniusV1"
+   ac_id="134"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="orange"
+  />
+  <aircraft
+   name="Walkera_V120D02S"
+   ac_id="133"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_rotorcraft.xml"
+   flight_plan="flight_plans/rotorcraft_basic.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+   settings_modules="modules/gps_ubx_ucenter.xml"
+   gui_color="green"
+  />
   <aircraft
    name="bebop2_22"
    ac_id="22"
@@ -241,17 +318,6 @@
    settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#68f5eb116e0c"
   />
-  <aircraft
-   name="frog2"
-   ac_id="26"
-   airframe="airframes/BR/bebop_indi_frog2.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
-   settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
-   gui_color="#ffff957fcc75"
-  />
   <aircraft
    name="frog_flip"
    ac_id="4"
diff --git a/conf/airframes/TUDELFT/tudelft_imav_2013_conf.xml b/conf/airframes/TUDELFT/tudelft_imav_2013_conf.xml
deleted file mode 100644
index 2416e8a86b..0000000000
--- a/conf/airframes/TUDELFT/tudelft_imav_2013_conf.xml
+++ /dev/null
@@ -1,90 +0,0 @@
-<conf>
-  <aircraft
-   name="Ardrone2_182"
-   ac_id="182"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="Ardrone2_184"
-   ac_id="184"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="Ardrone2_186"
-   ac_id="186"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/time_countdown.xml"
-   gui_color="red"
-  />
-  <aircraft
-   name="ChouChou_LisaS"
-   ac_id="135"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="MavRick_LisaS"
-   ac_id="131"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_fixedwing_imu.xml"
-   flight_plan="flight_plans/basic.xml"
-   settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="white"
-  />
-  <aircraft
-   name="Quadrotor_LisaS"
-   ac_id="132"
-   airframe="airframes/examples/quadrotor_lisa_s.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
-  />
-  <aircraft
-   name="Walkera_GeniusV1"
-   ac_id="134"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="orange"
-  />
-  <aircraft
-   name="Walkera_V120D02S"
-   ac_id="133"
-   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="green"
-  />
-</conf>
diff --git a/conf/airframes/CDW/cdw_twoseastwenty.xml b/conf/airframes/TUDELFT/tudelft_twoseastwenty.xml
similarity index 100%
rename from conf/airframes/CDW/cdw_twoseastwenty.xml
rename to conf/airframes/TUDELFT/tudelft_twoseastwenty.xml
diff --git a/conf/airframes/CDW/cdw_yapa_xsens.xml b/conf/airframes/TUDELFT/tudelft_yapa_xsens.xml
similarity index 100%
rename from conf/airframes/CDW/cdw_yapa_xsens.xml
rename to conf/airframes/TUDELFT/tudelft_yapa_xsens.xml
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index b794bac090..792150e6e3 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -321,7 +321,7 @@
   <aircraft
    name="Yapa2_XSens"
    ac_id="32"
-   airframe="airframes/CDW/cdw_yapa_xsens.xml"
+   airframe="airframes/TUDELFT/tudelft_yapa_xsens.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
diff --git a/conf/modules/ahrs_chimu_spi.xml b/conf/modules/ahrs_chimu_spi.xml
index d3b9bcf42c..c7e4b8156c 100644
--- a/conf/modules/ahrs_chimu_spi.xml
+++ b/conf/modules/ahrs_chimu_spi.xml
@@ -3,7 +3,9 @@
 <module name="ahrs_chimu_spi" dir="ins">
   <doc>
     <description>CHimu (SPI)</description>
+    <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
   </doc>
+  <depends>spi_slave_hs</depends>
   <header>
     <file name="ins_module.h"/>
   </header>
diff --git a/conf/modules/ahrs_chimu_uart.xml b/conf/modules/ahrs_chimu_uart.xml
index 8279e4ec6d..ff8cd591f3 100644
--- a/conf/modules/ahrs_chimu_uart.xml
+++ b/conf/modules/ahrs_chimu_uart.xml
@@ -2,15 +2,13 @@
 
 <module name="ahrs_chimu_uart" dir="ins">
   <doc>
-    <description>
-      CHimu (UART)
-      For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
-    </description>
+    <description>CHimu (UART)</description>
+    <configure name="CHIMU_UART_NR" value="3" description="UART"/>
+    <define name="CHIMU_BIG_ENDIAN" value="TRUE" description="For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN"/>
   </doc>
   <header>
     <file name="ins_module.h"/>
   </header>
-  <!--<periodic fun="ins_periodic()" freq="60"/>-->
   <event fun="parse_ins_msg()"/>
   <makefile target="ap">
     <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
diff --git a/sw/tools/airframe_editor/xml_airframe.py b/sw/tools/airframe_editor/xml_airframe.py
index 80af9593fc..efaba2b133 100755
--- a/sw/tools/airframe_editor/xml_airframe.py
+++ b/sw/tools/airframe_editor/xml_airframe.py
@@ -188,7 +188,7 @@ if __name__ == '__main__':
             if len(sys.argv) > 3:
                 outputfile = airframe_file
     else:
-        airframe_file = "../../../conf/airframes/CDW/cdw_yapa_xsens.xml"
+        airframe_file = "../../../conf/airframes/examples/microjet.xml"
 
     print(airframe_file)
     [e, airframe, hdr] = load(airframe_file)