diff --git a/conf/airframes/CDW/DualBoardApFbw.xml b/conf/airframes/CDW/DualBoardApFbw.xml
index deb2f3024f..02e592bf27 100644
--- a/conf/airframes/CDW/DualBoardApFbw.xml
+++ b/conf/airframes/CDW/DualBoardApFbw.xml
@@ -227,56 +227,59 @@
 
   </modules>
 
-  <firmware name="fixedwing">
-
-    <target name="fbw" board="lisa_m_2.0">
-      <configure name="SYS_TIME_LED" value="2" />
-      <define name="RADIO_CONTROL_LED" value="4"/>
-      <define name="LINK_MCU_LED" value="3" />
-
-      <configure name="FLASH_MODE" value="JTAG" />
-      <configure name="NO_LUFTBOOT" value="1" />
-<!--      <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
-
-      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1" />
-      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1" />
-
-    </target>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators" type="direct"/>
-    <subsystem name="intermcu" type="uart">
-      <configure name="INTERMCU_PORT_NR" value="2" />
-    </subsystem>
-
-
-  </firmware>
-
   <firmware name="fixedwing">
 
     <target name="ap" board="lisa_m_2.0">
-      <define name="LISA_M_LONGITUDINAL_X"/>
+      <!-- this define is not available in paparazzi v4.1 -->
+      <!--define name="LISA_M_LONGITUDINAL_X"/-->
 
       <configure name="SEPARATE_FBW" value="1"/>
 
       <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="FLASH_MODE" value="JTAG" />
-      <configure name="NO_LUFTBOOT" value="1" />
- <!--     <configure name="BMP_PORT" value="/dev/ttyACM0" /> -->
-
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
 
       <configure name="AHRS_ALIGNER_LED" value="1"/>
       <configure name="CPU_LED" value="1"/>
-      <define name="LINK_MCU_LED" value="4" />
+      <define name="LINK_MCU_LED" value="4"/>
+
+      <!-- split of ap/fbw specific subsystems for ap -->
+      <subsystem name="actuators" type="dummy"/>
+      <subsystem name="intermcu" type="uart">
+        <configure name="INTERMCU_PORT_NR" value="5"/>
+      </subsystem>
+
+      <subsystem name="control"/>
+      <subsystem name="navigation" type="extra"/>
     </target>
+
+    <target name="fbw" board="lisa_m_2.0">
+      <configure name="SYS_TIME_LED" value="2"/>
+      <define name="RADIO_CONTROL_LED" value="4"/>
+      <define name="LINK_MCU_LED" value="3"/>
+
+      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
+      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
+
+      <subsystem name="radio_control" type="ppm"/>
+
+      <!-- split of ap/fbw specific subsystems for fbw -->
+      <subsystem name="actuators" type="direct"/>
+      <subsystem name="intermcu" type="uart">
+        <configure name="INTERMCU_PORT_NR" value="2"/>
+      </subsystem>
+    </target>
+
     <target name="sim" board="pc">
       <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="control"/>
+      <subsystem name="navigation" type="extra"/>
     </target>
 
+    <configure name="FLASH_MODE" value="JTAG"/>
+    <configure name="NO_LUFTBOOT" value="1"/>
+
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
     <define name="ALT_KALMAN"/>
@@ -286,36 +289,21 @@
     <define name="WIND_INFO_RET"/>
     <define name="RADIO_CONTROL_AUTO1"/>
 
-
-    <subsystem name="imu" type="aspirin_v2.1"/>
-    <subsystem name="ahrs" type="float_dcm" />
-
     <!-- Communication -->
-<!--    <subsystem name="telemetry" type="xbee_api"> -->
     <subsystem name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B9600"/>
       <configure name="MODEM_PORT" value="UART2"/>
     </subsystem>
 
-    <!-- Actuators -->
-    <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="navigation" type="extra"/>
+    <subsystem name="imu" type="aspirin_v2.1"/>
     <subsystem name="gps" type="ublox">
       <configure name="GPS_PORT" value="UART1"/>
     </subsystem>
 
-    <subsystem name="actuators" type="dummy"/>
+    <subsystem name="ahrs" type="float_dcm"/>
+    <subsystem name="ins" type="alt_float"/>
 
-    <subsystem name="intermcu" type="uart">
-      <configure name="INTERMCU_PORT_NR" value="5" />
-    </subsystem>
-
-</firmware>
-
-<makefile>
-
-
-</makefile>
+  </firmware>
 
 </airframe>
diff --git a/conf/airframes/CDW/classix.xml b/conf/airframes/CDW/classix.xml
index 2903cc5342..2cb29964cd 100644
--- a/conf/airframes/CDW/classix.xml
+++ b/conf/airframes/CDW/classix.xml
@@ -159,7 +159,7 @@
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="75."/>
 
@@ -178,7 +178,7 @@
   <firmware name="fixedwing">
 
     <target name="ap" board="classix">
-      <configure name="SYS_TIME_LED" value="2" />
+      <configure name="SYS_TIME_LED" value="2"/>
 
       <define name="USE_LED_6" value="1"/>
       <define name="LED_6_BANK" value="0"/>
@@ -186,12 +186,27 @@
 
       <define name="USE_AD0"/>
       <define name="USE_AD0_3"/>
-      <define name="ADC_6" value="\"AdcBank0(3)\""/>
-
+      <define name="ADC_6" value="AdcBank0\(3\)"/>
 
+      <subsystem name="control"/>
+      <subsystem name="navigation" type="extra"/>
     </target>
+
+    <target name="fbw" board="classix">
+      <configure name="SYS_TIME_LED" value="2"/>
+      <define name="RADIO_CONTROL_LED" value="1"/>
+      <define name="USE_AD1_5" value="1"/>
+      <define name="USE_AD1" value="1"/>
+      <configure name="ACTUATORS" value="actuators_ppm"/>
+      <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
+
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
     <target name="sim" board="pc">
       <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="control"/>
+      <subsystem name="navigation" type="extra"/>
     </target>
 
     <define name="DC_IMAGE_BUFFER" value="65000" />
@@ -206,29 +221,13 @@
       <configure name="MODEM_PORT" value="UART0"/>
       <configure name="MODEM_BAUD" value="B9600"/>
     </subsystem>
-    <subsystem name="control"/>
-    <subsystem name="navigation" type="extra"/>
+
     <subsystem name="ins" type="xsens">
       <configure name="XSENS_UART_NR" value="1"/>
     </subsystem>
 
   </firmware>
 
-  <firmware name="fixedwing">
-    <target name="fbw" board="classix">
-      <configure name="SYS_TIME_LED" value="2" />
-      <define name="RADIO_CONTROL_LED" value="1"/>
-      <define name="USE_AD1_5" value="1"/>
-      <define name="USE_AD1" value="1"/>
-      <configure name="ACTUATORS" value="actuators_ppm"/>
-
-      <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
-
-    </target>
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="ins" type="xsens"/>
-  </firmware>
-
   <modules>
     <load name="digital_cam.xml">
       <define name="DC_SHUTTER_LED" value="6"/>
diff --git a/conf/tests_conf.xml b/conf/tests_conf.xml
index 699094de2e..bf8a59b424 100644
--- a/conf/tests_conf.xml
+++ b/conf/tests_conf.xml
@@ -193,13 +193,13 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"
-   settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/modules/photogrammetry_calculator.xml settings/modules/dc.xml settings/estimation/ins_neutrals.xml"
+   settings=" settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/modules/photogrammetry_calculator.xml settings/modules/dc.xml"
    gui_color="blue"
   />
   <aircraft
    name="tiny2_chimu_spi"
    ac_id="22"
-   airframe="airframes/TUDelft/tiny2_chimu_spi_pt.xml"
+   airframe="airframes/CDW/tiny2_chimu_spi_pt.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_fixedwing_imu_9k6.xml"
    flight_plan="flight_plans/versatile.xml"