diff --git a/conf/airframes/ENAC/hybrid/cyfoam.xml b/conf/airframes/ENAC/hybrid/cyfoam.xml
index b11125cf58..0e79cb150e 100644
--- a/conf/airframes/ENAC/hybrid/cyfoam.xml
+++ b/conf/airframes/ENAC/hybrid/cyfoam.xml
@@ -275,7 +275,6 @@
     <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
     <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
     <define name="TRANSITION_MAX_OFFSET" value="-75.0" unit="deg"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
 
     <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
diff --git a/conf/airframes/ENAC/hybrid/falcon_v1.xml b/conf/airframes/ENAC/hybrid/falcon_v1.xml
index 847eefa6fe..da2b5357a0 100644
--- a/conf/airframes/ENAC/hybrid/falcon_v1.xml
+++ b/conf/airframes/ENAC/hybrid/falcon_v1.xml
@@ -273,7 +273,6 @@
     <define name="GUIDANCE_INDI_MIN_PITCH" value="-120."/>
     <define name="GUIDANCE_INDI_MAX_PITCH" value="25."/>
     <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
-    <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation -->
     <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="9.0"/>
     <define name="GUIDANCE_INDI_PITCH_OFFSET_GAIN" value="0.0"/>
     <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
@@ -320,7 +319,6 @@
     <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
     <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
     <define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
 
     <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
diff --git a/conf/airframes/ENAC/hybrid/falcon_v2.xml b/conf/airframes/ENAC/hybrid/falcon_v2.xml
index a7868a1967..94bf93bd2b 100644
--- a/conf/airframes/ENAC/hybrid/falcon_v2.xml
+++ b/conf/airframes/ENAC/hybrid/falcon_v2.xml
@@ -268,7 +268,6 @@
     <define name="GUIDANCE_INDI_MIN_PITCH" value="-80."/>
     <define name="GUIDANCE_INDI_MAX_PITCH" value="25."/>
     <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
-    <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation -->
     <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="18.0"/>
     <define name="GUIDANCE_INDI_PITCH_OFFSET_GAIN" value="0.06"/>
     <define name="GUIDANCE_INDI_FILTER_CUTOFF" value="1.5"/>
@@ -303,7 +302,6 @@
     <!--The Quadshot uses (when TRUE) a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
     <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
     <define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
 
     <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
diff --git a/conf/airframes/ENAC/quadrotor/bebop2_fish.xml b/conf/airframes/ENAC/quadrotor/bebop2_fish.xml
index 4be32d3442..c93244390c 100644
--- a/conf/airframes/ENAC/quadrotor/bebop2_fish.xml
+++ b/conf/airframes/ENAC/quadrotor/bebop2_fish.xml
@@ -219,7 +219,6 @@
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
     <define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
 
-    <!--define name="NO_RC_THRUST_LIMIT" value="TRUE"/-->
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml b/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
index 76bce3af3f..53823f2477 100644
--- a/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
+++ b/conf/airframes/ENAC/quadrotor/bebop2_fish_outdoor.xml
@@ -226,7 +226,6 @@
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
     <define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
 
-    <!--define name="NO_RC_THRUST_LIMIT" value="TRUE"/-->
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/tudelft/ardrone2_indi.xml b/conf/airframes/tudelft/ardrone2_indi.xml
index 73c36cb385..1da15f139c 100644
--- a/conf/airframes/tudelft/ardrone2_indi.xml
+++ b/conf/airframes/tudelft/ardrone2_indi.xml
@@ -191,7 +191,6 @@
     <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/tudelft/ardrone2_opticflow.xml b/conf/airframes/tudelft/ardrone2_opticflow.xml
index 8fc865320c..8b548e889f 100644
--- a/conf/airframes/tudelft/ardrone2_opticflow.xml
+++ b/conf/airframes/tudelft/ardrone2_opticflow.xml
@@ -200,7 +200,6 @@
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
-    <define name="NO_RC_THRUST_LIMIT"  value="TRUE"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/tudelft/bebop2_indi.xml b/conf/airframes/tudelft/bebop2_indi.xml
index 420a42a28d..08de9b0740 100644
--- a/conf/airframes/tudelft/bebop2_indi.xml
+++ b/conf/airframes/tudelft/bebop2_indi.xml
@@ -160,7 +160,6 @@
     <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/tudelft/bebop2_indi_convergence.xml b/conf/airframes/tudelft/bebop2_indi_convergence.xml
index 74a5a7169d..61917e83ab 100644
--- a/conf/airframes/tudelft/bebop2_indi_convergence.xml
+++ b/conf/airframes/tudelft/bebop2_indi_convergence.xml
@@ -223,7 +223,6 @@
     <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/tudelft/bebop2_no_damping.xml b/conf/airframes/tudelft/bebop2_no_damping.xml
index 537e495b14..5910010f50 100644
--- a/conf/airframes/tudelft/bebop2_no_damping.xml
+++ b/conf/airframes/tudelft/bebop2_no_damping.xml
@@ -191,7 +191,6 @@
     <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/tudelft/bebop2_no_damping_WLS.xml b/conf/airframes/tudelft/bebop2_no_damping_WLS.xml
index 90064e4f6d..525ff3618f 100644
--- a/conf/airframes/tudelft/bebop2_no_damping_WLS.xml
+++ b/conf/airframes/tudelft/bebop2_no_damping_WLS.xml
@@ -184,7 +184,6 @@
     <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/tudelft/bebop2_optitrack.xml b/conf/airframes/tudelft/bebop2_optitrack.xml
index 9268f125db..b1e796dc5d 100644
--- a/conf/airframes/tudelft/bebop2_optitrack.xml
+++ b/conf/airframes/tudelft/bebop2_optitrack.xml
@@ -204,7 +204,6 @@
     <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/tudelft/bebop2_optitrack_visionfront.xml b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
index d4ccefa03b..4453e216e2 100644
--- a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
+++ b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
@@ -235,7 +235,6 @@
     <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/tudelft/bebop2_undistort_front.xml b/conf/airframes/tudelft/bebop2_undistort_front.xml
index 6db3e7f042..ab3a553224 100644
--- a/conf/airframes/tudelft/bebop2_undistort_front.xml
+++ b/conf/airframes/tudelft/bebop2_undistort_front.xml
@@ -217,7 +217,6 @@
     <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/tudelft/bebop_OF_hover.xml b/conf/airframes/tudelft/bebop_OF_hover.xml
index 3063038b4f..5a6f82c9a3 100644
--- a/conf/airframes/tudelft/bebop_OF_hover.xml
+++ b/conf/airframes/tudelft/bebop_OF_hover.xml
@@ -216,7 +216,6 @@
     <define name="MODE_MANUAL" value="AP_MODE_MODULE"/>
     <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/tudelft/bebop_autonomous_race_2018.xml b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
index 27ae17e771..5d453f0365 100644
--- a/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
+++ b/conf/airframes/tudelft/bebop_autonomous_race_2018.xml
@@ -262,7 +262,6 @@
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO2" value="AP_MODE_MODULE"/>
 
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/tudelft/bebop_course_orangeavoid.xml b/conf/airframes/tudelft/bebop_course_orangeavoid.xml
index b2045007f8..6992816a24 100644
--- a/conf/airframes/tudelft/bebop_course_orangeavoid.xml
+++ b/conf/airframes/tudelft/bebop_course_orangeavoid.xml
@@ -261,7 +261,6 @@
     <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/tudelft/bebop_course_orangeavoid_guided.xml b/conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
index 0445e5685d..b709638a88 100644
--- a/conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
+++ b/conf/airframes/tudelft/bebop_course_orangeavoid_guided.xml
@@ -275,7 +275,6 @@
     <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/tudelft/bebop_indi.xml b/conf/airframes/tudelft/bebop_indi.xml
index 001409c009..9db740211c 100644
--- a/conf/airframes/tudelft/bebop_indi.xml
+++ b/conf/airframes/tudelft/bebop_indi.xml
@@ -200,7 +200,6 @@
     <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/tudelft/bebop_indi_actuators.xml b/conf/airframes/tudelft/bebop_indi_actuators.xml
index b46d7e3775..e702f4c4ad 100644
--- a/conf/airframes/tudelft/bebop_indi_actuators.xml
+++ b/conf/airframes/tudelft/bebop_indi_actuators.xml
@@ -181,7 +181,6 @@
     <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/tudelft/bebop_one_indi_generated_ekf2.xml b/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
index 6e5dc52a99..c3f61d4e59 100644
--- a/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
+++ b/conf/airframes/tudelft/bebop_one_indi_generated_ekf2.xml
@@ -199,7 +199,6 @@
     <define name="MODE_MANUAL"        value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1"         value="AP_MODE_MODULE"/>
     <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/tudelft/bebop_oneloop_ekf2.xml b/conf/airframes/tudelft/bebop_oneloop_ekf2.xml
index 73f55a3e6e..59d6e2e716 100644
--- a/conf/airframes/tudelft/bebop_oneloop_ekf2.xml
+++ b/conf/airframes/tudelft/bebop_oneloop_ekf2.xml
@@ -153,7 +153,6 @@
     <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/tudelft/bebop_oneloop_generated_ekf2.xml b/conf/airframes/tudelft/bebop_oneloop_generated_ekf2.xml
index abcf00b8e6..24bdd2d7e9 100644
--- a/conf/airframes/tudelft/bebop_oneloop_generated_ekf2.xml
+++ b/conf/airframes/tudelft/bebop_oneloop_generated_ekf2.xml
@@ -154,7 +154,6 @@
     <define name="MODE_MANUAL"        value="AP_MODE_ATTITUDE_DIRECT"/>
     <define name="MODE_AUTO1"         value="AP_MODE_MODULE"/>
     <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/tudelft/bebop_opticflow.xml b/conf/airframes/tudelft/bebop_opticflow.xml
index dc489998b1..eb1933021f 100644
--- a/conf/airframes/tudelft/bebop_opticflow.xml
+++ b/conf/airframes/tudelft/bebop_opticflow.xml
@@ -204,7 +204,6 @@
     <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/tudelft/bebop_opticflow_indoor_2x_30hz.xml b/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
index 5ad0bc64d5..cb4ab1094d 100644
--- a/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
+++ b/conf/airframes/tudelft/bebop_opticflow_indoor_2x_30hz.xml
@@ -230,7 +230,6 @@ pyramid level 2: 21 fps average, min=11fps
     <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/tudelft/bebop_ralphthesis2020_stereo.xml b/conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml
index d60ef14040..1a7342cea5 100644
--- a/conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml
+++ b/conf/airframes/tudelft/bebop_ralphthesis2020_stereo.xml
@@ -271,7 +271,6 @@
     <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/tudelft/cyfoam.xml b/conf/airframes/tudelft/cyfoam.xml
index 15f3c14ac8..a1fd1cc7bf 100644
--- a/conf/airframes/tudelft/cyfoam.xml
+++ b/conf/airframes/tudelft/cyfoam.xml
@@ -160,7 +160,6 @@
     <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
     <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
     <define name="TRANSITION_MAX_OFFSET" value="-75.0" unit="deg"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="COORDINATED_TURN_AIRSPEED" value="18.0"/>
 
     <define name="BARO_PERIODIC_FREQUENCY" value="50"/>
diff --git a/conf/airframes/tudelft/delfly_lisas.xml b/conf/airframes/tudelft/delfly_lisas.xml
index 39c5447ca4..5f24453a47 100644
--- a/conf/airframes/tudelft/delfly_lisas.xml
+++ b/conf/airframes/tudelft/delfly_lisas.xml
@@ -135,7 +135,6 @@
     <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
 
     <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/tudelft/delfly_nimble.xml b/conf/airframes/tudelft/delfly_nimble.xml
index 5b49342492..6d903312cc 100644
--- a/conf/airframes/tudelft/delfly_nimble.xml
+++ b/conf/airframes/tudelft/delfly_nimble.xml
@@ -154,7 +154,6 @@
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
         
     <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     
 
     <define name="FAILSAFE_DESCENT_SPEED" value="1."/>
diff --git a/conf/airframes/tudelft/disco_rotorcraft_indi.xml b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
index 4487821971..b197416152 100644
--- a/conf/airframes/tudelft/disco_rotorcraft_indi.xml
+++ b/conf/airframes/tudelft/disco_rotorcraft_indi.xml
@@ -110,7 +110,6 @@
     <define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE"/>
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 12.0877510901 * adc)"/>
     <!--<define name="USE_AIRSPEED" value="TRUE"/>-->
diff --git a/conf/airframes/tudelft/fan_demo.xml b/conf/airframes/tudelft/fan_demo.xml
index 9d853afdbd..b328855a1f 100644
--- a/conf/airframes/tudelft/fan_demo.xml
+++ b/conf/airframes/tudelft/fan_demo.xml
@@ -190,7 +190,6 @@
     <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/tudelft/guido_ardrone2_optitrack.xml b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
index 8db3d7098e..be0ebdc862 100644
--- a/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
+++ b/conf/airframes/tudelft/guido_ardrone2_optitrack.xml
@@ -203,7 +203,6 @@ ARDrone2 with optical_flow landing.
     <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
     <define name="ARRIVED_AT_WAYPOINT" value="0.15"/>
     <define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="1500"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/tudelft/heli450.xml b/conf/airframes/tudelft/heli450.xml
index 2783784e47..f61a18a513 100644
--- a/conf/airframes/tudelft/heli450.xml
+++ b/conf/airframes/tudelft/heli450.xml
@@ -82,7 +82,6 @@
   <section name="MISC">
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/tudelft/hybrid_nav_test.xml b/conf/airframes/tudelft/hybrid_nav_test.xml
index f8afe30056..558fb87bc1 100644
--- a/conf/airframes/tudelft/hybrid_nav_test.xml
+++ b/conf/airframes/tudelft/hybrid_nav_test.xml
@@ -61,7 +61,6 @@
       <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
       <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/>
       <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
-      <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/>
       <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
       <define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
       <define name="GUIDANCE_INDI_MIN_THROTTLE" value="1500"/>
@@ -211,7 +210,6 @@
   </section>
 
   <section name="MISC">
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
diff --git a/conf/airframes/tudelft/iris_indi.xml b/conf/airframes/tudelft/iris_indi.xml
index 5d6b72f1c0..b96a1d580c 100644
--- a/conf/airframes/tudelft/iris_indi.xml
+++ b/conf/airframes/tudelft/iris_indi.xml
@@ -248,7 +248,6 @@
     <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" />
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
   </section>
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
diff --git a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
index 83810890eb..8d207bc09b 100644
--- a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
+++ b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml
@@ -82,7 +82,6 @@
    <define name="MODE_AUTO2" value="AP_MODE_HOVER_DIRECT"/>
 
     <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
  </section>
 
  <section name="BAT">
diff --git a/conf/airframes/tudelft/logo600.xml b/conf/airframes/tudelft/logo600.xml
index e666f6908b..35b151f65a 100644
--- a/conf/airframes/tudelft/logo600.xml
+++ b/conf/airframes/tudelft/logo600.xml
@@ -135,7 +135,6 @@ The xml in master currently configures the LOGO600 as a pure model aircraft: mea
     <define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE" />
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.5"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
     <!--define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/-->
     <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="TRUE"/>
     <define name="VoltageOfAdc(adc)" value="(0.014355*adc)"/><!-- using a 27kOhm series resistor before VBat (do not connect VIN to VBAT!!!). Default resistor divider is 10k/2.2k becomes (27+10)/2.2. Max voltage becomes (27+10+2.2)2.2*3.3V = 58.8volt-->
diff --git a/conf/airframes/tudelft/mavtec1.xml b/conf/airframes/tudelft/mavtec1.xml
index 530bd59ebb..829f6c7765 100644
--- a/conf/airframes/tudelft/mavtec1.xml
+++ b/conf/airframes/tudelft/mavtec1.xml
@@ -71,7 +71,6 @@
   <section name="MISC">
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/tudelft/mavtec5.xml b/conf/airframes/tudelft/mavtec5.xml
index 29bee86f16..a5a7f35ee4 100644
--- a/conf/airframes/tudelft/mavtec5.xml
+++ b/conf/airframes/tudelft/mavtec5.xml
@@ -91,7 +91,6 @@
   <section name="MISC">
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/tudelft/nederdrone4.xml b/conf/airframes/tudelft/nederdrone4.xml
index c6b3ecabb3..1813299f09 100644
--- a/conf/airframes/tudelft/nederdrone4.xml
+++ b/conf/airframes/tudelft/nederdrone4.xml
@@ -162,7 +162,6 @@
       <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
       <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
       <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
-      <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
       <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
       <!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
@@ -260,7 +259,6 @@
 
   <section name="MISC">
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.1 * adc)"/><!-- TODO: verify/calibrate -->
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <!-- Basic navigation settings -->
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
diff --git a/conf/airframes/tudelft/nederdrone6.xml b/conf/airframes/tudelft/nederdrone6.xml
index 2b70fec5c8..753a6aba23 100644
--- a/conf/airframes/tudelft/nederdrone6.xml
+++ b/conf/airframes/tudelft/nederdrone6.xml
@@ -148,7 +148,6 @@
       <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
       <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
       <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
-      <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
       <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
       <!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
@@ -247,7 +246,6 @@
 
   <section name="MISC">
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.028 * adc)"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <!-- Basic navigation settings -->
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
diff --git a/conf/airframes/tudelft/nederdrone7.xml b/conf/airframes/tudelft/nederdrone7.xml
index 04578a905e..3b1af4c8ea 100644
--- a/conf/airframes/tudelft/nederdrone7.xml
+++ b/conf/airframes/tudelft/nederdrone7.xml
@@ -148,7 +148,6 @@
       <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
       <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
       <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
-      <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
       <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
       <!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
@@ -247,7 +246,6 @@
 
   <section name="MISC">
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.028 * adc)"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <!-- Basic navigation settings -->
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
diff --git a/conf/airframes/tudelft/nederdrone8.xml b/conf/airframes/tudelft/nederdrone8.xml
index 6cba175f6f..7ee98a319a 100644
--- a/conf/airframes/tudelft/nederdrone8.xml
+++ b/conf/airframes/tudelft/nederdrone8.xml
@@ -148,7 +148,6 @@
       <define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
       <define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
       <define name="GUIDANCE_INDI_MAX_AIRSPEED" value="17.0"/>
-      <define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
       <define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
       <!--define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
       <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
@@ -247,7 +246,6 @@
 
   <section name="MISC">
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 17.8574 * adc)"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <!-- Basic navigation settings -->
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
diff --git a/conf/airframes/tudelft/nederquad.xml b/conf/airframes/tudelft/nederquad.xml
index 2029ae6612..b364f93f11 100644
--- a/conf/airframes/tudelft/nederquad.xml
+++ b/conf/airframes/tudelft/nederquad.xml
@@ -296,7 +296,6 @@
     <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
     <define name="MODE_AUTO1" value="AP_MODE_NAV" />
     <define name="MODE_AUTO2" value="AP_MODE_NAV" />
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
   </section>
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
diff --git a/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml b/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
index 5e49031f28..84b29286cb 100644
--- a/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
+++ b/conf/airframes/tudelft/origami_lisamxs_wifi_indi_stereoboard.xml
@@ -295,7 +295,6 @@
    <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_GUIDED"/>
-   <define name="NO_RC_THRUST_LIMIT"  value="TRUE"/>
  </section>
 
  <section name="BAT">
diff --git a/conf/airframes/tudelft/outback.xml b/conf/airframes/tudelft/outback.xml
index 1ae5b19e65..645bd6b426 100644
--- a/conf/airframes/tudelft/outback.xml
+++ b/conf/airframes/tudelft/outback.xml
@@ -203,7 +203,6 @@
   <section name="MISC">
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-0.7"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/tudelft/robird.xml b/conf/airframes/tudelft/robird.xml
index 83839ec7f4..6b1c845eec 100644
--- a/conf/airframes/tudelft/robird.xml
+++ b/conf/airframes/tudelft/robird.xml
@@ -233,7 +233,6 @@ Flapping wing frame equiped with
     <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
     <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT" />
     <define name="MODE_AUTO2" value="AP_MODE_NAV" />
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
   </section>
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />
diff --git a/conf/airframes/tudelft/rot_wing_25kg.xml b/conf/airframes/tudelft/rot_wing_25kg.xml
index bb74300eae..ccca94ba55 100644
--- a/conf/airframes/tudelft/rot_wing_25kg.xml
+++ b/conf/airframes/tudelft/rot_wing_25kg.xml
@@ -293,7 +293,6 @@
         <define name="ADC_CHANNEL_CURRENT2"             value="ADC_4"/>
 
         <!-- Others -->
-        <define name="NO_RC_THRUST_LIMIT"               value="TRUE"/>
         <define name="NAV_CLIMB_VSPEED"                 value="2.0" />
         <define name="NAV_DESCEND_VSPEED"               value="-1.0"/>
         <define name="NAV_CARROT_DIST"                  value="200"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3b.xml b/conf/airframes/tudelft/rot_wing_v3b.xml
index d67704e30c..2b9021b760 100644
--- a/conf/airframes/tudelft/rot_wing_v3b.xml
+++ b/conf/airframes/tudelft/rot_wing_v3b.xml
@@ -448,7 +448,6 @@
         </define>
 
         <!-- Others -->
-        <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
         <define name="NAV_CLIMB_VSPEED"                     value="2.0" />
         <define name="NAV_DESCEND_VSPEED"                   value="-1.0"/>
         <define name="NAV_CARROT_DIST"                      value="200"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml b/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
index 5641c316fc..a0c9dcfd27 100644
--- a/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
+++ b/conf/airframes/tudelft/rot_wing_v3c_oneloop.xml
@@ -228,7 +228,6 @@
         <define name="VoltageOfAdc(adc)" value="((3.3f/65536.0f) * 11.98389 * adc)"/>
         <define name="VBoardOfAdc(adc)" value="((3.3f/65536.0f) * 1.89036 * adc)"/>
         <!-- Others -->
-        <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
         <define name="NAV_CLIMB_VSPEED"                     value="2.0" />
         <define name="NAV_DESCEND_VSPEED"                   value="-1.0"/>
         <define name="NAV_CARROT_DIST"                      value="15"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3g.xml b/conf/airframes/tudelft/rot_wing_v3g.xml
index 512792b25e..545cbd087f 100644
--- a/conf/airframes/tudelft/rot_wing_v3g.xml
+++ b/conf/airframes/tudelft/rot_wing_v3g.xml
@@ -441,7 +441,6 @@
         </define>
 
         <!-- Others -->
-        <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
         <define name="NAV_CLIMB_VSPEED"                     value="2.0" />
         <define name="NAV_DESCEND_VSPEED"                   value="-1.0"/>
         <define name="NAV_CARROT_DIST"                      value="200"/>
diff --git a/conf/airframes/tudelft/rot_wing_v3h.xml b/conf/airframes/tudelft/rot_wing_v3h.xml
index 520341cd75..deb663a59d 100644
--- a/conf/airframes/tudelft/rot_wing_v3h.xml
+++ b/conf/airframes/tudelft/rot_wing_v3h.xml
@@ -441,7 +441,6 @@
         </define>
 
         <!-- Others -->
-        <define name="NO_RC_THRUST_LIMIT"                   value="TRUE"/>
         <define name="NAV_CLIMB_VSPEED"                     value="2.0" />
         <define name="NAV_DESCEND_VSPEED"                   value="-1.0"/>
         <define name="NAV_CARROT_DIST"                      value="200"/>
diff --git a/conf/airframes/tudelft/splash4.xml b/conf/airframes/tudelft/splash4.xml
index e9e4ce87ad..dd770937d6 100644
--- a/conf/airframes/tudelft/splash4.xml
+++ b/conf/airframes/tudelft/splash4.xml
@@ -158,7 +158,6 @@
 
   <section name="MISC">
     <define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 10.1 * adc)"/><!-- TODO: verify/calibrate -->
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
 
     <!-- Basic navigation settings -->
     <define name="NAV_CLIMB_VSPEED" value="3.5"/>
diff --git a/conf/airframes/tudelft/splash_pixracer.xml b/conf/airframes/tudelft/splash_pixracer.xml
index 44ad3e4f5d..358639b345 100644
--- a/conf/airframes/tudelft/splash_pixracer.xml
+++ b/conf/airframes/tudelft/splash_pixracer.xml
@@ -86,7 +86,6 @@
   <section name="MISC">
     <define name="NAV_CLIMB_VSPEED" value="2.5"/>
     <define name="NAV_DESCEND_VSPEED" value="-1.0"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
   </section>
 
   <!-- Rotation of the external magneto on the GPS -->
diff --git a/conf/airframes/tudelft/splash_px4.xml b/conf/airframes/tudelft/splash_px4.xml
index 1ccc83d463..8347dc31a7 100644
--- a/conf/airframes/tudelft/splash_px4.xml
+++ b/conf/airframes/tudelft/splash_px4.xml
@@ -212,7 +212,6 @@
     <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
     <define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
 <!--    <define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT" />-->
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE" />
   </section>
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700" />