diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
deleted file mode 100644
index 0a4190849a..0000000000
--- a/conf/airframes/BR/bebop_indi_frog_flip.xml
+++ /dev/null
@@ -1,227 +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_simple"/>
-    <module name="ahrs" type="float_mlkf"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-      <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
-    </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="bebop_cam"/>
-
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
-    </module>
-  </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>
-
-  <section name="gyro_scaling">
-    <define name="BEBOP_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_2000"/>
-    <define name="IMU_GYRO_P_SENS" value="4.359"/>
-    <define name="IMU_GYRO_Q_SENS" value="4.359"/>
-    <define name="IMU_GYRO_R_SENS" value="4.359"/>
-    <define name="IMU_GYRO_P_SENS_NUM" value="4359"/>
-    <define name="IMU_GYRO_Q_SENS_NUM" value="4359"/>
-    <define name="IMU_GYRO_R_SENS_NUM" value="4359"/>
-    <define name="IMU_GYRO_P_SENS_DEN" value="1000"/>
-    <define name="IMU_GYRO_Q_SENS_DEN" value="1000"/>
-    <define name="IMU_GYRO_R_SENS_DEN" value="1000"/>
-  </section>
-
-  <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_get_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/bebop8.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_CUTOFF" value="8.0"/>
-    <define name="FILT_CUTOFF_R" value="8.0"/>
-
-    <!-- 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="15"/>
-    <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_FLIP"/>
-    <define name="MODE_AUTO2" value="AP_MODE_FLIP"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </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/BR/conf.xml b/conf/airframes/BR/conf.xml
index 3fc1cb0eff..5e348f3ad2 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -75,7 +75,7 @@
    settings="settings/fixedwing_basic.xml"
    settings_modules="modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
-   release="dfba3220f5b3500611231d02fca8799f9f045cb8"
+   release="3c20b30a61bf15a55fdf6d909c82615364e75751"
   />
   <aircraft
    name="DreamCatcher"
@@ -142,6 +142,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
-   release="6b54e33a7f9b16446622ea8213bbdc0283ad829a"
+   release="cdca4378a73ac8a9468fdc4ee9f4a966d6f90c16"
   />
 </conf>
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
deleted file mode 100644
index f00116eab0..0000000000
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+++ /dev/null
@@ -1,229 +0,0 @@
-<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
-<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
-
-<!--
-     The motor and rotor configuration is the following:
-
-     Front
-             ^
-             |
-
-    Motor3(NW)  Motor0(NE)
-        CW      CCW
-          \     /
-           ,___,
-           |   |
-           |   |
-           |___|
-          /     \
-        CCW      CW
-     Motor2(SW)  Motor1(SE)
-
-    The Lisa/S is rotated by 13deg CCW against the frame.
--->
-
-<!--
-     Applicable configuration:
-     airframe="airframes/examples/ladybird_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"
--->
-
-<airframe name="quadrotor_lisa_s">
-
-  <servos driver="Pwm">
-    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
-    <servo name="SE" no="1" min="0" neutral="50" max="1000"/>
-    <servo name="SW" no="2" min="0" neutral="50" max="1000"/>
-    <servo name="NW" no="3" min="0" neutral="50" max="1000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="NE" value="motor_mixing.commands[0]"/>
-    <set servo="SE" value="motor_mixing.commands[1]"/>
-    <set servo="SW" value="motor_mixing.commands[2]"/>
-    <set servo="NW" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <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="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF" value="{  -256, -256,  256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256, -256, -256,  256 }"/>
-    <define name="YAW_COEF" value="{    256, -256,  256, -256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
-  </section>
-
-  <include href="conf/airframes/tudelft/calibrations/ladybird18.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="-13." unit="deg"/>
-  </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"/>
-
-    <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
- </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45." unit="deg"/>
-    <define name="SP_MAX_THETA" value="45." unit="deg"/>
-    <define name="SP_MAX_PSI" value="45." unit="deg"/>
-    <define name="SP_MAX_R" value="90." unit="deg/s"/>
-    <define name="SP_MAX_P" value="90." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="400"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="100"/>
-
-    <define name="THETA_PGAIN" value="400"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="100"/>
-
-    <define name="PSI_PGAIN" value="500"/>
-    <define name="PSI_DGAIN" value="300"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value=" 300"/>
-
-    <define name="PHI_AGAIN" value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="HOVER_KP" value="276"/>
-   <define name="HOVER_KD" value="455"/>
-   <define name="HOVER_KI" value="100"/>
-   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
-   <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!--     Delft magnetic field -->
-    <define name="H_X" value="0.39049610"/>
-    <define name="H_Y" value="0.00278894"/>
-    <define name="H_Z" value="0.92060036"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="90"/>
-   <define name="DGAIN" value="50"/>
-   <define name="IGAIN" value="24"/>
- </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define  name="CLIMB_VSPEED" value="1.0" />
-    <define  name="DESCEND_VSPEED" value="-0.5" />
-  </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_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>
-
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <module name="radio_control" type="datalink">
-        <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-      </module>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators" type="pwm">
-      <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
-           With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
-           If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-      -->
-      <!-- Setting the PWM timer base frequency to 36MHz -->
-      <define name="PWM_BASE_FREQ" value="36000000"/>
-      <!-- Setting the PWM interval to 36KHz -->
-      <define name="SERVO_HZ" value="36000"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <!--<module name="telemetry" type="superbitrf"/>-->
-    <!-- Comment the previous line and uncomment the following one if you need
-         to use the debug serial interface for telemetry. -->
-    <module name="telemetry" type="bluegiga"/>
-    <module name="imu" type="lisa_s_v1.0">
-      <define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
-    </module>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="1"/>
-      <define name="AHRS_USE_GPS_HEADING" value="0"/>
-    </module>
-    <module name="ins"/>
-  </firmware>
-</airframe>
diff --git a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
index 0eff4e8884..dab62ea003 100644
--- a/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
+++ b/conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml
@@ -349,7 +349,7 @@
 
 <!--      <define name="RADIO_KILL_SWITCH" value="5"/>-->
       <!-- Put the mode on channel AUX1-->
-      <define name="RADIO_MODE" value="5"/>
+      <!--<define name="RADIO_MODE" value="5"/>-->
       <define name="RADIO_CAMERA" value="RADIO_EXTRA1"/>
 <!--       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
     </module>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index 3973cf07ec..631c1a25b1 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -9,6 +9,7 @@
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/imu_quality_assessment.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
+   release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
   <aircraft
    name="TriCopter"
diff --git a/conf/airframes/OPENUAS/openuas_ardrone2.xml b/conf/airframes/OPENUAS/openuas_ardrone2.xml
deleted file mode 100644
index ce65775e9e..0000000000
--- a/conf/airframes/OPENUAS/openuas_ardrone2.xml
+++ /dev/null
@@ -1,251 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-<!--
-     * Psi a slightly modified Parrot AR.Drone 2.0 (http://www.openuas.org/)
-     + uBlox LEA5H and Sarantel helix GPS antenna
-
-     NOTES:
-     + Original ballbearings replaced with real ball bearings for all axis
-     + Frontcamera movable by servo on debug port - optional
-     + Spektrum RX DSMX clone on debug port - optional
-     + Iridium 9603N - optional
-
--->
-
-<airframe name="Psi">
-  <!-- ************************* FIRMWARE ************************* -->
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-      <!--<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>-->
-      <define name="BAT_CHECKER_DELAY" value="50"/>
-      <!-- amount of time it take for the bat to check -->
-      <!-- to avoid bat low spike detection when strong up movement withch draws short sudden power-->
-      <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="50"/><!-- in seconds-->
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </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="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="indi_simple"/>
-    <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="bat_voltage_ardrone2"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="air_data"/>
-    <module name="geo_mag"/>
-     <!-- ************************* PHOTOGRAMMETRY ****************************** -->
-     <!-- <module name="photogrammetry_calculator"/> -->
-    <!--<module name="video_rtp_stream">
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="75"/>
-      <define name="VIEWVIDEO_FPS" value="4"/>
-      <define name="VIEWVIDEO_SHOT_PATH" value="/data/video/usb0/myphotos"/>
-    </module>-->
-    <!--<module name="video_usb_logger"/>
-      <define name="LOG_ON_USB" value="TRUE"/>
-      <define name="VIDEO_USB_LOGGER_PATH" value="/data/video/usb0/myphotologs"/>
-    </module>-->
-    <!--<module name="find_joe"> -->
-  </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="3000"/>
-  </commands>
-
-    <!-- ************************ AUTO RC COMMANDS ***************************** -->
-  <auto_rc_commands>
-    <!-- To still be able to trigger cam in MODENAV-->
-    <!-- <set command="SHOOT" value="@AUX1"/> -->
-  </auto_rc_commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </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"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- YOUR Magneto calibration for YOUR airframe hardware -->
-    <define name="MAG_X_NEUTRAL" value="45"/>
-    <define name="MAG_Y_NEUTRAL" value="39"/>
-    <define name="MAG_Z_NEUTRAL" value="37"/>
-    <define name="MAG_X_SENS" value="14.0225722894" integer="16"/>
-    <define name="MAG_Y_SENS" value="13.5140696034" integer="16"/>
-    <define name="MAG_Z_SENS" value="15.0331344825" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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_">
-    <!-- Local Magnetic field NL Testfield-->
-    <!--
-     <define name="H_X" value="0.382478"/>
-     <define name="H_Y" value="0.00563406"/>
-     <define name="H_Z" value="0.923948"/>
-     -->
-    <!-- Local Magnetic field DE Testfield -->
-    <define name="H_X" value="0.403896"/>
-    <define name="H_Y" value="0.012277"/>
-    <define name="H_Z" value="0.914723"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="1.7"/>
-    <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="40" unit="deg"/>
-    <define name="SP_MAX_THETA" value="40" unit="deg"/>
-    <define name="SP_MAX_R" value="130" unit="deg/s"/>
-    <define name="DEADBAND_A" value="10"/>
-    <define name="DEADBAND_E" value="10"/>
-    <define name="DEADBAND_R" value="200"/>
-  </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="0.032"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0032"/>
-    <define name="G2_R" value="0.16"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="250.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="21.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- 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="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="31" unit="deg"/>
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </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_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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"/>
-    <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-
-  <!-- ************************ GCS SPECIFICS ******************************** -->
-  <section name="GCS">
-    <define name="SPEECH_NAME" value="Psi"/>
-  </section>
-
-
-</airframe>
diff --git a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
deleted file mode 100644
index c970baeba5..0000000000
--- a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml
+++ /dev/null
@@ -1,542 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-* UMX SBach 342 Fixedwing (http://www.openuas.org/)
-+ Airframe to test transition from prop-hanging hover to forward and vice versa in a tiny airframe
-     + Autopilot:   Lisa/S v1.0
-     + Actuators:   UltraMicro SPMA2000L longthrow servos
-     + GPS:         Onboard uBlox MAX7Q         
-     + RCRX: 		Deltang 31c  on DSMX with 7CH cPPM out        
-     + TELEMETRY:	Custom ESP8266 module with custom firmware
-     + ESC:			Plush 6A with added RPM out on pin 1.1
-     + LOGGER:      OnboardSD highspeed logger
-
-NOTES:
-     + Servo pins point to back of airframe
-     + Custom adjusted BLHeli, see mod in airframe remarks
-     + If programming the RX make sure there is no dual-rate switched on and the range of CH2&4 get to 100% of range
--->
-
-<airframe name="Eflite_UMX_Sbach_342">
-
-  <firmware name="fixedwing">
-    <!-- ********************** For in the real flying hardware ********************-->
-    <target name="ap" board="lisa_s_1.0">
-      <!-- PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY -->
-      <!--  unit="Hz" --> 
-      <configure name="PERIODIC_FREQUENCY" value="512"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-      <configure name="AHRS_CORRECT_FREQUENCY" value="500"/>
-      
-      <configure name="NAVIGATION_FREQUENCY" value="16"/>
-      <configure name="CONTROL_FREQUENCY" value="120"/>
-      <configure name="TELEMETRY_FREQUENCY" value="60"/>
-      <configure name="MODULES_FREQUENCY" value="512"/>
-    
-      <module name="actuators" type="pwm">
-        <define name="TIM5_SERVO_HZ" value="40"/>
-        <define name="SERVO_HZ" value="40"/>
-        <define name="USE_SERVOS_1AND2"/>
-      </module>
-  
-      <module name="radio_control" type="ppm"> 
-        <configure name="RADIO_CONTROL_PPM_PIN" value="SUPERBIT_RST"/>  
-        <!-- REMOVE after test one abouve should be enough but was/is not
-        <configure name="PPM_CONFIG" value="4"/>
-        <define name="PPM_CONFIG" value="4"/> 
-        -->
-        
-        <!-- for debugging PPM values as default setting, enable the one below but use with correct telemetry XML document-->
-        <!-- <define name="TELEMETRY_MODE_DEBUG_RC" value="TRUE"/> -->
-        <define name="RADIO_CONTROL_NB_CHANNEL" value="7"/> 
-
-        <!-- Mode set one a three way switch -->
-        <define name="RADIO_MODE" value="RADIO_GEAR"/>
-        <!-- <define name="RADIO_??" value="RADIO_AUX1"/> -->
-        <!-- <define name="RADIO_??" value="RADIO_AUX2"/> -->
-        <!-- temp fix for geomag, normally only used for rotorcraft -->
-        <!-- <define name="SENSOR_SYNC_SEND"/> -->
-        <!-- RX is on a custom daughterboard PCB by designed B.Slinger with SD and RX option via original Superbit RF connector-->
-      </module>
-      
-       <module name="sys_mon"/> <!-- Check processor load for higher loop, nav, module etc. frequencies, better still automate to max -->
-       <!--  <module name="mag_calib_ukf"/>--> <!-- TODO: Enable and test after first tests with rotorcraft --> 
-       <module name="pwm_meas.xml"/> <!--  To be able to measure PWM pulses -->
-       <module name="rpm_sensor.xml">
-         <define name="RPM_PULSE_PER_RND" value="18"/><!-- TODO: determine correct value for this specific setup -->
-       </module> 
-       <module name="ins"/>     
-     </target>
-    
-<!-- *********************** For simulation of the flight ****************************-->  
-    <target name="sim" board="pc">
-      <module name="radio_control" type="ppm">
-        <define name="RADIO_CONTROL_NB_CHANNEL" value="7"/> 
-        <define name="RADIO_MODE" value="RADIO_GEAR"/>         
-      </module>
-      <module name="telemetry" 	type="transparent"/>
-      <module name="imu" type="aspirin_v2.2"/>
-      <!--  <define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>-->
-      <module name="baro_sim"/>
-      <!-- For various parameter info here  https://wiki.paparazziuav.org/wiki/Subsystem/ahrs -->
-      <module name="ahrs" type="int_cmpl_quat">
-      </module>
-      <module name="ins" type="alt_float"/>
-    </target>
-
-<!-- *********************** Another way for simulation of the flight ****************************-->  
-   <!--  <target name="jsbsim" board="pc">  -->
-      <!-- Note NPS needs the ppm type radio_control module -->
-      <!-- 
-      <module name="radio_control" type="ppm"> 
-      <module name="fdm" type="jsbsim"/> 
-      <module name="udp"/>
-      <define name="JSBSIM_MODEL" value="easystar" type="string"/>
-      <define name="JSBSIM_LAUNCHSPEED" value="6" unit="m/s"/>
-      <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-      -->
-    <!-- </target>-->
-     
-<!-- ********** Common Defines and Config and values for both Real Hardware and Simulation ***** -->
-    
-    <!--<define name="RADIO_CONTROL_NB_CHANNEL" value="7"/>-->
-    <!--  <define name="USE_AIRSPEED"/> --><!-- not until we determine some other things -->
-    
-    <define name="AGR_CLIMB"/> <!--Has AGR mode for testing performance -->
-    <define name="TUNE_AGRESSIVE_CLIMB"/>
-    <define name="STRONG_WIND"/> 
-    <define name="WIND_INFO"/>
-    <define name="WIND_INFO_RET"/>
-       
-    <define name="autopilot_motors_on" value="TRUE"/>
-    <!-- temp fix for geomag, normally only used for rotorcraft -->
-    <define name="SENSOR_SYNC_SEND"/>
-   
-    <configure name="USE_BARO_BOARD" value="FALSE"/>
-    <!-- amount of time it take for the bat to trigger check -->
-    <!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->    
-    <define name="BAT_CHECKER_DELAY" value="30" unit="s/10"/> <!-- in tenth of seconds-->
-    <!-- Only one main batter so CATASTROPHIC_BATTERY kill should be somewhat delayed -->
-    <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="150" unit="s/10"/> <!-- in tenth of seconds for engine kill -->
-        
-    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
-    <define name="USE_AHRS_GPS_ACCELERATIONS"/>
-    <!-- <define name="USE_MAGNETOMETER_ONGROUND" value="FALSE"/> -->
-    <module name="ahrs" type="int_cmpl_quat">  
-    	<configure name="AHRS_USE_MAGNETOMETER" value="FALSE"/> <!-- First autoflight set to false better make sure it works and is callibrated if set to TRUE -->
-     	<!-- <define name="AHRS_MAG_UPDATE_ALL_AXES" value="TRUE"/> --> <!-- with those high roll n pith angles better id calibrated well -->
-     	<!--  TRUE by default <define name="AHRS_USE_GPS_HEADING" value="FALSE"/> --><!-- Use GPS course to update heading for time being,if FALSE data from magneto only, testing, brrrr... -->
-     	<!--  TRUE by default <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="FALSE"/>--> <!-- Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing)"-->
-     	<define name="AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION" value="TRUE"/> <!-- AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction" -->
-     	<define name="AHRS_PROPAGATE_LOW_PASS_RATES" value="TRUE"/> <!-- apply a low pass filter on rotational velocity"-->
-     	<define name="AHRS_BIAS_UPDATE_HEADING_THRESHOLD" value="5.0"/> <!-- don't update gyro bias if heading deviation is above this threshold in degrees"-->
-     	<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="1.0"/> <!-- CAREFULL,  Don't update heading from GPS course if GPS ground speed is below is this threshold in m/s" -->
-  <!-- Some insights https://lists.nongnu.org/archive/html/paparazzi-devel/2013-10/msg00126.html -->
-     	<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="10.0"/> <!-- Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations -->
-        <define name="USE_RPM_SENSOR_NOTCH" value="FALSE"/>
-        <define name="NOTCH_FILTER_BANDWIDTH" value="10"/>
-
-        <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="2" unit="m/s"/><!-- TODO: determine -->
-    </module>
-        
-    <module name="telemetry" type="transparent"> 
-       <configure name="MODEM_PORT" value="UART1"/>
-       <configure name="MODEM_BAUD" value="B57600"/><!-- for nano wifi module use B115200 -->
-    </module>
-    <module name="control"/>
-    <module name="navigation"/>
-    <module name="imu" type="lisa_s_v1.0">
-      <define name="LISA_S_UPSIDE_DOWN"/> <!--  that means the GPS module is towards bottom of aircraft -->
-    </module>
-    <module name="gps" type="ublox">
-    <!--
-      <configure name="GPS_BAUD" value="B57600"/>
-      <configure name="GPS_PORT" value="UART2"/>
-      -->
-    </module>
-  </firmware>
-  
-  <firmware name="test_progs">
-    <target name="test_actuators_pwm_sin"  board="lisa_s_1.0">
-      <define name="SERVO_HZ" value="40"/>
-    </target>
-    <!-- <target name="test_actuators_pwm"      board="lisa_s_1.0">
-      <define name="SERVO_HZ" value="40"/>
-    </target> -->
-    <target name="test_adc"                board="lisa_s_1.0"/>
-    <!-- Since test is not implemented yet, idea is to just write and read a block and check data -->
-    <!-- FIXME <target name="test_sdcard"  board="lisa_s_1.0"/>-->
-    </firmware>
-
- <!-- ************************* MODULES ************************* -->
-  <modules>
-    <!-- <module name="auto1_commands"/>-->
-    
-    <!--  TODO: Start to log from trigger in Flightplan specific block or condition -->
-    <!--  TODO: Currently Direct SD for FW is broken ... -->
-    <!--  <load name="logger_sd_spi_direct.xml">
-      <configure name="LOGGER_CONTROL_SWITCH" value="RADIO_MODE"/>-->
-      <!-- <configure name="LOGGER_LED" value="3"/>-->
-    <!--  </load>-->
-
-    <!-- TODO remove if regular baro is working
-    <module name="baro_ms5611_spi" >
-      <configure name="MS5611_SPI_DEV" value="spi1"/>
-      <configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
-      <define name="SENSOR_SYNC_SEND"/>
-    </module>
-    -->
-
-    <module name="send_imu_mag_current"/> <!-- disable after one time calibration when all components are at final spot in airframe -->
-    <module name="air_data">
-      <define name="CALC_AIRSPEED" value="TRUE" />
-      <define name="CALC_TAS_FACTOR" value="FALSE" />
-      <define name="CALC_AMSL_BARO" value="TRUE" />
-    </module>
-    <module name="geo_mag"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <!-- TODO: activate after Slip sensor is added -->
-    <!-- <module name="adc_generic"> 
-      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_2"/> 
-    </module> -->
-    <module name="nav" type="line"/>
-    <module name="nav" type="line_border"/>
-    <module name="nav" type="line_osam"/>
-    <module name="nav" type="survey_polygon"/>
-    <module name="nav" type="survey_poly_osam"/>
-    <module name="nav" type="smooth"/>
-    <module name="nav" type="vertical_raster"/>
-    <module name="nav" type="flower"/>
-    <!-- <module name="nav" type="catapult"/>--><!-- TODO Enable after first successful flights -->
-  </modules>
-
-  <!-- ************************* ACTUATORS ************************* -->
-  <servos>
-    <servo name="THROTTLE" no="4" min="1000" neutral="1090" max="1900"/><!-- TODO Still ESC GND issue -->
-    <servo name="LAILERON" no="5" min="1100" neutral="1500" max="1900"/><!-- Works TODO check direction -->
-    <servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/><!-- Works TODO check direction -->
-    <servo name="RUDDER"   no="1" min="1100" neutral="1500" max="1900"/><!-- Works TODO check direction -->
-    <servo name="RAILERON" no="2" min="1100" neutral="1500" max="1900"/><!-- Works TODO check direction -->
-  </servos>
-
-  <!-- ************************ RC COMMANDS ***************************** -->
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/> 
-    <!--  <set command="MODE" value="@GEAR"/>-->
-    <!-- for tuning via RC these ones below -->
-    <!--
-    <set command="GAIN1"    value="@GAIN1"/>-->
-  </rc_commands>
-
-  
-  <!-- ************************ AUTO RC COMMANDS ***************************** -->
- <!--  <auto_rc_commands>-->
-    <!-- To still be able to use rudder in auto mode, which is handy with sidewind landing in auto1 stabilization mode only YAW
-    Handy if in auto1 for sidewind stabilized crabbing landing, also for steering if something is not OK with course gains in Autonomous flight
-    TODO disable again after strong wind sidewind autolanding is 100% tuned-->
-   <!--  <set command="YAW" value="@YAW"/>-->  <!-- TODO: Disable if multiple tests are flown in auto2 -->
-     
-    <!-- To be able to set gain values via RC Transmitter these ones below.
-    This way the can keep his eye on a fast moving plane and set some gain values
-    makes life of a single testpiloted AC much easier -->
-    <!--  <set command="GAIN1"    value="@GAIN1"/>-->
-  <!--  </auto_rc_commands>-->
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <!-- <axis name="FMODE" failsafe_value="-9600"/>--><!-- TODO determine -->
-  </commands>
-  
-  <!--  TODO: add mixing section -->
-
-  <command_laws> 
-    <set servo="THROTTLE" value="@THROTTLE"/> <!-- TODO: test max -->
-    <set servo="LAILERON" value="@ROLL"/> <!-- TODO: check direction -->
-    <set servo="ELEVATOR" value="@PITCH"/> <!-- TODO: check direction --> 
-    <set servo="RUDDER"   value="@YAW"/> <!-- TODO: check direction -->
-    <set servo="RAILERON" value="-@ROLL"/> <!-- TODO: check direction -->
-  </command_laws>
-  
-  <!-- Do not set MAX_ROLL, MAX_PITCH to small of a value, otherwise one can NOT control the plane very well manually -->
-  <!-- If you have dual rate switch it of with same switch as mode switch thus auto1 means dual-rate is switched off also -->
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="70" unit="deg"/> <!-- Big, Just to have more authority  while test-flying for first time -->
-    <define name="MAX_PITCH" value="50" unit="deg"/> <!-- Big, Just to have more authority while test-flying for first time -->
-  </section>
-
-  <section name="TRIM" prefix="COMMAND_">
-    <define name="ROLL_TRIM" value="0.0"/>
-    <define name="PITCH_TRIM" value="0.0"/>
-  </section>
-
-  <!-- Strategy for failsave is slow wide circles and loosing height in a controlled fashion 
-  if you happen to regain GPS or RC again it possible to fly on -->
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
-    <define name="DEFAULT_ROLL" value="15.0" unit="deg"/>
-    <define name="DEFAULT_PITCH" value="-10.0" unit="deg"/>
-    <!--  TODO Maybe extent flap to landing position, testfly it first -->
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="MAX_DIST_FROM_HOME*1.4+HOME_RADIUS" unit="m"/><!--  improve value by default turn radius calc -->
-    <define name="DELAY_WITHOUT_GPS" value="3000" unit="s"/>
-  </section>
-
-  <!-- ************************* SENSORS ************************* -->
-  <section name="IMU" prefix="IMU_"> <!-- TODO -->
-    <!-- ***************** MAGNETO *****************-->
-    <!-- replace this with your own calibration (on the correct sensor?) -->
-    <!-- TODO: Calibrate -->
-    <!-- RE-CALIBRATE after your aircraft changes e.g. cabeling or something else !-->
-    <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="4.17334785618" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
-    
-    <!--define name="MAG_OFFSET" value="-?.0" unit="deg"--> <!--  TODO: at least 3 axis in worst case -->
-   
-    <define name="BODY_TO_IMU_PHI" value="0.0" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0.0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
-  </section>
-    
-  <!-- ************************* AHRS ************************* -->
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <!-- NL -->
-    <!--TODO: start using geo_mag module, else replace the values with your local magnetic field -->
-    <!-- Local Magnetic field NL Testfield-->
-    <!--
-     <define name="H_X" value="0.382478"/>
-     <define name="H_Y" value="0.00563406"/>
-     <define name="H_Z" value="0.923948"/>
-   -->
-    <!-- Local Magnetic field DE Testfield -->    
-    <define name="H_X" value="0.412814"/>
-    <define name="H_Y" value="-0.0228189"/> 
-    <define name="H_Z" value="0.91053"/>
-  </section>
-
-  <!-- ************************* INS ************************* -->
-  <section name="INS" prefix="INS_">
-    <define name="USE_INS_MODULE"/>
-    <define name="INS_ROLL_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
-    <define name="INS_PITCH_NEUTRAL_DEFAULT" value="0.0" unit="deg"/>
-    <!-- Use GPS altitude measerments and set the R gain -->
-    <!-- <define name="USE_GPS_ALT" value="1"/>-->
-    <!-- <define name="VFF_R_GPS" value="0.01"/>-->
-  </section>
-
-  <!-- ************************* GAINS ************************* -->
-  
-  <!-- ************************* H ************************* -->
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-     <!-- TODO: Tune value -->
-     <define name="COURSE_PGAIN" value="0.60"/>
-     <define name="COURSE_DGAIN" value="0.10"/>
-     <!-- 
-     The prebank is an adjustment to the roll setting which is performed when the aircraft is
-     trying to do a circle and when it is close to the circumference of the circle. This way
-     it does not fly straight into the circumference but instead it starts to make a roll as
-     the one needed to fly in circles.
-     There is a value in the airframe file COURSE_PRE_BANK_CORRECTION which can be used to 
-     increase o decrease the effect. If set to 1 then the normal prebank is done. 
-     If set to 0.5 then half of the additional roll is done. This causes the aircraft to not roll
-     enough in order to fly the intended circle and it ends up flying in a larger circle.  
-     A value > 1 makes it fly a smaller circle.
-     
-    https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/modules/nav.c#L132
-    -->
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.95"/>
-    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
-    <define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
-    <define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/><!--  Determine best val without scaring the sh*t out of us-->
-    <define name="PITCH_PGAIN" value="10000"/>
-    <define name="PITCH_DGAIN" value="3.5"/>
-    <define name="ELEVATOR_OF_ROLL" value="1000" unit="PPRZ_MAX"/>
-    <define name="ROLL_SLEW" value="0.2"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="8000"/>
-    <define name="ROLL_RATE_GAIN" value="300."/>
-  </section>
-
-
-  <!--  We have value of Classic as well as ETECH, this since airframe is frst flown Classic the ETECS, make tunng a bit easier
-   It is NOT (yet?) switchable on the fly in flight -->
-   
-  <!-- ************************* V ************************* -->
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!-- power -->
-    <define name="POWER_CTL_BAT_NOMINAL" value="3.6" unit="volt"/> <!-- TODO: not OK yet -->
-  
-    <!-- Classic -->
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.06"/> <!--unit="(m/s)/m"-->
-
-    <!-- auto throttle -->
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30" unit="%"/>  <!-- TODO Determine -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.50" unit="%"/> <!-- TODO Determine --> 
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
-   
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000" unit="pprz_t"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000" unit="pprz_t"/>
-
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <!-- TODO: Determine -->
-
-    <define name="AUTO_THROTTLE_PGAIN" value="0.0007" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.002"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.2" unit="rad/(m/s)"/> <!-- TODO: Determine -->
-    <define name="THROTTLE_SLEW_LIMITER" value="0.8" unit="m/s/s"/> 
-
-    <!-- Best to never set AUTO_AIRSPEED_SETPOINT lower than airframe stall speed if you hate repairs ;) -->
-     <!-- investigate: if higher _AIRSPEED_SETPOINT then airframe tries to maintain a constand ground speed UNKNOWN -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="20.0" unit="m/s"/>
-    <define name="AUTO_AIRSPEED_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_IGAIN" value="0.05"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0" unit="degree/(m/s)"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0" unit="%/(m/s)"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0"/>
-    
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="8.0" unit="m/s"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
-
-    <define name="AIRSPEED_PGAIN" value="0.1"/>
-    
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2.0" unit="m/s"/> <!-- TODO: Determine -->
-    <define name="MAX_ACCELERATION" value="3.0" unit="G"/> <!-- TODO: Determine -->
-    
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.05"/> <!-- TODO: Determine -->
-    <define name="AUTO_PITCH_IGAIN" value="0.065"/> <!-- TODO: Determine -->
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.45"/> <!-- TODO: Determine -->
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.40"/> <!-- TODO: Determine -->
-    <!-- <define name="THROTTLE_SLEW" value="0.3"/> --> <!-- limiter for powerful motor -->
-    
-    <!-- ETECS --> 
-    <define name="ENERGY_TOT_PGAIN" value="0.35"/> <!-- TODO: Determine -->
-    <define name="ENERGY_TOT_IGAIN" value="0.30"/> <!-- TODO: Determine -->
-    <define name="ENERGY_DIFF_PGAIN" value="0.40"/> <!-- TODO: Determine -->
-    <define name="ENERGY_DIFF_IGAIN" value="0.35"/> <!-- TODO: Determine -->
-    
-    <define name="GLIDE_RATIO" value="7."/> <!-- 7 to 1 --> <!-- TODO: Determine -->
-   
-    <!-- extra's -->
-    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
-    
-    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/> <!-- TODO: Determine -->
-    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/> <!-- TODO: Determine -->
-    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/> <!-- TODO: Determine -->
-
-  </section>
-  
-  <!-- ***************************** AGGRESIVE ******************************* -->
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="12" unit="M"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="6" unit="M"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.85" unit="%"/> <!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="45" unit="deg"/> <!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.5" unit="%"/> <!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-40" unit="deg"/> <!-- Pitch for Aggressive Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.6" unit="%"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="0.9" unit="%"/>
-  </section>
-
-  <!-- ************************* BAT ************************* -->
-  <section name="BAT">
-    <define name="MILLIAMP_AT_IDLE_THROTTLE" value="200" unit="mA"/> <!-- Bacause of the Wifimodule on max ouput -->
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="7000" unit="mA"/>  <!-- TODO unknown value, measure, now used as average value if no current sensor is attached-->
-    <define name="MAX_BAT_LEVEL" value="4.2" unit="V"/><!-- 2S lipo 2x4.2 = 8.4 -->
-    <define name="LOW_BAT_LEVEL" value="3.4" unit="V"/><!-- TODO no OK but for debugging now -->
-    <define name="CRITIC_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-  </section>
-  
-  <!-- ************************* RPM ************************* -->
-  <section name="RPM_SENSOR" prefix="RPM_SENSOR_">
-    <define name="PULSES_PER_ROTATION" value="6"/> <!-- TODO -->
-  </section>
-
-  <!-- ************************* MISC ************************* -->
-  <section name="MISC">   
-    <define name="MINIMUM_AIRSPEED" value="6." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="10." unit="m/s"/>
-    
-    <!-- Values here are only referred to by the flightplan m*_s*_airspeed.xml in final AC-->
-    <define name="CLIMB_AIRSPEED" value="7." unit="m/s"/> <!-- TODO get best values -->
-    <define name="TRACKING_AIRSPEED" value="8." unit="m/s"/> <!-- TODO get best values -->
-    <define name="GLIDE_AIRSPEED" value="6." unit="m/s"/> <!-- TODO get best values -->
-    <define name="STALL_AIRSPEED" value="6." unit="m/s"/> <!-- measue limit of plane in testflight and set 80% from this --> <!-- No flap, an pct flp ratio-->
-    <define name="RACE_AIRSPEED" value="10." unit="m/s"/> <!-- TODO determine -->
-    
-    <define name="MIN_SPEED_FOR_TAKEOFF" value="6." unit="m/s"/> <!-- TODO determine and change to make it for airspeed -->
-    <define name="AIRSPEED_SETPOINT_SLEW" value="0.4" unit="m/s/s"/> <!-- TODO get best values -->
-        
-    <define name="TAKEOFF_PITCH_ANGLE" value="45" unit="deg" /> <!-- TODO get best values -->
-    <define name="FLARE_PITCH_ANGLE" value="12" unit="deg" /> <!-- TODO get best values -->
-    
-    <define name="NAV_GLIDE_PITCH_TRIM" value="-1.0" unit="deg"/> <!-- TODO determine -->
-    
-    <define name="CARROT" value="4." unit="s"/> <!-- TODO maye ~?s -->
-    
-    <define name="DEFAULT_CIRCLE_RADIUS" value="30." unit="m"/> <!-- TODO determine -->
-    <define name="LANDING_CIRCLE_RADIUS" value="20."/> <!-- TODO determine -->
-     <!-- MIN_CIRCLE_RADIUS used and needed for spiral navigation function and panic autolanding turns-->
-    <define name="MIN_CIRCLE_RADIUS" value="10."/> <!-- TODO determine -->
-
-    <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
-    If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-    <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
-    or  fly a long range mission you define the wanted mode behaviour here.
-    If you do not define it, it defaults to flying to the flightplan HOME -->
-    <define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
-    
-    <!-- TODO SET some modem values with multipoint also the $AC_ID -->
-  </section>
-
-  <!-- ************************* CATAPULT ************************* -->
-  <!--  Can as well be your handlaunch, te human catapult ;) -->
-  <section name="CATAPULT" prefix="NAV_CATAPULT_"> 
-    <define name="MOTOR_DELAY" value="0" unit="s"/>
-    <define name="HEADING_DELAY" value="1.5" unit="s"/><!--  Set to quite a lower value if MAG is working 100% OK -->
-    <define name="ACCELERATION_THRESHOLD" value="1.5"/> <!-- TODO determine -->
-    <define name="INITIAL_PITCH" value="25.0" unit="deg"/>
-    <define name="INITIAL_THROTTLE" value="1.0"/>
-  </section>
- 
-  <!-- ************************* GLS_APPROACH ************************* -->
-  <section name="GLS_APPROACH" prefix="APP_">
-    <define name="ANGLE" value="5" unit="deg"/> <!-- TODO determine -->
-    <define name="INTERCEPT_AF_SD" value="10" unit="m"/> <!-- TODO determine -->
-    <define name="TARGET_SPEED" value="10" unit="m/s"/> <!-- TODO determine -->
-  </section>
-  
-  <!-- ************************ GCS SPECIFICS ******************************** -->
-  <section name="GCS">
-    <define name="SPEECH_NAME" value="S_bach_3_4_2"/>
-    <define name="AC_ICON" value="fixedwing"/>
-    <define name="ALT_SHIFT_PLUS_PLUS" value="20"/>
-    <define name="ALT_SHIFT_PLUS" value="10"/> 
-    <define name="ALT_SHIFT_MINUS" value="-10"/>
-  </section>
-  
-  <!-- ************************ SIMU ******************************** -->
-  <section name="SIMU">
-    <define name="WEIGHT" value ="1."/>
-    <define name="YAW_RESPONSE_FACTOR" value =".9"/>   <!--default 1.-->
-    <define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
-    <define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
-  </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/IMAV2013/ardrone2.xml b/conf/airframes/tudelft/IMAV2013/ardrone2.xml
deleted file mode 100644
index 50dac0d778..0000000000
--- a/conf/airframes/tudelft/IMAV2013/ardrone2.xml
+++ /dev/null
@@ -1,164 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="ardrone2">
-
-  <firmware name="rotorcraft">
-    <!-- Main autopilot target -->
-    <target name="ap" board="ardrone2">
-      <define name="USE_INS_NAV_INIT"/>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-
-      <configure name="HOST" value="192.168.2.$(AC_ID)"/>
-      <configure name="ARDRONE2_START_PAPARAZZI" value="1"/>
-      <configure name="ARDRONE2_WIFI_MODE" value="2"/>
-      <configure name="ARDRONE2_SSID" value="tudelft_swarmhub"/>
-      <configure name="ARDRONE2_IP_ADDRESS_BASE" value="192.168.2."/>
-      <configure name="ARDRONE2_IP_ADDRESS_PROBE" value="$(AC_ID)"/>
-
-    </target>
-
-	<!-- Subsystem section -->
-	<module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins" type="extended"/>
-  </firmware>
-
-  <modules main_freq="512">
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="time_countdown"/>
-    <module name="bat_voltage_ardrone2"/>
-  </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="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-  </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="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
-
-    <!-- Time cross layout (X), as documented in paparazzi -->
-    <define name="ROLL_COEF" value="{   256, -256, -256,  256  }"/>
-    <define name="PITCH_COEF" value="{  256,  256, -256,  -256 }"/>
-    <define name="YAW_COEF" value="{   -256,  256, -256,  256  }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256  }"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <include href="conf/airframes/tudelft/IMAV2013/calibrations/$AC_ID_calib.xml"/>
-  <section name="IMU" prefix="IMU_">
-    <!-- Body to IMU is no difference -->
-    <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, calculated for: 52°3'56", 4°31'24" -->
-  <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value="0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value="0.858336"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="600" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="900" 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="900" 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="600" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="400." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="592"/>
-    <define name="PHI_DGAIN" value="303"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="606"/>
-    <define name="THETA_DGAIN" value="303"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="529"/>
-    <define name="PSI_DGAIN" value="353"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="52"/>
-  </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="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </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="9.1" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.35" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.45" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/IMAV2013/mavrick_lisa_s.xml b/conf/airframes/tudelft/IMAV2013/mavrick_lisa_s.xml
deleted file mode 100644
index d74a59bd1e..0000000000
--- a/conf/airframes/tudelft/IMAV2013/mavrick_lisa_s.xml
+++ /dev/null
@@ -1,183 +0,0 @@
-<!-- this is a tiny MavRick fixedwing frame equiped with Lisa/S 0.1 -->
-<!-- Using Lisa/S V1.0 board file as it is software compatible. -->
-
-<!--
-     Applicable configuration:
-     airframe="airframes/tudelft/IMAV2013/mavrick_lisa_s.xml"
-     radio="radios/cockpitSX.xml"
-     telemetry="telemetry/default_fixedwing.xml"
-     flight_plan="flight_plans/fixedwing_basic.xml"
-     settings="settings/fixedwing_basic.xml"
--->
-
-<airframe name="MavRick_LisaS">
-
-  <firmware name="fixedwing">
-    <define name="AGR_CLIMB" />
-    <target name="ap" board="lisa_s_1.0"/>
-
-    <module name="radio_control" type="superbitrf_rc">
-      <define name="RADIO_TRANSMITTER_ID" value="2008496626"/> <!-- TUDelft Dx6i: TX 4 -->
-      <define name="RADIO_TRANSMITTER_CHAN" value="6"/>
-      <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
-    </module>
-
-    <!-- Communication -->
-    <module name="telemetry" type="superbitrf"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <module name="imu"     type="lisa_s_v1.0"/>
-    <module name="ahrs"    type="float_dcm"/>
-      <define name="LISA_S_UPSIDE_DOWN"/>
-    <module name="control"/>
-    <module name="navigation"/>
-    <!-- Sensors -->
-    <module name="gps" type="ublox"/>
-    <module name="ins" type="alt_float"/>
-
-    <module name="actuators" type="dualpwm">
-      <define name="DUAL_PWM_ON"/>
-    </module>
-  </firmware>
-
- <modules>
-   <module name="gps" type="ubx_ucenter"/>
- </modules>
-
-<!-- commands section -->
-  <servos driver="Pwm">
-    <servo name="MOTOR" no="2" min="1040" neutral="1040" max="2000"/>
-  </servos>
-  <servos driver="Dualpwm">
-    <servo name="AILEVON_LEFT" no="0" min="1200" neutral="1500" max="1800"/>
-    <servo name="AILEVON_RIGHT" no="1" min="1800" neutral="1500" max="1200"/>
-  </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="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <!-- From delft MAVLab -->
-    <define name="MAG_X_NEUTRAL" value="847"/>
-    <define name="MAG_Y_NEUTRAL" value="-415"/>
-    <define name="MAG_Z_NEUTRAL" value="-264"/>
-    <define name="MAG_X_SENS" value="2.43585513661" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.71461295002" integer="16"/>
-    <define name="MAG_Z_SENS" value="3.4639003008" integer="16"/>
-  </section>
-
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0.048" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="3.7" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <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="1.0"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-
-    <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_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"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/tudelft/IMAV2013/quadrotor_lisa_s.xml
deleted file mode 100644
index afa3ac6ecd..0000000000
--- a/conf/airframes/tudelft/IMAV2013/quadrotor_lisa_s.xml
+++ /dev/null
@@ -1,207 +0,0 @@
-<!-- this is a quadrocopter frame equiped with Lisa/S 0.1 and generic china pwm motor controllers -->
-<!-- Using Lisa/S 1.0 board file as it is software compatible. -->
-
-<!--
-     Applicable configuration:
-     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"
--->
-
-<airframe name="quadrotor_lisa_s">
-
-  <servos driver="Pwm">
-    <servo name="LEFT" no="4" min="1000" neutral="1100" max="1900"/>
-    <servo name="FRONT" no="5" min="1000" neutral="1100" max="1900"/>
-    <servo name="RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
-    <servo name="BACK" no="0" min="1000" neutral="1100" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="1000"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[0]"/>
-    <set servo="BACK" value="motor_mixing.commands[1]"/>
-    <set servo="LEFT" value="motor_mixing.commands[2]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <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="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF" value="{    0,    0,  256, -256 }"/>
-    <define name="PITCH_COEF" value="{  256, -256,    0,    0 }"/>
-    <define name="YAW_COEF" value="{ -256, -256,  256,  256 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="BODY_TO_IMU_PHI" value="184." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <!-- MAGNETO CALIBRATION DELFT -->
-    <define name="MAG_X_NEUTRAL" value="302"/>
-    <define name="MAG_Y_NEUTRAL" value="-69"/>
-    <define name="MAG_Z_NEUTRAL" value="100"/>
-    <define name="MAG_X_SENS" value="4.12281780645" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.2491445745" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.44132606171" integer="16"/>
-
-    <!-- MAGNETO CURRENT CALIBRATION -->
-    <define name= "MAG_X_CURRENT_COEF" value="0.0103422023767"/>
-    <define name= "MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
-    <define name= "MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
-  </section>
-
- <section name="AUTOPILOT">
-   <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_DIRECT"/>
- </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
- </section>
-
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45." unit="deg"/>
-    <define name="SP_MAX_THETA" value="45." unit="deg"/>
-    <define name="SP_MAX_PSI" value="45." unit="deg"/>
-    <define name="SP_MAX_R" value="90." unit="deg/s"/>
-    <define name="SP_MAX_P" value="90." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="399"/>
-    <define name="PHI_DGAIN" value="183"/>
-    <define name="PHI_IGAIN" value="474"/>
-
-    <define name="THETA_PGAIN" value="399"/>
-    <define name="THETA_DGAIN" value="162"/>
-    <define name="THETA_IGAIN" value="474"/>
-
-    <define name="PSI_PGAIN" value="500"/>
-    <define name="PSI_DGAIN" value="300"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value=" 300"/>
-
-    <define name="PHI_AGAIN" value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="HOVER_KP" value="400"/>
-   <define name="HOVER_KD" value="350"/>
-   <define name="HOVER_KI" value="144"/>
-   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value=" 0.47577"/>
-    <define name="H_Y" value=" 0.11811"/>
-    <define name="H_Z" value=" 0.87161"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="50"/>
-   <define name="DGAIN" value="50"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
-   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
- </section>
-
- <modules main_freq="512">
-   <module name="gps" type="ubx_ucenter"/>
-   <module name="send_imu_mag_current"/>
- </modules>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <module name="radio_control" type="superbitrf_rc">
-        <define name="RADIO_TRANSMITTER_ID" value="2008496626"/>  <!-- 425044546 -->
-        <define name="RADIO_TRANSMITTER_CHAN" value="6"/> <!-- 9 -->
-        <define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>
-        <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
-      </module>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators" type="pwm">
-      <define name="SERVO_HZ" value="400"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <module name="telemetry" type="superbitrf"/>
-    <module name="imu" type="lisa_s_v1.0"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-  </firmware>
-
-
-  <firmware name="test_progs">
-    <target name="test_sys_time_timer" board="lisa_s_1.0">
-        <configure name="SYS_TIME_LED" value="none"/>
-    </target>
-    <target name="test_telemetry" board="lisa_s_1.0"/>
-    <target name="test_baro_board" board="lisa_s_1.0"/>
-    <target name="test_can" board="lisa_s_1.0"/>
-  </firmware>
-</airframe>
diff --git a/conf/airframes/tudelft/ardrone2_flip.xml b/conf/airframes/tudelft/ardrone2_flip.xml
deleted file mode 100644
index 530e9ae7fd..0000000000
--- a/conf/airframes/tudelft/ardrone2_flip.xml
+++ /dev/null
@@ -1,212 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_indi">
-  <description>ARDrone2, Loopings
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </target>
-
-    <define name="USE_SONAR" value="FALSE"/>
-
-    <!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="indi_simple"/>
-    <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"/>
-
-    <module name="bat_voltage_ardrone2"/>
-    <module name="send_imu_mag_current"/>
-    <module name="air_data"/>
-    <module name="logger_file"/>
-  </firmware>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </servos>
-
-  <section name="MISC">
-    <define name="STOP_ROLL_CMD_ANGLE" value="70.0"/>
-    <define name="FIRST_THRUST_DURATION" value="0.5"/>
-    <define name="FINAL_THRUST_LEVEL" value="8500"/>
-  </section>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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_">
-    <!-- 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="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-  </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="0.032"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0032"/>
-    <define name="G2_R" value="0.16"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="250.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="21.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- 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="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- 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="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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_FLIP"/>
-    <define name="MODE_AUTO2" value="AP_MODE_FLIP"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/ardrone2_opticflow_indi.xml b/conf/airframes/tudelft/ardrone2_opticflow_indi.xml
deleted file mode 100644
index 798cfe551d..0000000000
--- a/conf/airframes/tudelft/ardrone2_opticflow_indi.xml
+++ /dev/null
@@ -1,225 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_opticflow">
-  <description>
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2"/>
-
-    <!--target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-    </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="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="indi_simple"/>
-    <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"/>
-    
-    <module name="bat_voltage_ardrone2"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="send_imu_mag_current"/>
-    <module name="logger_file"/>
-
-    <module name="video_thread"/>
-
-    <module name="pose_history"/>
-    <module name="cv_opticflow">
-      <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
-      <!-- ARDrone2 FPS improvements -->
-      <define name="OPTICFLOW_PYRAMID_LEVEL" value="0"/>
-      <define name="OPTICFLOW_FEATURE_MANAGEMENT" value="1"/>
-    </module>
-
-    <module name="video_capture">
-      <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
-      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
-    </module>
-  </firmware>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </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"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="VISION" prefix="VISION_">
-    <define name="HOVER" value="FALSE"/>
-    <define name="PHI_PGAIN" value="1500"/>
-    <define name="PHI_IGAIN" value="800"/>
-    <define name="THETA_PGAIN" value="1500"/>
-    <define name="THETA_IGAIN" value="800"/>
-    <define name="DESIRED_VX" value="0"/>
-    <define name="DESIRED_VY" value="0"/>
-   </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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_">
-    <!-- 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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="600" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="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="0.032"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0032"/>
-    <define name="G2_R" value="0.16"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="250.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="21.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="TRUE"/>
-    <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="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- 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="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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_MODULE"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="NO_RC_THRUST_LIMIT"  value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml b/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml
deleted file mode 100644
index f535b708db..0000000000
--- a/conf/airframes/tudelft/ardrone2_opticflow_stereo.xml
+++ /dev/null
@@ -1,204 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_opticflow">
-  <description>ARDrone2, Stereocam
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2"/>
-    <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="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
-    <module name="gps" type="datalink"/>
-    <module name="stabilization" type="int_quat"/>
-    <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"/>
-
-
-    <module name="bat_voltage_ardrone2"/>
-    <!--module name="cv_opticflow"/>
-    <module name="opticflow_hover"/-->
-    <module name="stereocam">
-	<configure name="STEREO_UART" value="UART1"/>
-	<configure name="STEREO_BAUD" value="B1000000"/>
-    </module>
-  </firmware>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </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"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="VISION" prefix="VISION_">
-    <define name="HOVER" value="FALSE"/>
-    <define name="PHI_PGAIN" value="1500"/>
-    <define name="PHI_IGAIN" value="800"/>
-    <define name="THETA_PGAIN" value="1500"/>
-    <define name="THETA_IGAIN" value="800"/>
-    <define name="DESIRED_VX" value="0"/>
-    <define name="DESIRED_VY" value="0"/>
-   </section>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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_">
-    <!-- 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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="600" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="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="200" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.9"/>
-    <define name="REF_MAX_R" value="300." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(4000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="850"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="850"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="100"/>
-  </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="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.655"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <!-- Hover without RC input-->
-    <define name="GUIDANCE_H_USE_REF" value="FALSE"/>
-    <define name="PGAIN" value="79"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </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_ardrone2" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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_MODULE"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="NO_RC_THRUST_LIMIT"  value="TRUE"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/bebop2_indi_MAVlink.xml b/conf/airframes/tudelft/bebop2_indi_MAVlink.xml
deleted file mode 100644
index a7c100be73..0000000000
--- a/conf/airframes/tudelft/bebop2_indi_MAVlink.xml
+++ /dev/null
@@ -1,211 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop2_indi">
-  <description>Bebop2, Outdoor, MavLink
-  </description>
-
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop2"/>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="udp"/>
-    </target>
-
-	  <!-- 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="ublox"/>
-    <module name="stabilization" type="indi_simple"/>
-    <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"/>
-
-
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="send_imu_mag_current"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="logger_file">
-      <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
-    </module>
-    <module name="mavlink">
-      <define name="UDP1_PORT_OUT" value="5000"/>
-      <define name="UDP1_PORT_IN" value="5000"/>
-      <define name="UDP1_HOST" value="192.168.42.83"/>  <!--for bebop 2  for bebop1 onther ip for the phone   <define name="UDP1_HOST" value="192.168.42.2"/> -->
-      <define name="MAVLINK_SYSID" value="1"/>
-      <configure name="MAVLINK_PORT" value="UDP1"/>
-    </module>
-  </firmware>
-
-  <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_LEFT" no="0" min="2500" neutral="2500" max="12000"/>
-    <servo name="TOP_RIGHT" no="1" min="2500" neutral="2500" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="2500" neutral="2500" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="3" min="2500" neutral="2500" 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="REVERSE" value="TRUE"/>
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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/bebop2_$AC_ID.xml" />
-
-  <!-- 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 -->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-
-    <!-- For vibrating airfames -->
-    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
-  </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="0.05"/>
-    <define name="G1_Q" value="0.025"/>
-    <define name="G1_R" value="0.0022"/>
-    <define name="G2_R" value="0.20"/>
-
-    <!-- For the bebop2 we need to filter the roll rate due to the dampers -->
-    <define name="FILTER_ROLL_RATE" value="TRUE"/>
-    <define name="FILTER_PITCH_RATE" value="FALSE"/>
-    <define name="FILTER_YAW_RATE" value="FALSE"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="170.0"/>
-    <define name="REF_ERR_Q" value="600.0"/>
-    <define name="REF_ERR_R" value="600.0"/>
-    <define name="REF_RATE_P" value="14.3"/>
-    <define name="REF_RATE_Q" value="28.0"/>
-    <define name="REF_RATE_R" value="28.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- 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="350"/>
-    <define name="HOVER_KD" value="85"/>
-    <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="120"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-  </section>
-
-  <section name="NAVIGATION" prefix="NAV_">
-    <define name="CLIMB_VSPEED" value="4.5"/>
-    <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"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </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/tudelft/bebop_autonomous_race_2017.xml b/conf/airframes/tudelft/bebop_autonomous_race_2017.xml
deleted file mode 100644
index 18b3f211fb..0000000000
--- a/conf/airframes/tudelft/bebop_autonomous_race_2017.xml
+++ /dev/null
@@ -1,214 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop">
-  <description>Autonomous Race 2017 Bebop1
-  </description>
-
-  <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"/>
-
-	<!-- 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="datalink"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs"          type="float_mlkf"/>
-    <module name="ins" type="extended"/>
-
-
-    <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="bebop_cam">
-    </module>
-
-    <module name="pose_history"/>
-
-    <module name="cv_detect_contour">
-	  <define name="DETECT_CONTOUR_CAMERA" value="front_camera"/>
-	</module>
-    <module name="cv_opticflow">
-       <define name="OPTICFLOW_METHOD" value="1"/>
-       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>
-       <define name="CAMERA_ROTATED_180" value="TRUE"/>
-    </module>
-    <module name="video_rtp_stream">
-       <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
-    </module>
-  </firmware>
-
-  <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_LEFT" no="0" min="3000" neutral="3000" max="12000"/>
-    <servo name="TOP_RIGHT" no="1" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="3000" neutral="3000" max="12000"/>
-    <servo name="BOTTOM_LEFT" no="3" min="3000" neutral="3000" max="12000"/>
-  </servos>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="166"/>
-    <define name="MAG_Y_NEUTRAL" value="21"/>
-    <define name="MAG_Z_NEUTRAL" value="202"/>
-	<define name="MAG_X_SENS" value="6.90518428178" integer="16"/>
-	<define name="MAG_Y_SENS" value="7.14998083717" integer="16"/>
-	<define name="MAG_Z_SENS" value="6.91930289812" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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 -->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-
-    <!-- For vibrating airfames -->
-    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
-  </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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-
-    <!-- reference -->
-    <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.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="920"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="920"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="8000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="0"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="550"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <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"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-    <define name="PGAIN" value="350"/>
-    <define name="DGAIN" value="100"/>
-    <define name="IGAIN" value="30"/>
-    <define name="REF_MAX_SPEED" value="0.2"/>
-  </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_GUIDED"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.6" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
-
diff --git a/conf/airframes/tudelft/bebop_frontcam.xml b/conf/airframes/tudelft/bebop_frontcam.xml
deleted file mode 100644
index 773a5370fc..0000000000
--- a/conf/airframes/tudelft/bebop_frontcam.xml
+++ /dev/null
@@ -1,214 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop">
-  <description>Bebop, Optitrack
-  </description>
-
-  <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="int_quat"/>
-    <module name="ahrs"          type="float_mlkf"/>
-    <module name="ins" type="extended"/>
-
-
-    <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="bebop_cam"/>
-
-    <module name="video_capture">
-      <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
-      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images"/>
-    </module>
-
-    <module name="video_rtp_stream">
-      <define name="VIEWVIDEO_CAMERA" value="front_camera"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="8"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="60"/>
-    </module>
-
-  </firmware>
-
-  <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_">
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
-    <define name="OUTPUT_HEIGHT" value="640" />
-    <define name="OUTPUT_WIDTH" value="640" />
-    <define name="OFFSET_X" value="0.15" />
-    <define name="TARGET_EXPOSURE" value="30" />
-    <define name="ZOOM" value="1.25"/>
-  </section>
-
-  <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>
-
-  <section name="IMU" prefix="IMU_">
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="18"/>
-    <define name="MAG_Y_NEUTRAL" value="157"/>
-    <define name="MAG_Z_NEUTRAL" value="49"/>
-    <define name="MAG_X_SENS" value="10.5007722373" integer="16"/>
-    <define name="MAG_Y_SENS" value="11.1147400462" integer="16"/>
-    <define name="MAG_Z_SENS" value="11.6479371722" integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <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 -->
-    <!-- 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="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="300" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="50"/>
-
-    <!-- reference -->
-    <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.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="920"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="920"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="8000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="0"/>
-  </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="13"/>
-    <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"/>
-    <!-- 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="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.6" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/bebop_indi.xml b/conf/airframes/tudelft/bebop_indi.xml
index b3efdae50d..f9cf8437e3 100644
--- a/conf/airframes/tudelft/bebop_indi.xml
+++ b/conf/airframes/tudelft/bebop_indi.xml
@@ -5,7 +5,9 @@
   </description>
 
   <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"/>
@@ -136,7 +138,6 @@
     <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"/>
diff --git a/conf/airframes/tudelft/bebop_optitrack.xml b/conf/airframes/tudelft/bebop_optitrack.xml
deleted file mode 100644
index d7d6487de9..0000000000
--- a/conf/airframes/tudelft/bebop_optitrack.xml
+++ /dev/null
@@ -1,212 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="bebop_indi">
-  <description>Bebop, INDI, No Vision
-  </description>
-
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="bebop"/>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="udp"/>
-    </target>
-
-  <!-- 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="datalink"/>
-    <module name="stabilization" type="indi_simple"/>
-    <module name="stabilization" type="rate_indi"/>
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="FALSE"/>
-      <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
-    </module>
-    <module name="ins" type="extended"/>
-    <module name="guidance" type="indi"/>
-
-
-    <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>
-  </firmware>
-
-  <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_get_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/bebop7.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 -->
-    <!-- Delft -->
-    <define name="H_X" value="0.3892503"/>
-    <define name="H_Y" value="0.0017972"/>
-    <define name="H_Z" value="0.9211303"/>
-
-    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
-    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="SONAR_MAX_RANGE" value="2.2"/>
-    <define name="SONAR_UPDATE_ON_AGL" value="TRUE"/>
-
-    <!-- Use GPS altitude measurments and set the R gain -->
-    <define name="USE_GPS_ALT" value="1"/>
-    <define name="VFF_R_GPS" value="0.01"/>
-  </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="120" 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"/>
-
-    <!--Maxium yaw rate, to avoid instability-->
-    <define name="MAX_R" value="120.0" unit="deg/s"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="8.0"/>
-    <define name="FILT_CUTOFF_R" value="8.0"/>
-
-    <!-- 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"/>
-
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </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/tudelft/bs_helidd_indi.xml b/conf/airframes/tudelft/bs_helidd_indi.xml
deleted file mode 100644
index f9bd509b7f..0000000000
--- a/conf/airframes/tudelft/bs_helidd_indi.xml
+++ /dev/null
@@ -1,232 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-/home/microuav/paparazzi/sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver  /dev/ttyACM2  00:07:80:2d:d6:d9  4242  4252
--->
-
-<airframe name="GeniusDD">
-  <description>Genius, BlueGiga, INDI
-  </description>
-
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-      <module name="radio_control" type="datalink">
-        <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-      </module>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
-    <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-
-    <module name="actuators" type="pwm">
-      <define name="TIM5_SERVO_HZ" value="300"/>
-      <define name="SERVO_HZ" value="300"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <configure name="USE_MAGNETOMETER" value="1"/>
-    <module name="telemetry" type="bluegiga"/>
-    <module name="imu" type="lisa_s_v1.0"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="heli_indi"/> <!-- int_quat / heli_indi -->
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-<!--    <module name="rpm_sensor" type="eagletree"/>
-    <module name="stabilization" type="heli_indi"/>
-    <module name="rpm_sensor" type="eagletree"/>
-    <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-
-
-    <!--<load name="geo_mag.xml"/>-->
-    <load name="air_data.xml"/>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="heli_swashplate_mixing.xml"/>
-    <load name="heli_throttle_curve.xml"/>
-  </firmware>
-
-  <servos driver="Pwm">
-    <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
-    <servo name="FRONT" no="5" min="1700" neutral="1300" max="1000"/>
-    <servo name="RIGHTBACK" no="4" min="1850" neutral="1450" max="1150"/>
-    <servo name="LEFTBACK" no="0" min="1900" neutral="1550" max="1200"/>
-    <servo name="TAIL" no="2" min="0" neutral="0" max="3500"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-    <axis name="FMODE" failsafe_value="-9600"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-    <set command="FMODE" value="-9600"/>
-  </rc_commands>
-
-  <section name="MIXING" prefix="SW_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="H120"/>
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_COLL" value="0"/>
-  </section>
-
-  <command_laws>
-    <call fun="swashplate_mixing_run(values)"/>
-    <set servo="THROTTLE" value="throttle_curve.throttle"/>
-    <set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
-    <set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
-    <set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
-    <set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
-  </command_laws>
-
-  <heli_curves>
-    <curve throttle="0,4800,7200,8400,9600" collective="-5500,-3750,-1500,250,2000"/>
-    <!--    <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>-->
-  </heli_curves>
-
-  <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_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-
-<define name="MAG_X_NEUTRAL" value="127"/>
-<define name="MAG_Y_NEUTRAL" value="7"/>
-<define name="MAG_Z_NEUTRAL" value="-96"/>
-<define name="MAG_X_SENS" value="3.54947831816" integer="16"/>
-<define name="MAG_Y_SENS" value="3.86771086071" integer="16"/>
-<define name="MAG_Z_SENS" value="4.03381407698" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI" value="90.0" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="15.0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="90.0" unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" unit="deg/s" value="280"/>
-    <define name="SP_MAX_Q" unit="deg/s" value="280"/>
-    <define name="SP_MAX_R" unit="deg/s" value="140"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-
-    <define name="IGAIN_P" value="75"/>
-    <define name="IGAIN_Q" value="75"/>
-    <define name="IGAIN_R" value="50"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_HELI_INDI" prefix="STABILIZATION_ATTITUDE_HELI_INDI_">
-    <define name="ROLL_P" value="12"/><!--20 3052 -->
-    <define name="PITCH_P" value="8"/><!--20 3052 -->
-    <define name="YAW_P" value="10"/>
-    <define name="YAW_D" value="30"/>
-    <define name="USE_FAST_DYN_FILTERS" value="1" />
-    <define name="FAST_DYN_ROLL_BW" value="68" />
-    <define name="FAST_DYN_PITCH_BW" value="17" />
-    <define name="GINV_ROLL_TO_ROLL" value="12000" />
-    <define name="GINV_PITCH_TO_PITCH" value="13000" />
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="3003"/>
-    <define name="PHI_DGAIN" value="333"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="2172"/>
-    <define name="THETA_DGAIN" value="329"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="2074"/>
-    <define name="PSI_DGAIN" value="1479"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="150"/>
-    <define name="HOVER_KD" value="80"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
-
-    <!--define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/-->
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/bs_helidd_pid.xml b/conf/airframes/tudelft/bs_helidd_pid.xml
deleted file mode 100644
index cb497ce8c6..0000000000
--- a/conf/airframes/tudelft/bs_helidd_pid.xml
+++ /dev/null
@@ -1,219 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-/home/microuav/paparazzi/sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver  /dev/ttyACM2  00:07:80:2d:d6:d9  4242  4252
--->
-
-<airframe name="GeniusDD">
-  <description>BSlinger Genius Micro Helicopter with BlueGiga
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-      <module name="radio_control" type="datalink">
-        <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-      </module>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
-    <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-
-    <module name="actuators" type="pwm">
-      <define name="TIM5_SERVO_HZ" value="2000"/>
-      <define name="SERVO_HZ" value="300"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <configure name="USE_MAGNETOMETER" value="1"/>
-    <module name="telemetry" type="bluegiga"/>
-    <module name="imu" type="lisa_s_v1.0"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-<!--
-    <module name="stabilization" type="heli_indi"/>
-    <module name="rpm_sensor" type="eagletree"/>
-    <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-
-
-    <!--<load name="geo_mag.xml"/>-->
-    <load name="air_data.xml"/>
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="heli_swashplate_mixing.xml"/>
-    <load name="heli_throttle_curve.xml"/>
-  </firmware>
-
-  <servos driver="Pwm">
-    <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
-    <servo name="FRONT" no="5" min="1700" neutral="1300" max="1000"/>
-    <servo name="RIGHTBACK" no="4" min="1850" neutral="1450" max="1150"/>
-    <servo name="LEFTBACK" no="0" min="1900" neutral="1550" max="1200"/>
-    <servo name="TAIL" no="2" min="0" neutral="0" max="3500"/>
-  </servos>
-
-  <commands>
-    <axis name="THRUST" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="FMODE" failsafe_value="-9600"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-    <set command="FMODE" value="-9600"/>
-  </rc_commands>
-
-  <section name="MIXING" prefix="SW_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="H120"/>
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_COLL" value="0"/>
-  </section>
-
-  <command_laws>
-    <call fun="swashplate_mixing_run(values)"/>
-    <set servo="THROTTLE" value="throttle_curve.throttle"/>
-    <set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
-    <set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
-    <set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
-    <set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
-  </command_laws>
-
-  <heli_curves>
-    <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
-    <!--<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>-->
-  </heli_curves>
-
-  <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_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-
-<define name="MAG_X_NEUTRAL" value="127"/>
-<define name="MAG_Y_NEUTRAL" value="7"/>
-<define name="MAG_Z_NEUTRAL" value="-96"/>
-<define name="MAG_X_SENS" value="3.54947831816" integer="16"/>
-<define name="MAG_Y_SENS" value="3.86771086071" integer="16"/>
-<define name="MAG_Z_SENS" value="4.03381407698" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI" value="90.0" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="15.0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="90.0" unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" unit="deg/s" value="280"/>
-    <define name="SP_MAX_Q" unit="deg/s" value="280"/>
-    <define name="SP_MAX_R" unit="deg/s" value="140"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-
-    <define name="IGAIN_P" value="75"/>
-    <define name="IGAIN_Q" value="75"/>
-    <define name="IGAIN_R" value="50"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="3003"/>
-    <define name="PHI_DGAIN" value="333"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="2172"/>
-    <define name="THETA_DGAIN" value="329"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="2074"/>
-    <define name="PSI_DGAIN" value="1479"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="150"/>
-    <define name="HOVER_KD" value="80"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2" value="AP_MODE_HOVER_DIRECT"/>
-
-    <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
-    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
-  </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/heli450.xml b/conf/airframes/tudelft/heli450.xml
deleted file mode 100644
index 0fbbe8666a..0000000000
--- a/conf/airframes/tudelft/heli450.xml
+++ /dev/null
@@ -1,200 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="heli450">
-  <description>450 sized helicopter without hiller bar.
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_m_2.0"/>
-
-    <module name="radio_control" type="spektrum">
-      <define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
-      <define name="RADIO_MODE" value="RADIO_GEAR"/>
-    </module>
-
-    <module name="actuators"     type="pwm"/>
-    <module name="telemetry"     type="xbee_api"/>
-    <module name="imu"           type="aspirin_v2.2"/>
-    <module name="gps"           type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="stabilization" type="rate"/>
-    <module name="ahrs"          type="int_cmpl_quat"/>
-    <module name="ins"           type="hff"/>
-
-
-    <module name="geo_mag"/>
-    <module name="air_data"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="heli_swashplate_mixing"/>
-    <module name="heli_throttle_curve"/>
-  </firmware>
-
-  <servos driver="Pwm">
-    <servo name="THROTTLE"   no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="BACK"      no="1" min="1050" neutral="1500" max="1950"/>
-    <servo name="LEFTFRONT"  no="2" min="1050"  neutral="1500" max="1950"/>
-    <servo name="RIGHTFRONT"   no="3" min="1950" neutral="1500" max="1050"/>
-    <servo name="TAIL"       no="4" min="1850" neutral="1600" max="1350"/>
-  </servos>
-
-  <commands>
-    <axis name="THRUST"      failsafe_value="0"/>
-    <axis name="ROLL"        failsafe_value="0"/>
-    <axis name="PITCH"       failsafe_value="0"/>
-    <axis name="YAW"         failsafe_value="0"/>
-    <axis name="FMODE"       failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE"/>
-    <set command="ROLL"   value="@ROLL"/>
-    <set command="PITCH"  value="@PITCH"/>
-    <set command="YAW"    value="@YAW"/>
-    <set command="FMODE"  value="@AUX2"/>
-  </rc_commands>
-
-  <section name="MIXING" prefix="SW_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="HR120"/>
-    <define name="TRIM_ROLL"  value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_COLL"  value="0"/>
-  </section>
-
-  <command_laws>
-    <call fun="swashplate_mixing_run(values)"/>
-    <set servo="THROTTLE"    value="throttle_curve.throttle"/>
-    <set servo="BACK"        value="swashplate_mixing.commands[SW_BACK]"/>
-    <set servo="LEFTFRONT"   value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
-    <set servo="RIGHTFRONT"  value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
-    <set servo="TAIL"        value="@YAW + throttle_curve.throttle*2800/7000"/>
-  </command_laws>
-
-  <heli_curves>
-    <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
-    <curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
-  </heli_curves>
-
-  <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_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="14"/>
-    <define name="MAG_Y_NEUTRAL" value="116"/>
-    <define name="MAG_Z_NEUTRAL" value="119"/>
-    <define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
-    <define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!--This airframe vibrates a lot, which causes accel measurements in excess of 1g continuously-->
-    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
-
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" unit="deg/s" value="280"/>
-    <define name="SP_MAX_Q" unit="deg/s" value="280"/>
-    <define name="SP_MAX_R" unit="deg/s" value="140"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="800"/>
-    <define name="GAIN_Q" value="800"/>
-    <define name="GAIN_R" value="700"/>
-
-    <define name="IGAIN_P" value="240"/>
-    <define name="IGAIN_Q" value="240"/>
-    <define name="IGAIN_R" value="160"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="900"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="900"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="900"/>
-    <define name="PSI_DGAIN" value="200"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP"    value="150"/>
-    <define name="HOVER_KD"    value="80"/>
-    <define name="HOVER_KI"    value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
-    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
-    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/heliGeniusDD.xml b/conf/airframes/tudelft/heliGeniusDD.xml
deleted file mode 100644
index 459e52488e..0000000000
--- a/conf/airframes/tudelft/heliGeniusDD.xml
+++ /dev/null
@@ -1,219 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-/home/microuav/paparazzi/sw/tools/bluegiga_usb_dongle/bluegiga_usb_driver  /dev/ttyACM2  00:07:80:2d:d6:d9  4242  4252
--->
-
-<airframe name="GeniusDD">
-  <description>Genius Helicopter with BlueGiga
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-      <module name="radio_control" type="datalink">
-        <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-      </module>
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
-    <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-
-    <module name="actuators" type="pwm">
-      <define name="TIM5_SERVO_HZ" value="2000"/>
-      <define name="SERVO_HZ" value="300"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <configure name="USE_MAGNETOMETER" value="0"/>
-    <module name="telemetry" type="bluegiga"/>
-    <module name="imu" type="lisa_s_v1.0"/>
-    <module name="gps" type="ublox"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-<!--
-    <module name="stabilization" type="heli_indi"/>
-    <module name="rpm_sensor" type="eagletree"/>
-    <module name="ahrs" type="int_cmpl_quat_notch"/>-->
-
-
-    <!--<load name="geo_mag.xml"/>
-    <load name="air_data.xml"/>-->
-    <load name="gps_ubx_ucenter.xml"/>
-    <load name="heli_swashplate_mixing.xml"/>
-    <load name="heli_throttle_curve.xml"/>
-  </firmware>
-
-  <servos driver="Pwm">
-    <servo name="THROTTLE" no="1" min="1890" neutral="1890" max="1430"/>
-    <servo name="FRONT" no="5" min="1700" neutral="1300" max="1000"/>
-    <servo name="RIGHTBACK" no="4" min="1850" neutral="1450" max="1150"/>
-    <servo name="LEFTBACK" no="0" min="1900" neutral="1550" max="1200"/>
-    <servo name="TAIL" no="2" min="0" neutral="0" max="500"/>
-  </servos>
-
-  <commands>
-    <axis name="THRUST" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="FMODE" failsafe_value="-9600"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THRUST" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-    <set command="FMODE" value="-9600"/>
-  </rc_commands>
-
-  <section name="MIXING" prefix="SW_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="H120"/>
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_COLL" value="0"/>
-  </section>
-
-  <command_laws>
-    <call fun="swashplate_mixing_run(values)"/>
-    <set servo="THROTTLE" value="throttle_curve.throttle"/>
-    <set servo="FRONT" value="swashplate_mixing.commands[SW_FRONT]"/>
-    <set servo="RIGHTBACK" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
-    <set servo="LEFTBACK" value="swashplate_mixing.commands[SW_LEFTBACK]"/>
-    <set servo="TAIL" value="@YAW + throttle_curve.throttle*2800/7000"/>
-  </command_laws>
-
-  <heli_curves>
-    <curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
-    <!--<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>-->
-  </heli_curves>
-
-  <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_">
-    <define name="ACCEL_X_NEUTRAL" value="11"/>
-    <define name="ACCEL_Y_NEUTRAL" value="11"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
-
-    <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="14"/>
-    <define name="MAG_Y_NEUTRAL" value="116"/>
-    <define name="MAG_Z_NEUTRAL" value="119"/>
-    <define name="MAG_X_SENS" value="5.09245681612" integer="16"/>
-    <define name="MAG_Y_SENS" value="5.29702744632" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.65287938992" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI" value="-29.7117578244" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="77.1469910333" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="-30.00" unit="deg"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
-    <define name="H_X" value="0.3770441"/>
-    <define name="H_Y" value="0.0193986"/>
-    <define name="H_Z" value="0.9259921"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_P" unit="deg/s" value="280"/>
-    <define name="SP_MAX_Q" unit="deg/s" value="280"/>
-    <define name="SP_MAX_R" unit="deg/s" value="140"/>
-    <define name="DEADBAND_P" value="20"/>
-    <define name="DEADBAND_Q" value="20"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- feedback -->
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-
-    <define name="IGAIN_P" value="75"/>
-    <define name="IGAIN_Q" value="75"/>
-    <define name="IGAIN_R" value="50"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="65." unit="deg"/>
-    <define name="SP_MAX_THETA" value="65." unit="deg"/>
-    <define name="SP_MAX_R" value="250." unit="deg/s"/>
-    <define name="DEADBAND_R" value="200"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="3003"/>
-    <define name="PHI_DGAIN" value="333"/>
-    <define name="PHI_IGAIN" value="200"/>
-    <define name="THETA_PGAIN" value="2172"/>
-    <define name="THETA_DGAIN" value="329"/>
-    <define name="THETA_IGAIN" value="200"/>
-    <define name="PSI_PGAIN" value="2074"/>
-    <define name="PSI_DGAIN" value="1479"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN" value=" 200"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="150"/>
-    <define name="HOVER_KD" value="80"/>
-    <define name="HOVER_KI" value="20"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="35" unit="deg"/>
-    <define name="USE_SPEED_REF" value="TRUE"/>
-    <define name="PGAIN" value="50"/>
-    <define name="DGAIN" value="100"/>
-    <define name="AGAIN" value="70"/>
-    <define name="IGAIN" value="20"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
-    <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
-    <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="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-</airframe>
diff --git a/conf/airframes/tudelft/ladybird_lisamxs_wifi_indi_stereoboard.xml b/conf/airframes/tudelft/ladybird_lisamxs_wifi_indi_stereoboard.xml
deleted file mode 100644
index 3a485272c4..0000000000
--- a/conf/airframes/tudelft/ladybird_lisamxs_wifi_indi_stereoboard.xml
+++ /dev/null
@@ -1,290 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-
-<!--
-     The motor and rotor configuration is the following:
-
-	   Front
-             ^
-             |
-
-    Motor3(NW)  Motor0(NE)
-        CW      CCW
-          \     /
-           ,___,
-           |   |
-           |   |
-           |___|
-          /     \
-        CCW      CW
-     Motor2(SW)  Motor1(SE)
-
--->
-
-<airframe name="quadrotor_lisa_mxs">
-  <description>LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration.
-+ stereoboard + wifi + indi
-  </description>
-
-  <servos driver="Pwm">
-    <servo name="NE" no="0" min="0" neutral="50" max="1000"/>
-    <servo name="SE" no="5" min="0" neutral="50" max="1000"/>
-    <servo name="SW" no="4" min="0" neutral="50" max="1000"/>
-    <servo name="NW" no="1" min="0" neutral="50" max="1000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="NE" value="motor_mixing.commands[0]"/>
-    <set servo="SE" value="motor_mixing.commands[1]"/>
-    <set servo="SW" value="motor_mixing.commands[2]"/>
-    <set servo="NW" value="motor_mixing.commands[3]"/>
-  </command_laws>
-
-  <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="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF" value="{  -256, -256,  256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256, -256, -256,  256 }"/>
-    <define name="YAW_COEF" value="{    256, -256,  256, -256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="BODY_TO_IMU_PHI"   value="-2.0" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="-0.0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="135." unit="deg"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <!-- MAGNETO CALIBRATION DELFT -->
-    <define name="MAG_X_NEUTRAL" value="286"/>
-    <define name="MAG_Y_NEUTRAL" value="-72"/>
-    <define name="MAG_Z_NEUTRAL" value="97"/>
-    <define name="MAG_X_SENS" value="3.94431833863" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.14629702271" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.54518768636" integer="16"/>
-
-    <!-- MAGNETO CURRENT CALIBRATION -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0103422023767"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0084568317783"/>
-    <define name="MAG_Z_CURRENT_COEF" value="-0.01935617335"/>
-  </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_HOVER_Z_HOLD"/>
-   <define name="MODE_AUTO2" value="AP_MODE_HOVER_DIRECT"/>
-   <define name="NO_RC_THRUST_LIMIT"  value="TRUE"/>
- </section>
-
- <section name="BAT">
-   <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-   <define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
- </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.038174"/> 
-    <define name="G1_Q" value="0.063857"/>
-    <define name="G1_R" value="0.002845"/>
-    <define name="G2_R" value="0.128776"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="170.0"/>
-    <define name="REF_ERR_Q" value="170.0"/>
-    <define name="REF_ERR_R" value="100.0"/>
-    <define name="REF_RATE_P" value="17.0"/>
-    <define name="REF_RATE_Q" value="17.0"/>
-    <define name="REF_RATE_R" value="17.0"/>
-
-    <!-- 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="0.03"/>
-    <define name="ACT_DYN_Q" value="0.03"/>
-    <define name="ACT_DYN_R" value="0.03"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45." unit="deg"/>
-    <define name="SP_MAX_THETA" value="45." unit="deg"/>
-    <define name="SP_MAX_PSI" value="45." unit="deg"/>
-    <define name="SP_MAX_R" value="90." unit="deg/s"/>
-    <define name="SP_MAX_P" value="90." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="400"/>
-    <define name="PHI_DGAIN" value="200"/>
-    <define name="PHI_IGAIN" value="100"/>
-
-    <define name="THETA_PGAIN" value="400"/>
-    <define name="THETA_DGAIN" value="200"/>
-    <define name="THETA_IGAIN" value="100"/>
-
-    <define name="PSI_PGAIN" value="500"/>
-    <define name="PSI_DGAIN" value="300"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value=" 300"/>
-
-    <define name="PHI_AGAIN" value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN" value="0"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-     <!--define name="INT_GPS_ID" value="ABI_DISABLE"/-->
-     <define name="USE_GPS_ALT" value="true"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="HOVER_KP" value="331"/>
-   <define name="HOVER_KD" value="546"/>
-   <define name="HOVER_KI" value="120"/>
-   <define name="NOMINAL_HOVER_THROTTLE" value="0.65"/>
-   <define name="ADAPT_THROTTLE_ENABLED" value="true"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="H_X" value=" 0.47577"/>
-    <define name="H_Y" value=" 0.11811"/>
-    <define name="H_Z" value=" 0.87161"/>
-
-    <define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="80"/>
-   <define name="DGAIN" value="260"/>
-   <define name="IGAIN" value="0"/>
-   <define name="MAX_BANK" value="RadOfDeg(15)"/>
-   <define name="REF_MAX_SPEED" value="0.5"/>
-   <define name="USE_SPEED_REF" value="TRUE"/>
-
- </section>
-
-  <section name="MISC">
-    <define name="VoltageOfAdc(adc)" value="(adc)*0.00162f" />
-  </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_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>
-
- <modules main_freq="512">
-   <!--module name="gps" type="ubx_ucenter"/-->
-   <module name="send_imu_mag_current"/>
-   <module name="stereocam">
-     <define name= "STEREO_BODY_TO_STEREO_PHI" value="90" unit="deg"/>
-     <define name= "STEREO_BODY_TO_STEREO_THETA" value="0" unit="deg"/>
-     <define name= "STEREO_BODY_TO_STEREO_PSI" value="-90" unit="deg"/>
-     <configure name="STEREO_UART" value="UART2"/>
-     <configure name="STEREO_BAUD" value="B115200"/>
-   </module>
- </modules>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_mx_2.1">
-
-      <define name="REMAP_UART3" value="TRUE" />
-
-      <module name="radio_control" type="datalink"/>
-      <!--module name="radio_control" type="spektrum">
-        <configure name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="UART5" />
-      </module-->
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-      <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="motor_mixing"/>
-    <module name="actuators" type="pwm">
-      <!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
-           With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
-           If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-      -->
-      <!-- Setting the PWM timer base frequency to 36MHz -->
-      <define name="PWM_BASE_FREQ" value="36000000"/>
-      <!-- Setting the PWM interval to 36KHz -->
-      <define name="SERVO_HZ" value="36000"/>
-    </module>
-
-    <module name="telemetry" type="transparent">
-      <configure name="MODEM_PORT" value="UART1"/>
-      <configure name="MODEM_BAUD" value="B115200"/>
-    </module>
-
-    <module name="imu" type="lisa_mx_v2.1"/>
-
-    <module name="gps" type="optitrack">
-      <!--configure name="GPS_PORT" value="UART2"/>
-      <configure name="GPS_BAUD" value="B38400"/-->
-    </module>
-
-    <!--module name="stabilization" type="int_quat"/-->
-    <module name="stabilization" type="indi_simple"/>
-    <module name="stabilization" type="rate_indi"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-    <configure name="USE_MAGNETOMETER" value="FALSE"/>
-    <module name="air_data">
-      <define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
-    </module>
-  </firmware>
-</airframe>
diff --git a/conf/airframes/tudelft/selfie.xml b/conf/airframes/tudelft/selfie.xml
deleted file mode 100644
index 1dff3f90eb..0000000000
--- a/conf/airframes/tudelft/selfie.xml
+++ /dev/null
@@ -1,224 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="ardrone2_oa_avoid">
-  <description>ardrone with stereocam follow-me
-  </description>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="ardrone2">
-      <configure name="USE_BARO_BOARD" value="TRUE"/>
-    </target>
-
-    <define name="FAILSAFE_DESCENT_SPEED" value="0.5"/>
-    <define name="USE_SONAR" value="FALSE"/>
- <define name="USE_GPS_ALT" value="1"/>
-
-    <configure name="USE_MAGNETOMETER" value="TRUE"/>
-
-	<!-- Subsystem section -->
-    <module name="telemetry" type="transparent_udp"/>
-    <module name="radio_control" type="datalink"/>
-    <module name="motor_mixing"/>
-    <module name="actuators" type="ardrone2"/>
-    <module name="imu" type="ardrone2"/>
- <module name="gps" type="datalink"/>
-    <module name="stabilization" type="int_quat"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins" type="extended"/>
-
-
-    <module name="bat_voltage_ardrone2"/>
-    <module name="stereocam">
-      <configure name="STEREO_UART" value="UART1"/>
-      <configure name="STEREO_BAUD" value="B115200"/>
-    </module>
-    <module name="stereocam_follow_me"/>
-  </firmware>
-
-  <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="3000"/>
-  </commands>
-
-  <servos driver="Default">
-    <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
-    <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
-  </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"/>
-
-    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <call fun="motor_mixing_run(autopilot_get_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="IMU" prefix="IMU_">
-    <!-- Accelero -->
-    <define name="ACCEL_X_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Y_NEUTRAL" value="2048"/>
-    <define name="ACCEL_Z_NEUTRAL" value="2048"/>
-
-    <!-- Magneto calibration -->
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="-180"/>
-    <define name="MAG_X_SENS" value="16." integer="16"/>
-    <define name="MAG_Y_SENS" value="16." integer="16"/>
-    <define name="MAG_Z_SENS" value="16." integer="16"/>
-
-    <!-- Magneto current calibration -->
-    <define name="MAG_X_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.0"/>
-    <define name="MAG_Z_CURRENT_COEF" value="0.0"/>
-
-    <define name="BODY_TO_IMU_PHI" value="-2.3" unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="1.7" 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_">
-    <!-- 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_">
-  </section>
-
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-    <!-- control effectiveness -->
-    <define name="G1_P" value="0.028551973"/>
-    <define name="G1_Q" value="0.023775417"/>
-    <define name="G1_R" value="0.00173069"/>
-    <define name="G2_R" value="0.086460732"/>
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="380.0"/>
-    <define name="REF_ERR_Q" value="380.0"/>
-    <define name="REF_ERR_R" value="70.0"/>
-    <define name="REF_RATE_P" value="21.6"/>
-    <define name="REF_RATE_Q" value="21.6"/>
-    <define name="REF_RATE_R" value="11.0"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="3.2"/>
-    <define name="FILT_CUTOFF_R" value="3.2"/>
-
-    <!-- first order actuator dynamics -->
-    <define name="ACT_DYN_P" value="0.06"/>
-    <define name="ACT_DYN_Q" value="0.06"/>
-    <define name="ACT_DYN_R" value="0.06"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-  </section>
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45" unit="deg"/>
-    <define name="SP_MAX_THETA" value="45" unit="deg"/>
-    <define name="SP_MAX_R" value="180" unit="deg/s"/>
-    <define name="DEADBAND_A" value="0"/>
-    <define name="DEADBAND_E" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_P" value="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.)"/>
-
-  <!-- feedback -->
-    <define name="PHI_PGAIN" value="850"/>
-    <define name="PHI_DGAIN" value="425"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="850"/>
-    <define name="THETA_DGAIN" value="425"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="1000"/>
-    <define name="PSI_DGAIN" value="700"/>
-    <define name="PSI_IGAIN" value="0"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value="100"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="583"/>
-    <define name="HOVER_KD" value="82"/>
-    <define name="HOVER_KI" value="13"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.645"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="false"/>
-  </section>
-
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <!-- Good weather -->
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <!-- Bad weather -->
-    <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
-
-    <define name="PGAIN" value="363"/>
-    <define name="DGAIN" value="237"/>
-    <define name="IGAIN" value="30"/>
-    <define name="VGAIN" value="0"/>
-    <define name="AGAIN" value="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_ardrone2" type="string"/>
-    <define name="JSBSIM_INIT" value="reset00" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.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_HOVER_Z_HOLD"/>
-    <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">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="9.9" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
-  </section>
-</airframe>
diff --git a/conf/airframes/tudelft/silverlit_lisas.xml b/conf/airframes/tudelft/silverlit_lisas.xml
deleted file mode 100644
index 8066c81a5c..0000000000
--- a/conf/airframes/tudelft/silverlit_lisas.xml
+++ /dev/null
@@ -1,291 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="SilverTwin">
-  <description>
-Silverlit Twin
-Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
-  </description>
-
-  <firmware name="fixedwing"> <!-- -->
-    <target name="ap" board="lisa_s_1.0">
-      <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-
-      <module name="radio_control" type="superbitrf_rc">
-        <!-- TUDelft Dx6i: TX 4 1974942194, TX 5 692352099, the superbitrf dongle : 2008496626 -->
-        <!-- graupner (orange RX) : 3327503026, graupner (spektrum 9) : 4095452533 -->
-        <!-- use 0x for the hex version -->
-        <!-- 3411796053 -->
-        <define name="RADIO_TRANSMITTER_ID" value="-883171243"/>    <!-- TX2 : 0xCB5BE055 -883171243-->
-        <define name="RADIO_TRANSMITTER_PROTOCOL" value="DSM_DSM2_1"/>
-        <!--<define name="RADIO_TRANSMITTER_PROTOCOL" value="0x01"/>--> <!-- DSM_DSM2_1 -->
-        <define name="RADIO_TRANSMITTER_CHAN" value="6"/>
-        <define name="RADIO_MODE" value="RADIO_GEAR"/>  <!-- RADIO_FLAP -->
-      </module>
-
-      <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-
-      <!-- the  periodic frequency is 60 by default in fixed wing, 512 in rotorcraft -->
-      <!-- AHRS_PROPAGATE_FREQUENCY mus be < PERIODIC_FREQUENCY -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
-      <configure name="PERIODIC_FREQUENCY" value="120"/>  <!-- 120 seams to be the max of the barometer -->
-
-    </target>
-    <target name="sim" board="pc"/>
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <define name="LOITER_TRIM"/>
-    <define name="STRONG_WIND"/>
-
-    <!--<define name="LISA_S_SIDEWAY"/>-->
-
-    <define name="USE_BAROMETER" value="TRUE"/>
-
-    <!-- Communication -->
-    <!--<module name="telemetry" type="transparent">-->
-    <!--<configure name="MODEM_BAUD" value="B57600"/>
-    <configure name="MODEM_PORT" value="UART1"/>-->
-    <!--</module>-->
-
-    <module name="telemetry" type="superbitrf"/>
-
-
-    <!-- Sensors -->
-    <module name="imu" type="lisa_s_v1.0"/>   <!-- lisa_s_v1.0 -->
-    <module name="gps" type="ublox">
-      <configure name="GPS_PORT" value="UART3"/>
-      <configure name="GPS_BAUD" value="B38400"/>
-    </module>
-
-    <module name="actuators" type="pwm">
-      <define name="SERVO_HZ" value="8000"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-    <!--<module name="ahrs" type="float_dcm"/>-->
-    <!--<module name="ahrs" type="int_cmpl_quat"/>-->
-    <module name="ahrs" type="int_cmpl_quat">
-      <configure name="USE_MAGNETOMETER" value="TRUE"/>
-      <configure name="AHRS_USE_GPS_HEADING" value="FALSE"/>
-    </module>
-
-    <!--<module name="stabilization" type="int_quat"/>-->
-
-    <module name="control"/>
-    <module name="navigation"/>
-
-    <module name="ins" type="alt_float"/>
-
-
-    <module name="baro_sim"/>
-    <module name="gps" type="ubx_ucenter"/>
-    <module name="nav" type="line"/>
-    <!--<module name="nav" type="catapult"/>-->
-    <!--<module name="send_imu_mag_current"/>-->
-    <!--<load name="geo_init"/>-->
-  </firmware>
-
-
-  <!--<section name="CATAPULT" prefix="NAV_CATAPULT_" >
-    <define name="MOTOR_DELAY" value="0.1" unit="seconds"/>
-    <define name="HEADING_DELAY" value="2.0" unit="seconds"/>
-    <define name="ACCELERATION_THRESHOLD" value="0.2"/>
-    <define name="INITIAL_PITCH" value="5" unit="deg"/>
-    <define name="INITIAL_THROTTLE" value="1.0" />
-  </section>-->
-
-
-
-  <servos driver="Pwm">
-    <servo name="MOTORLEFT" no="3" min="0" neutral="0" max="125"/>
-    <servo name="MOTORRIGHT" no="2" min="0" neutral="0" max="125"/>
-  </servos>
-
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="3000"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTORLEFT" value="@THROTTLE + @PITCH * 0.3 + @ROLL"/>
-    <set servo="MOTORRIGHT" value="@THROTTLE + @PITCH * 0.3 - @ROLL"/>
-  </command_laws>
-
-
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
-   <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
-   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
- </section>
-
-  <section name="IMU" prefix="IMU_">
-
-    <!-- these gyro and accel calib values are the defaults for aspirin2.1/2.2 -->
-    <define name="GYRO_X_NEUTRAL" value="0"/>
-    <define name="GYRO_Y_NEUTRAL" value="0"/>
-    <define name="GYRO_Z_NEUTRAL" value="0"/>
-
-    <define name="GYRO_X_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
-    <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="0"/>
-    <define name="ACCEL_Y_NEUTRAL" value="0"/>
-    <define name="ACCEL_Z_NEUTRAL" value="0"/>
-
-    <define name="ACCEL_X_SENS" value="4.905" integer="16"/>	<!-- 4.905/9.81 -->
-    <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
-
-  <!-- delfly beta1 <define name="MAG_X_NEUTRAL" value="-349"/>
-    <define name="MAG_Y_NEUTRAL" value="130"/>
-    <define name="MAG_Z_NEUTRAL" value="355"/>
-    <define name="MAG_X_SENS" value="3.66980420844" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.86694176583" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.02840414264" integer="16"/>-->
-
-    <define name="MAG_X_NEUTRAL" value="914"/>
-    <define name="MAG_Y_NEUTRAL" value="20"/>
-    <define name="MAG_Z_NEUTRAL" value="71"/>
-    <define name="MAG_X_SENS" value="3.6433558115" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.0497072473" integer="16"/>
-    <define name="MAG_Z_SENS" value="4.52432874264" integer="16"/>
-
-    <!--<define name="MAG_X_CURRENT_COEF" value="-0.0166153857964"/>
-    <define name="MAG_Y_CURRENT_COEF" value="0.00153949503277"/>-
-    <define name="MAG_Z_CURRENT_COEF" value="0.0295034374697"/>-->
-
-    <define name="BODY_TO_IMU_PHI" value="-90." unit="deg"/> <!-- Roll -104 -->
-    <define name="BODY_TO_IMU_THETA" value="-180." unit="deg"/> <!-- pitch : true value : 180; add 15° of pitching up : -165 -->
-    <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/> <!-- Yaw -->
-  </section>
-
-
-
-  <section name="AHRS" prefix="AHRS_">
-    <!--     Delft magnetic field karlito   -->
-    <define name="H_X" value="0.3946524"/> <!-- 0.3770441 -->
-    <define name="H_Y" value="-0.0187289"/> <!-- 0.0193986 -->
-    <define name="H_Z" value="0.9186396"/> <!-- 0.9259921 -->
-  </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="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="4.2" unit="volt"/>
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.100"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.9"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.7"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.99"/>
-    <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="0.04"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.03"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="0.06" unit="s"/>
-
-    <!--<define name="PITCH_LOITER_TRIM" value="RadOfDeg(50.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>-->
-  </section>
-
-
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.2"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="35.8098622366" unit="deg"/>
-    <define name="PITCH_MAX_SETPOINT" value="45" unit="deg"/>
-    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
-
-    <define name="PITCH_PGAIN" value="0"/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="800"/>
-
-    <define name="ROLL_SLEW" value="1000"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="1000"/>
-    <define name="ROLL_RATE_GAIN" value="10"/>
-  </section>
-
-
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0.0"/>
-    <define name="DEFAULT_ROLL" value="5000"/>
-    <define name="DEFAULT_PITCH" value="3000"/>
-  </section>
-
-
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="90." unit="deg"/>
-    <define name="MAX_PITCH" value="40." unit="deg"/>
-  </section>
-
-
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="1500"/>
-    <define name="BAT_CHECKER_DELAY" value="5"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="2.0" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="2.1" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="2.2" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
-    <define name="VoltageOfAdc(adc)" value="(0.0052*adc)"/>
-  </section>
-
-
-
-
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="6." unit="m/s"/>
-	  <define name="MIN_AIRSPEED" value="3." unit="m/s"/>
-	  <define name="MAX_AIRSPEED" value="12." unit="m/s"/>
-    <define name="CARROT" value="3." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_FREQUENCY" value="120" unit="Hz"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-  </section>
-
-
-</airframe>
diff --git a/conf/airframes/tudelft/walkera_genius_v2.xml b/conf/airframes/tudelft/walkera_genius_v2.xml
deleted file mode 100644
index 6ac0bcfc67..0000000000
--- a/conf/airframes/tudelft/walkera_genius_v2.xml
+++ /dev/null
@@ -1,254 +0,0 @@
-
-<!--
-     Applicable configuration:
-     airframe="airframes/TUDelft/walkera_genius_v2.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/control/stabilization_rate.xml"
--->
-
-<airframe name="walkera_genius_v2">
-  <description>
-This is a Walkera Genius V2 frame equiped with Lisa/S 0.1 with brushless main rotor.
-Using Lisa/S V1.0 board file as it is software compatible.
-  </description>
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_s_1.0">
-      <!--define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/-->
-      <configure name="USE_MAGNETOMETER" value="0"/>
-      <define name="AHRS_USE_GPS_HEADING" value="1"/>
-      <define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="0"/>
-
-      <module name="radio_control" type="ppm">
-        <configure name="RADIO_CONTROL_PPM_PIN" value="SUPERBIT_RST"/>
-      </module>
-
-      <!--configure name="USE_BARO_BOARD" value="0"/-->
-      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-      <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
-    </target>
-
-    <module name="actuators" type="pwm">
-      <define name="TIM5_SERVO_HZ" value="300"/>
-      <define name="SERVO_HZ" value="300"/>
-      <define name="USE_SERVOS_1AND2"/>
-    </module>
-
-	  <module name="telemetry" type="transparent">
-	    <configure name="MODEM_BAUD" value="B115200"/>
-	    <configure name="MODEM_PORT" value="UART1"/>
-	  </module>
-    <module name="imu" type="lisa_s_v1.0">
-      <define name="LISA_S_UPSIDE_DOWN"/> <!-- wtf hij zit gewoon rechtop maargoed -->
-    </module>
-    <module name="gps" type="optitrack"/>
-    <module name="stabilization" type="heli_indi"/> <!-- int_quat / heli_indi -->
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="ins"/>
-  </firmware>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="BODY_TO_IMU_PHI" value="1." unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="4.0" unit="deg"/>
-    <define name="BODY_TO_IMU_PSI" value="0.0" unit="deg"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="3700"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="3.2" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="4.2" unit="V"/>
-  </section>
-
-  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
-    <define name="SP_MAX_P" value="360" unit="deg/s"/>
-    <define name="SP_MAX_Q" value="360" unit="deg/s"/>
-    <define name="SP_MAX_R" value="360" unit="deg/s"/>
-
-    <define name="GAIN_P" value="400"/>
-    <define name="GAIN_Q" value="400"/>
-    <define name="GAIN_R" value="350"/>
-  </section>
-
-  <!-- This section contains gains for PID -->
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="STEADY_STATE_ROLL" value="4.5"/>
-    <define name="STEADY_STATE_PITCH" value="0"/>
-    <define name="DEADBAND_R" value="250"/>
-    <define name="DEADBAND_A" value="250"/>
-
-    <!-- reference-->
-    <define name="REF_OMEGA_P" value="3000" unit="deg/s"/>
-    <define name="REF_ZETA_P" value="0.85"/>
-    <define name="REF_MAX_P" value="300." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_Q" value="3000" unit="deg/s"/>
-    <define name="REF_ZETA_Q" value="0.85"/>
-    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
-
-    <define name="REF_OMEGA_R" value="3000" unit="deg/s"/>
-    <define name="REF_ZETA_R" value="0.85"/>
-    <define name="REF_MAX_R" value="300." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN" value="3052"/>
-    <define name="PHI_DGAIN" value="108"/>
-    <define name="PHI_IGAIN" value="0"/>
-
-    <define name="THETA_PGAIN" value="3052"/>
-    <define name="THETA_DGAIN" value="108"/>
-    <define name="THETA_IGAIN" value="0"/>
-
-    <define name="PSI_PGAIN" value="944"/>
-    <define name="PSI_DGAIN" value="300"/>
-    <define name="PSI_IGAIN" value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN" value="0"/>
-    <define name="THETA_DDGAIN" value="0"/>
-    <define name="PSI_DDGAIN" value=" 300"/>
-
-    <define name="PHI_AGAIN" value="0"/>
-    <define name="THETA_AGAIN" value="0"/>
-    <define name="PSI_AGAIN" value="0"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
-  </section>
-
-  <section name="RPM_SENSOR" prefix="RPM_SENSOR_">
-    <define name="PULSES_PER_ROTATION" value="6"/>
-  </section>
-
-  <!-- magneto calibration -->
-  <!--include href="conf/airframes/tudelft/calibrations/walkera_2016_03_16.xml"/-->
-
-  <heli_curves>
-    <curve throttle="0,4800,7200,8400,9600" collective="-1500,-1500,0,3000,3000"/>
-  </heli_curves>
-
-  <servos driver="Pwm">
-    <servo name="CIC_FRONT" no="0" min="1000" neutral="1400" max="1700"/>
-    <servo name="CIC_RIGHT" no="5" min="1150" neutral="1450" max="1850"/>
-    <servo name="CIC_LEFT" no="4" min="1000" neutral="1400" max="1700"/>
-    <servo name="TAIL" no="1" min="0" neutral="0" max="3500"/>
-    <servo name="GAS" no="2" min="1000" neutral="1000" max="1890"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-    <axis name="FMODE" failsafe_value="-9600"/>
-  </commands>
-
-  <section name="MIXING" prefix="SW_MIXING_">
-    <!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
-    <define name="TYPE" value="H120"/>
-    <define name="TRIM_ROLL"  value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_COLL"  value="0"/>
-  </section>
-
-  <command_laws>
-    <!-- fly with fixed rpm full throttle -->
-    <let var="hoverstick" value=".1*MAX_PPRZ"/>
-    <let var="halfway" value="(@THRUST >= ($hoverstick) ? 1 : 0)"/>
-
-    <call fun="swashplate_mixing_run(values)"/>
-    <set servo="CIC_FRONT" value="-swashplate_mixing.commands[SW_FRONT]"/>
-    <set servo="CIC_LEFT" value="-swashplate_mixing.commands[SW_LEFTBACK]"/>
-    <set servo="CIC_RIGHT" value="swashplate_mixing.commands[SW_RIGHTBACK]"/>
-    <set servo="TAIL" value="@YAW"/> <!-- +0.4*@THRUST met pid -->
-    <set servo="GAS" value="$halfway * MAX_PPRZ"/>
-
-
-    <!--set servo="CIC_LEFT" value="0"/>
-    <set servo="CIC_RIGHT" value="0"/>
-    <set servo="CIC_FRONT" value="0"/>
-    <set servo="GAS" value="@THRUST"/>
-    <set servo="TAIL" value="0"/-->
-
-  </command_laws>
-
- <section name="AUTOPILOT">
-   <define name="MODE_AUTO2" value="AP_MODE_NAV"/> <!--AP_MODE_ATTITUDE_DIRECT-->
-   <define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/> <!--AP_MODE_HELI_INDI_4DOF-->
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> <!--AP_MODE_ATTITUDE_Z_HOLD-->
- </section>
-
-  <section name="STABILIZATION_ATTITUDE_HELI_INDI" prefix="STABILIZATION_ATTITUDE_HELI_INDI_">
-    <define name="ROLL_P" value="12"/><!--20 3052 -->
-    <define name="PITCH_P" value="8"/><!--20 3052 -->
-    <define name="YAW_P" value="10"/>
-    <define name="YAW_D" value="30"/>
-    <define name="USE_FAST_DYN_FILTERS" value="1" />
-    <define name="FAST_DYN_ROLL_BW" value="68" />
-    <define name="FAST_DYN_PITCH_BW" value="17" />
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI" value="45." unit="deg"/>
-    <define name="SP_MAX_THETA" value="45." unit="deg"/>
-    <define name="SP_MAX_R" value="270." unit="deg/s"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <!-- Use GPS altitude measurments and set the R gain -->
-    <define name="USE_GPS_ALT" value="1"/>
-    <define name="VFF_R_GPS" value="0.01"/>
-  </section>
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="HOVER_KP" value="364"/>
-    <define name="HOVER_KD" value="362"/>
-    <define name="HOVER_KI" value="0"/>
-    <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.9"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
-    <define name="USE_RPM_SENSOR_NOTCH" value="0"/>
-    <define name="NOTCH_FILTER_BANDWIDTH" value="10"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="165"/> <!-- 50/165 -->
-   <define name="DGAIN" value="185"/> <!-- 50/185 -->
-   <define name="IGAIN" value="31"/> <!-- 0/31 -->
-  </section>
-
-  <modules main_freq="512">
-    <load name="pwm_meas.xml"/>
-    <load name="rpm_sensor.xml">
-      <define name="RPM_PULSE_PER_RND" value="18"/>
-    </load>
-    <load name="send_imu_mag_current.xml"/>
-    <load name="logger_sd_spi_direct.xml">
-      <configure name="LOGGER_CONTROL_SWITCH" value="RADIO_AUX2"/>
-      <configure name="LOGGER_LED" value="3"/>
-    </load>
-    <load name="heli_swashplate_mixing.xml"/>
-    <load name="heli_throttle_curve.xml"/>
-    <!--load name="roll_disturbance.xml"/-->
-    <!-- DISABLED MODULES
-      <load name="gps_ubx_ucenter.xml"/>
-      <load name="adc_expansion_uart.xml"/>
-      <load name="air_data.xml"/>
-      <load name="sys_mon.xml"/>
-    -->
-  </modules>
-
-</airframe>
-
diff --git a/conf/flight_plans/OPENUAS/openuas_versatile.xml b/conf/flight_plans/OPENUAS/openuas_versatile.xml
deleted file mode 100644
index 1d9e5b3114..0000000000
--- a/conf/flight_plans/OPENUAS/openuas_versatile.xml
+++ /dev/null
@@ -1,331 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
-<flight_plan alt="300" ground_alt="200" lat0="50.123456"  lon0="7.123456" max_dist_from_home="11400" name="OpenUAS Versatile" qfu="270" security_height="70" home_mode_height="70">
-
-<!-- Varous speed modes for use in flightplanvwith control=new
-V_CTL_SPEED_THROTTLE
-V_CTL_SPEED_AIRSPEED
-V_CTL_SPEED_GROUNDSPEED
-use v_ctl_auto_airspeed_setpoint in meters per second
-
-Fix it for ETECS still
--->
-<!-- ******************************** HEADERS ****************************** -->
-<header>
-
-#ifndef FLIGHTPLAN_HEADER_DEFINES
-#define FLIGHTPLAN_HEADER_DEFINES
-
-//Set Generic options
-    #include "autopilot.h"
-//Enable AHRS Health test functions
-    #include "subsystems/ahrs/ahrs_aligner.h"
-//Enable advanced electrical power functions
-    #include "subsystems/electrical.h"
-//Enable datalink tests
-    #include "subsystems/datalink/datalink.h"
-
-// PHOTOGRAMMETRY settings
-    #define PHOTOGRAMMETRY_OVERLAP 30       // 1-99 Procent
-    #define PHOTOGRAMMETRY_SIDELAP 20       // 1-99 Procent
-    #define PHOTOGRAMMETRY_RESOLUTION 50    // mm pixel projection size
-
-// Incluse airframe.h To be able to use specific variables
-    #include "generated/airframe.h"
-
-// Completly replace with onboard recon copmpter interface
-    #ifdef DC_AUTOSHOOT_PERIOD
-    //TODO make shooting distance not periodic
-    #define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_PERIODIC;
-    #define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
-    #endif
-
-#endif
-
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="STDBY" x="20." y="80." height="70."/>
-    <waypoint name="1" x="-20." y="114."/>
-    <waypoint name="2" x="203." y="112."/>
-    <waypoint name="MOB" x="-11." y="-21."/>
-    <waypoint name="S1" x="-151." y="80."/>
-    <waypoint name="S2" x="162." y="237."/>
-    <waypoint name="AF" x="-21." y="66." alt="215."/>
-    <waypoint name="TD" x="-127." y="0." alt="185."/>
-    <waypoint name="CLIMB" x="53." y="146." height="70."/>
-
-    <!-- For a payload release. Need to connect external servo -->
-    <waypoint name="WAIT" x="-70." y="-70." height="115."/>
-    <waypoint name="BASELEG" x="56." y="367."/>
-    <waypoint name="START" x="60." y="-120." height="65."/>
-    <!-- Note that 80m is the release height, and if e.g. one is not allowed to go below 60 meters, one needs at least 5m GPS height fluctuation into account
-    Also if we steeply move UP from START to RELEASE the release will be more accurate possibly -->
-    <waypoint name="RELEASE" x="20." y="-45." height="80."/> <!-- along line start to release this is the end point -->
-<!-- Position where target would be located.  -->
-<!-- Note that 0m is the target height and allowed -->
-    <waypoint name="TARGET" x="200." y="200." height="0."/>
-    <!-- Used for out of missionboundary tests -->
-    <waypoint name="TESTTOOFAR" x="-48." y="537."/>
-    <!-- Square -->
-    <waypoint name="Q1" x="5.9" y="65.9"/>
-    <waypoint name="Q2" x="67.5" y="301.1"/>
-    <waypoint name="Q3" x="309.2" y="250.8"/>
-    <waypoint name="Q4" x="245.3" y="18.6"/>
-     <!-- bounding box -->
-    <waypoint alt="515.0" name="_MB1" x="-345.9" y="82.7"/>
-    <waypoint alt="515.0" name="_MB2" x="-118.2" y="101.9"/>
-    <waypoint alt="515.0" name="_MB3" x="-20." y="553."/>
-    <waypoint alt="515.0" name="_MB4" x="527.7" y="545.1"/>
-    <waypoint alt="515.0" name="_MB5" x="840.7" y="433.7"/>
-    <waypoint alt="515.0" name="_MB6" x="922.2" y="-123.0"/>
-    <waypoint alt="515.0" name="_MB7" x="351.5" y="-43.5"/>
-    <waypoint alt="515.0" name="_MB8" x="-312.3" y="-118.9"/>
-     <!--  SearchArea -->
-    <waypoint name="SA1" x="115.6" y="388.8"/>
-    <waypoint name="SA2" x="268.4" y="426.8"/>
-    <waypoint name="SA3" x="478.4" y="355.2"/>
-    <waypoint name="SA4" x="392.0" y="63.0"/>
-    <waypoint name="SA5" x="-20.9" y="44.6"/>
-  </waypoints>
-  <sectors>
-    <!-- ***** -->
-    <sector color="yellow" name="MissionBoundary" type="dynamic">
-      <corner name="_MB1"/>
-      <corner name="_MB2"/>
-      <corner name="_MB3"/>
-      <corner name="_MB4"/>
-      <corner name="_MB5"/>
-      <corner name="_MB6"/>
-      <corner name="_MB7"/>
-      <corner name="_MB8"/>
-    </sector>
-    <sector color="purple" name="SearchArea" type="dynamic">
-      <corner name="SA1"/>
-      <corner name="SA2"/>
-      <corner name="SA3"/>
-      <corner name="SA4"/>
-      <corner name="SA5"/>
-    </sector>
-    <sector color="lightblue" name="Square" type="dynamic">
-      <corner name="Q1"/>
-      <corner name="Q2"/>
-      <corner name="Q3"/>
-      <corner name="Q4"/>
-    </sector>
-  </sectors>
-  <variables>
-    <variable var="roll_step" init="15." min="0." max="50." step="1.0"/>
-  </variables>
-  <exceptions>
-    <exception cond="And((datalink_time) > 300, autopilot.launch > 0) " deroute="Standby"/>
-    <exception cond="LOW_BAT_LEVEL > PowerVoltage()" deroute="Standby"/>
-    <exception cond="Or(! InsideMissionBoundary(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 600) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Waiting for RC Transmitter')) && !(nav_block == IndexOfBlock('Takeoff')) && !(nav_block == IndexOfBlock('land')) && !(nav_block == IndexOfBlock('final')) && !(nav_block == IndexOfBlock('flare'))" deroute="Standby"/>
-  </exceptions>
-  <blocks>
-    <block name="Wait GPS">
-      <!-- if no valid fix or gps accuracy> 15m or no AHRS , it a no-go wait-->
-      <while cond="!GpsFixValid()"/>
-      <!-- Wiggle Wiggle when we have GPS , time to fly...-->
-      <!--<set var="ap_state->commands[COMMAND_YAW]" value="-MAX_PPRZ"/>
-      <while cond="LessThan(NavBlockTime(), 2)"/>
-      <set var="ap_state->commands[COMMAND_YAW]" value="MAX_PPRZ"/>
-      <while cond="LessThan(NavBlockTime(), 3)"/>
-      <set var="ap_state->commands[COMMAND_YAW]" value="-MAX_PPRZ"/>-->
-    </block>
-    <block name="Geo init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call_once fun="NavSetGroundReferenceHere()"/>
-      <!--call_once fun="NavSetAltitudeReferenceHere()"/-->
-      <set var="air_data.calc_qnh_once" value="TRUE"/>
-    </block>
-    <block name="Waiting for RC Transmitter">
-     <!-- <attitude roll="0" throttle="0" vmode="throttle"/>--> <!-- To disable wriggly Actuators in Auto2, and throttle to 0 just in case -->
-      <!-- If you have an RC transmitter backup, one must have the TX at least switched on once. This check can be disabled if everything works 100% in Auto2 and you have no TX -->
-      <while cond="RCLost()"/> <!-- To make sure we do not hop to AUTO2 and motor could starts running, at least switch on then maybe off if you want to -->
-    </block>
-    <block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="Ops">
-      <set var="v_ctl_speed_mode" value="V_CTL_SPEED_AIRSPEED" />
-      <exception cond="GetPosAlt() > GetAltRef()+15" deroute="Standby"/>
-      <while cond="1 > autopilot.launch"/> <!-- Setting of launch performed with takeoff_detect module disable -->
-      <set var="autopilot.kill_throttle" value="0"/>
-      <!--<set var="autopilot.launch" value="1"/>--><!--If takeoff_detect module not used enable launch here -->
-      <set var="autopilot.flight_time" value="0"/>
-      <set var="v_ctl_auto_airspeed_setpoint" value="RACE_AIRSPEED" />
-      <!--<heading course="QFU" vmode="throttle" throttle="0.8" pitch="15" until="(GetPosAlt() > ground_alt+30)"/>--><!-- enable Magnetometer on ground-->
-      <go  wp="CLIMB" throttle="1.0" vmode="throttle" pitch="TAKEOFF_PITCH_ANGLE"/> <!-- better just first straight on (if there is not to much sidewind ;0)-->
-    </block>
-    <block key="s" name="Standby" strip_button="Standby" strip_icon="home.png" group="Ops">
-      <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" />
-      <set var="v_ctl_auto_airspeed_setpoint" value="NOMINAL_AIRSPEED" />
-      <set var="v_ctl_speed_mode" value="V_CTL_SPEED_AIRSPEED" />
-      <circle radius="nav_radius" wp="STDBY"/>
-    </block>
-    <block key="i" name="SimpleSquareRoute">
-      <go from="STDBY" hmode="route" wp="SA1"/>
-      <for from="0" to="10" var="i">
-        <go from="SA1" hmode="route" wp="SA2"/>
-        <!-- dash -->
-        <!--<set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>-->
-        <go hmode="route" wp="SA3"/>
-        <go hmode="route" wp="SA4"/>
-        <!-- nominal again -->
-        <!--<set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>-->
-        <go hmode="route" wp="SA5"/>
-      </for>
-      <deroute block="Standby"/>
-    </block>
-    <block name="SearchForTarget" strip_button="Searchtarget" strip_icon="survey.png" group="Scan">
-      <exception cond="block_time > 300" deroute="Standby"/> <!-- No patience, five minutes is enough for now... -->
-      <call_once fun="nav_survey_polygon_setup(WP_SA1, 5, 45 , POLYSURVEY_DEFAULT_DISTANCE, 25, MIN_CIRCLE_RADIUS, GetAltRef()+40)"/>
-      <call fun="nav_survey_polygon_run()"/>
-    </block>
-    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png" group="extra_pattern" group="Ops">
-      <call_once fun="nav_line_setup()"/>
-      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
-    </block>
-    <block key="F8" name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png" group="Ops">
-      <eight center="1" radius="nav_radius" turn_around="2"/>
-    </block>
-    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png" group="Ops">
-      <oval p1="1" p2="2" radius="nav_radius"/>
-    </block>
-    <block name="Race Oval 1-2 for 3 minutes">
-      <go wp="1"/>
-      <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
-      <set var="v_ctl_auto_airspeed_setpoint" value="RACE_AIRSPEED"/>
-      <oval p1="1" p2="2" radius="nav_radius*1.2" until="block_time > 180"/>
-      <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
-      <set var="v_ctl_auto_airspeed_setpoint" value="NOMINAL_AIRSPEED"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="MOB" strip_button="Circle around here" strip_icon="mob.png" group="Scan">
-      <call_once fun="NavSetWaypointHere(WP_MOB)"/>
-      <circle radius="100" wp="MOB"/>
-    </block>
-    <block name="Auto pitch (circle wp 1)">
-      <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
-    </block>
-    <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(LOW_BAT_LEVEL > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 600)" vmode="throttle" wp="1"/>
-    </block>
-    <block name="Climb 0m/s">
-      <circle climb="0" radius="nav_radius" until="LOW_BAT_LEVEL > PowerVoltage()" vmode="climb" wp="1"/>
-    </block>
-    <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="LOW_BAT_LEVEL > PowerVoltage()" vmode="climb" wp="1"/>
-    </block>
-    <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(LOW_BAT_LEVEL > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 600)" vmode="climb" wp="1"/>
-    </block>
-    <block name="Circle 0% throttle">
-      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Oval 0% throttle">
-      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Route 1-2">
-      <go approaching_time="0" from="1" hmode="route" wp="2"/>
-    </block>
-    <block name="Stack wp 2">
-      <circle radius="75" wp="2"/>
-    </block>
-    <block name="Route 2-1">
-      <go approaching_time="0" from="2" hmode="route" wp="1"/>
-    </block>
-    <block name="Stack wp 1">
-      <circle radius="75" wp="1"/>
-    </block>
-    <block name="Glide 1-2">
-      <go from="1" hmode="route" vmode="glide" wp="2"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="Scan">
-      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
-    </block>
-    <block key="r" name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png" group="Land">
-      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block key="l" name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png" group="Land">
-      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block key="<control>l" name="land">
-      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
-      <set var="v_ctl_auto_throttle_cruise_throttle" value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" />
-      <set var="v_ctl_auto_airspeed_setpoint" value="MINIMUM_AIRSPEED"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
-    </block>
-    <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-
-    <!-- Extras -->
-    <block name="Steps roll -10, +10">
-      <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-10.0" until="stage_time > 6" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps roll -20, +20">
-      <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-20.0" until="stage_time > 3" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps roll from var">
-      <while cond="TRUE">
-        <attitude alt="GetPosAlt()" roll="roll_step" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="GetPosAlt()" roll="-roll_step" until="stage_time > 3" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps pitch -10, +10">
-      <while cond="TRUE">
-        <attitude alt="GetPosAlt()" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="GetPosAlt()" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Heading 30">
-      <heading alt="GetAltRef()+80" course="30" until="FALSE"/><!-- better test your missionboundary first ;)-->
-    </block>
-    <block name="For loop (circles wp 1)">
-      <for from="0" to="3" var="i">
-        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
-      </for>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Flower (wp 1-2)" strip_button="Flower" strip_icon="observe.png" group="Scan">
-      <call_once fun="nav_flower_setup(WP_1, WP_2)"/>
-      <call fun="nav_flower_run()"/>
-    </block>
-    <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
-      <go from="STDBY" hmode="route" wp="2"/>
-      <go from="2" hmode="route" wp="STDBY"/>
-    </block>
-    <block name="Fly in Square">
-      <exception cond="!InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
-      <attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
-    </block>
-    <block name="Come back wp 1">
-      <exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
-      <go wp="1"/>
-      <deroute block="Fly in Square"/>
-    </block>
-    <block name="Vertical Raster">
-      <call_once fun="nav_vertical_raster_setup()"/>
-      <call fun="nav_vertical_raster_run(WP_S1, WP_S2, nav_radius, 50)"/>
-    </block>
-    <block key="<Control>f" name="TestToFar">
-      <go wp="TESTTOOFAR"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
similarity index 100%
rename from conf/flight_plans/tudelft/rotorcraft_survey_mission.xml
rename to conf/flight_plans/tudelft/include_rotorcraft_survey_mission.xml
diff --git a/conf/flight_plans/tudelft/obc2016/include_obc2016_mission.xml b/conf/flight_plans/tudelft/obc2016/include_obc2016_mission.xml
deleted file mode 100644
index bc912deff1..0000000000
--- a/conf/flight_plans/tudelft/obc2016/include_obc2016_mission.xml
+++ /dev/null
@@ -1,408 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../../flight_plan.dtd">
-<!--
-     Australian UAV Outback Challenge of 2014.
-
-     * TU Delft University of Technology, L&R http://www.tudelft.nl
-     * MAVLab - http://mavlab.info
-
--->
-
-<procedure>
-<!-- ******************************** HEADERS ****************************** -->
-  <header>
-#include "autopilot.h"
-#include "guidance/guidance_hybrid.h"
-#include "guidance/guidance_v.h"
-#include "guidance/guidance_h.h"
-#include "subsystems/electrical.h"
-#include "guidance/guidance_indi.h"
-#include "subsystems/navigation/waypoints.h"
-#include "subsystems/datalink/datalink.h"
-#include "modules/sensors/temp_adc.h"
-// States
-#define AircraftIsBooting()  LessThan(nav_block,4)
-
-  </header>
-<!-- ******************************* WAYPOINTS ***************************** -->
-  <waypoints>
-    <waypoint name="CLIMB" x="100" y="300"/>
-    <waypoint name="STDBY" x="30" y="30"/>
-    <waypoint name="HOVER" x="268.5" y="27.1" height="60"/>
-    <waypoint name="LANDSPOT" x="268.5" y="127.1" height="40"/>
-    <waypoint name="LANDING" x="-4800.1" y="-9409.5" height="40"/>
-    <waypoint name="JOE" x="268.5" y="127.1" height="40"/>
-  </waypoints>
-
-<!-- ******************************** SECTORS ****************************** -->
-
-
-<!-- ****************************** EXCEPTIONS ***************************** -->
-  <exceptions>
-
-    <!-- Geofence -->
-    <exception cond="(!InsideSafety(GetPosX(), GetPosY()) &&
-      !(AircraftIsBooting()) &&
-      !(nav_block == IndexOfBlock('Geo_init')) &&
-      !(nav_block == IndexOfBlock('HoldingPoint')) &&
-      !(nav_block == IndexOfBlock('failsafe')) &&
-      !(nav_block == IndexOfBlock('SLAMDunk_init')) )" deroute="failsafe"/>
-
-    <!-- GPS loss -->
-    <exception cond="(!GpsFixValid() &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('landed')) &&
-      !(nav_block == IndexOfBlock('GpsLoss')) &&
-      !(nav_block == IndexOfBlock('Descent_noGPS')) &&
-      !(nav_block == IndexOfBlock('Descent_slow_noGPS')) &&
-      !(nav_block == IndexOfBlock('landing_moment_noGPS')) &&
-      !(nav_block == IndexOfBlock('failsafe')) &&
-      (autopilot_in_flight == true) )" deroute="GpsLoss"/>
-
-    <!-- Datalink loss -->
-    <exception cond="(datalink_time > 60 &&
-      !(datalink_time > 120) &&
-      !(IndexOfBlock('Takeoff') > nav_block) &&
-      !(nav_block >= IndexOfBlock('landed')) &&
-      !(nav_block == IndexOfBlock('GpsLoss')) &&
-      !(nav_block == IndexOfBlock('inert')) &&
-      !(nav_block == IndexOfBlock('failsafe')) &&
-      (autopilot_in_flight == true) )" deroute="DatalinkLoss"/>
-
-    <!-- Stall detect -->
-    <exception cond="((outback_hybrid_mode == HB_FORWARD) &&
-      (12.0 > stateGetAirspeed_f()) &&
-      has_transitioned &&
-      (autopilot_in_flight == true) &&
-      !(nav_block == IndexOfBlock('Hover_here')) )" deroute="Hover_here"/>
-
-  </exceptions>
-
-
-
-<!-- *********************************************************************** -->
-<!-- ********************** FLIGHTPLAN STARTINGPOINT *********************** -->
-<!-- *********************************************************************** -->
-
-<!-- *********** Wait for GPS fix, 3D by default *********** -->
-  <blocks>
-
-    <!-- Initialization (No Geofence check, No datalink check, No RPM check, No stall check) -->
-    <block name="Wait_GPS">
-      <set value="true" var="opa_controller_vision_power"/> <!-- Power on the Kalamos -->
-      <call fun="NavKillThrottle()"/>
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <while cond="!GpsFixValid()"/>
-    </block>
-    <block name="Geo_init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <call fun="NavSetAltitudeReferenceHere()"/>
-      <call fun="nav_set_heading_current()" loop="false"/>
-    </block>
-    <block name="SLAMDunk_init">
-      <manual pitch="0" roll="0" throttle="0" until="getKalamosReady()" vmode="throttle" yaw="0"/> <!-- Check if Kalamos is booted -->
-      <call fun="enableKalamosAttCalib(true)" until="stage_time>15"/> <!-- Enable Kalamos calibration for 15 seconds -->
-      <call fun="enableKalamosAttCalib(false)" loop="false"/> <!-- Disable Kalamos calibration -->
-      <set value="false" var="opa_controller_vision_power"/> <!-- Poweroff the Kalamos -->
-    </block>
-    <block name="HoldingPoint">
-      <call fun="NavKillThrottle()"/>
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <call fun="set_wind_heading_to_current90()" loop="false"/> <!-- Set heading based on wind -->
-      <manual pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle" yaw="0"/>
-    </block>
-
-    <!-- Takeoff (No RPM check, No stall check) -->
-    <block group="TO" name="Start_Engine" strip_button="Start_Engine">
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <call fun="nav_heli_spinup_setup(3, 0.07)" loop="false"/>
-      <call fun="NavResurrect()"/>
-      <call fun="nav_heli_spinup_run()"/>
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <manual pitch="0" roll="0" throttle="0" until="stage_time>6" vmode="throttle" yaw="0"/>
-    </block>
-    <block name="Hold_Attitude">
-      <exception cond="1200 > throttle_curve.rpm_meas" deroute="Start_Engine"/>
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <call fun="nav_set_heading_current()" loop="false"/>
-      <manual pitch="0" roll="0" throttle="0" until="stage_time>1" vmode="throttle" yaw="0"/>
-    </block>
-    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
-      <exception cond="stateGetPositionEnu_f()->z > 4.0" deroute="Climb"/>
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <attitude pitch="0" roll="0" throttle="0.83" until="stage_time>2" vmode="throttle"/>
-    </block>
-    <block name="Climb">
-      <exception cond="stateGetPositionEnu_f()->z > 50.0" deroute="decide_there_or_back"/>
-      <call fun="NavSetWaypointHere(WP_CLIMB)" loop="false"/>
-      <call fun="nav_set_heading_current()" loop="false"/>
-      <set value="RadOfDeg(35)" var="guidance_indi_max_bank"/>
-      <call fun="GuidanceVSetRef(stateGetPositionNed_i()->z - POS_BFP_OF_REAL(5.0), -SPEED_BFP_OF_REAL(3.0), 0)"/>
-      <stay precall="PrecallModeHover()" climb="nav_climb_vspeed" vmode="climb" wp="CLIMB" until="stateGetPositionEnu_f()->z > 20.0"/>
-      <set value="GUIDANCE_H_MAX_BANK" var="guidance_indi_max_bank"/>
-      <stay precall="PrecallModeHover()"climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
-    </block>
-
-    <!-- Decide where the takeoff was used for -->
-    <block name="decide_there_or_back">
-      <exception cond="6 > last_wp_reached_in_route" deroute="line_p1_p2"/> <!-- Deroute back corridor to joe -->
-      <exception cond="last_wp_reached_in_route > 5" deroute="line_p9_p8"/> <!-- Deroute back corridor to home -->
-      <call fun="NavSetWaypointHere(WP_HOVER)" loop="false"/>
-      <stay precall="PrecallModeHover()"wp="HOVER" until="stage_time > 1"/>
-    </block>
-
-    <!-- Safety blocks -->
-    <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <set value="GUIDANCE_H_MAX_BANK" var="guidance_indi_max_bank"/>
-      <stay precall="PrecallModeHover()"wp="STDBY"/>
-    </block>
-    <block name="Hover_here">
-      <call fun="waypoint_set_alt(WP_HOVER,stateGetPositionEnu_f()->z)" loop="false"/>
-      <call fun="NavSetWaypointHere(WP_HOVER)" loop="false"/>
-      <stay precall="PrecallModeHover()"wp="HOVER"/>
-    </block>
-
-    <!-- Flightpath to joe -->
-    <block group="to_joe" name="line_p1_p2">
-      <go precall="PrecallModeForward()" from="p1" hmode="route" wp="intermediate_wp"/>
-      <go precall="PrecallModeForward()" from="p1" hmode="route" wp="p2"/>
-      <set value="2" var="last_wp_reached_in_route"/>
-      <deroute block="line_p2_p3"/>
-    </block>
-    <block group="to_joe" name="line_p2_p3">
-      <go precall="PrecallModeForward()" from="p2" hmode="route" wp="p3"/>
-      <set value="3" var="last_wp_reached_in_route"/>
-      <deroute block="line_p3_p4"/>
-    </block>
-    <block group="to_joe" name="line_p3_p4">
-      <go precall="PrecallModeForward()" from="p3" hmode="route" wp="p4"/>
-      <set value="4" var="last_wp_reached_in_route"/>
-      <deroute block="line_p4_p5"/>
-    </block>
-    <block group="to_joe" name="line_p4_p5">
-      <go precall="PrecallModeForward()" from="p4" hmode="route" wp="p5"/>
-      <set value="5" var="last_wp_reached_in_route"/>
-      <deroute block="line_p5_p6"/>
-    </block>
-    <block group="to_joe" name="line_p5_p6">
-      <go precall="PrecallModeForward()" from="p5" hmode="route" wp="p6"/>
-      <set value="6" var="last_wp_reached_in_route"/>
-      <set value="true" var="opa_controller_vision_power"/>
-      <deroute block="line_p6_p7"/>
-    </block>
-    <block group="to_joe" name="line_p6_p7">
-      <go precall="PrecallModeForward()" from="p6" hmode="route" wp="p7"/>
-      <set value="7" var="last_wp_reached_in_route"/>
-      <deroute block="line_p7_p8"/>
-    </block>
-    <block group="to_joe" name="line_p7_p8">
-      <go precall="PrecallModeForward()" from="p7" hmode="route" wp="p8"/>
-      <set value="8" var="last_wp_reached_in_route"/>
-      <deroute block="line_p8_p9"/>
-    </block>
-    <block group="to_joe" name="line_p8_p9">
-      <go precall="PrecallModeForward()" from="p8" hmode="route" wp="p9"/>
-      <set value="9" var="last_wp_reached_in_route"/>
-      <deroute block="search_joe"/>
-    </block>
-
-    <!-- Flightpath from Joe -->
-    <block group="return" name="line_p9_p8">
-      <exception cond="9 > last_wp_reached_in_route" deroute="line_p8_p7"/>
-      <go precall="PrecallModeForward()" from="p9" hmode="route" wp="p8"/>
-      <set value="8" var="last_wp_reached_in_route"/>
-      <deroute block="line_p8_p7"/>
-    </block>
-    <block group="return" name="line_p8_p7">
-      <exception cond="8 > last_wp_reached_in_route" deroute="line_p7_p6"/>
-      <go precall="PrecallModeForward()" from="p8" hmode="route" wp="p7"/>
-      <set value="7" var="last_wp_reached_in_route"/>
-      <deroute block="line_p7_p8"/>
-    </block>
-    <block group="return" name="line_p7_p6">
-      <exception cond="7 > last_wp_reached_in_route" deroute="line_p6_p5"/>
-      <go precall="PrecallModeForward()" from="p7" hmode="route" wp="p6"/>
-      <set value="6" var="last_wp_reached_in_route"/>
-      <deroute block="line_p6_p5"/>
-    </block>
-    <block group="return" name="line_p6_p5">
-      <exception cond="6 > last_wp_reached_in_route" deroute="line_p5_p4"/>
-      <go precall="PrecallModeForward()" from="p6" hmode="route" wp="p5"/>
-      <set value="5" var="last_wp_reached_in_route"/>
-      <deroute block="line_p5_p4"/>
-    </block>
-    <block group="return" name="line_p5_p4">
-      <exception cond="5 > last_wp_reached_in_route" deroute="line_p4_p3"/>
-      <go precall="PrecallModeForward()" from="p5" hmode="route" wp="p4"/>
-      <set value="4" var="last_wp_reached_in_route"/>
-      <deroute block="line_p4_p3"/>
-    </block>
-    <block group="return" name="line_p4_p3">
-      <exception cond="4 > last_wp_reached_in_route" deroute="line_p3_p2"/>
-      <go precall="PrecallModeForward()" from="p4" hmode="route" wp="p3"/>
-      <set value="3" var="last_wp_reached_in_route"/>
-      <deroute block="line_p3_p2"/>
-    </block>
-    <block group="return" name="line_p3_p2">
-      <exception cond="3 > last_wp_reached_in_route" deroute="line_p2_p1"/>
-      <go precall="PrecallModeForward()" from="p3" hmode="route" wp="p2"/>
-      <set value="2" var="last_wp_reached_in_route"/>
-      <set value="true" var="opa_controller_vision_power"/>
-      <deroute block="line_p2_p1"/>
-    </block>
-    <block group="return" name="line_p2_p1">
-      <go precall="PrecallModeForward()" from="p2" hmode="route" wp="p1"/>
-      <set value="1" var="last_wp_reached_in_route"/>
-      <deroute block="Descent"/>
-    </block>
-
-    <!-- Landing at base-->
-    <block name="Descent">
-      <exception cond="12.0 > stateGetPositionEnu_f()->z" deroute="Descent_slow"/>
-      <call fun="NavSetWaypointHere(WP_TD)" loop="false"/>
-      <call fun="enableKalamosDescent(true)" loop="false"/>
-      <call fun="GuidanceVSetRef(stateGetPositionNed_i()->z, 0, 0)"/>
-      <stay precall="PrecallModeHover()"climb="nav_descend_vspeed" vmode="climb" wp="TD"/>
-    </block>
-    <block name="Descent_slow">
-      <exception cond="((0.6 + fabs(stateGetNedToBodyEulers_f()->phi)/2) > k2p_package.height ) && (k2p_package.height > 0.0) && getKalamosReady()" deroute="landing_moment"/>
-      <exception cond="(fabs(stateGetNedToBodyEulers_f()->theta) > 0.6) && ( 2.5 > k2p_package.height) && (!(last_block==IndexOfBlock('Descent_pause')))" deroute="Descent_pause"/>
-      <stay precall="PrecallModeHover()"climb="-0.5" vmode="climb" wp="TD"/>
-    </block>
-    <block name="Descent_pause">
-      <exception cond="(0.3 > fabs(stateGetNedToBodyEulers_f()->theta) )" deroute="Descent_pause"/>
-      <stay precall="PrecallModeHover()"climb="0.0" vmode="climb" wp="TD" until="stage_time>30"/>
-      <deroute block="Descent_slow"/>
-    </block>
-    <block name="landing_moment">
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <attitude pitch="0" roll="0" throttle="0.5" until="stage_time>2" vmode="throttle"/>
-      <deroute block="landed"/>
-    </block>
-
-    <!-- Landing without GPS -->
-    <block name="Descent_noGPS">
-      <set value="true" var="opa_controller_vision_power"/> <!-- Vision power when no gps auto landing -->
-      <call fun="enableKalamosDescent(true)" loop="false"/>
-      <exception cond="10.0 > stateGetPositionEnu_f()->z" deroute="Descent_slow_noGPS"/>
-      <call fun="nav_set_heading_current()" loop="false"/>
-      <call fun="NavSetWaypointHere(WP_TD)" loop="false"/>
-      <call fun="GuidanceVSetRef(stateGetPositionNed_i()->z, 0, 0)"/>
-      <attitude pitch="0" roll="0" climb="nav_descend_vspeed" vmode="climb"/>
-    </block>
-    <block name="Descent_slow_noGPS">
-      <exception cond="((0.6 + fabs(stateGetNedToBodyEulers_f()->phi)/2) > k2p_package.height) && (k2p_package.height > 0.0) && getKalamosReady()" deroute="landing_moment"/>
-      <attitude pitch="0" roll="0" climb="-0.5" vmode="climb"/>
-    </block>
-    <block name="landing_moment_noGPS">
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <attitude pitch="0" roll="0" throttle="0.5" until="stage_time>2" vmode="throttle"/>
-      <deroute block="landed"/>
-    </block>
-    <!-- Search for joe -->
-    <block name="search_joe">
-      <call fun="enableKalamosLandingspotSearch(false)" loop="false"/>
-      <call fun="enableKalamosFindJoe(false)" loop="false"/>
-      <call fun="enableKalamosDescent(false)" loop="false"/>
-      <go precall="PrecallModeForward()" from="p9" hmode="route" wp="j1"/>
-      <stay precall="PrecallModeHover()"wp="j1" until="stage_time>4"/>
-      <call fun="enableKalamosFindJoe(true)" loop="false"/>
-      <go precall="PrecallModeHover()" wp="j2" hmode="route" from="j1"/>
-      <stay precall="PrecallModeHover()"wp="j2" until="stage_time>10"/>
-      <call fun="enableKalamosFindJoe(false)" loop="false"/>
-      <go precall="PrecallModeHover()" wp="LANDING"/>
-      <stay precall="PrecallModeHover()"wp="LANDING" until="stage_time > 30"/>
-      <deroute block="Do_vision_landing"/>
-    </block>
-
-    <!-- Circle in case necessary, to be commanded by operator-->
-    <block name="Circle_around">
-      <go precall="PrecallModeForward()" from="j2" hmode="route" wp="j1"/>
-      <go precall="PrecallModeForward()" from="j1" hmode="route" wp="j3"/>
-      <go precall="PrecallModeForward()" from="j3" hmode="route" wp="j4"/>
-      <go precall="PrecallModeForward()" from="j4" hmode="route" wp="j5"/>
-      <go precall="PrecallModeForward()" from="j5" hmode="route" wp="j1"/>
-    </block>
-
-    <!-- Vision based landing -->
-    <block name="Do_vision_landing">
-      <exception cond="6.0 > stateGetPositionEnu_f()->z" deroute="Descent_slow_remote"/>
-      <call fun="enableKalamosFindJoe(false)" loop="false"/>
-      <call fun="enableKalamosLandingspotSearch(false)" loop="false"/>
-      <call fun="enableKalamosDescent(true)" loop="false"/>
-      <stay precall="PrecallModeHover()"climb="land_cmd.z" vmode="climb" wp="LANDING"/>
-    </block>
-    <block name="Descent_slow_remote">
-      <exception cond="((0.6 + fabs(stateGetNedToBodyEulers_f()->phi)/2) > k2p_package.height ) && (k2p_package.height > 0.0) && getKalamosReady()" deroute="landing_moment_remote"/>
-      <exception cond="(fabs(stateGetNedToBodyEulers_f()->theta) > 0.6) && ( 2.5 > k2p_package.height) && (!(last_block==IndexOfBlock('Descent_pause_remote')))" deroute="Descent_pause_remote"/>
-      <stay precall="PrecallModeHover()"climb="-0.5" vmode="climb" wp="LANDING"/>
-    </block>
-    <block name="Descent_pause_remote">
-      <exception cond="(0.3 > fabs(stateGetNedToBodyEulers_f()->theta) )" deroute="Descent_slow_remote"/>
-      <stay precall="PrecallModeHover()"climb="0.0" vmode="climb" wp="LANDING" until="stage_time>30"/>
-      <deroute block="Descent_slow_remote"/>
-    </block>
-    <block name="landing_moment_remote">
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <attitude pitch="0" roll="0" throttle="0.5" until="stage_time>2" vmode="throttle"/>
-      <deroute block="landed"/>
-    </block>
-    <block name="landed">
-      <call fun="NavKillThrottle()"/>
-      <call fun="nav_throttle_curve_set(0)" loop="false"/>
-      <set value="false" var="opa_controller_vision_power"/> <!-- Vision power off at remote landing -->
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time>5" vmode="throttle"/>
-    </block>
-
-    <!-- Inert and wait minute -->
-    <block name="inert">
-      <call fun="NavKillThrottle()"/>
-      <call fun="NavOpaDisarm(true)"/>
-      <attitude pitch="0" roll="0" throttle="0" until="stage_time>2" vmode="throttle"/>
-      <attitude pitch="0" roll="0" throttle="0" until="electrical.vsupply>220" vmode="throttle"/>
-    </block>
-    <block name="wait_minute">
-      <call fun="NavKillThrottle()"/>
-      <attitude pitch="0" roll="0" throttle="0" until="(stage_time>60) && GpsFixValid()" vmode="throttle"/>
-      <deroute block="Start_Engine"/>
-    </block>
-
-    <!-- Emergency modes -->
-    <block name="GpsLoss">
-      <!-- Less than 2 meters goto failsafe -->
-      <exception cond="2.0 > stateGetPositionEnu_f()->z" deroute="landing_moment_noGPS"/>
-      <!-- Deroute to hover here if below 20 meters and GPS fix becomes valid -->
-      <exception cond="GpsFixValid() && (20.0 > stateGetPositionEnu_f()->z)" deroute="Hover_here"/>
-      <!-- Goto descent without GPS after 20 seconds without GPS -->
-      <exception cond="block_time>20" deroute="Descent_noGPS"/>
-      <!-- Set throttle curve 1 (hover) and descend with vspeed -->
-      <call fun="nav_throttle_curve_set(1)" loop="false"/>
-      <attitude climb="nav_descend_vspeed" pitch="0" roll="0" until="GpsFixValid() && (stateGetPositionEnu_f()->z > 20.0)" vmode="climb"/>
-      <!-- If GPS fix becomes valid and we are above 20 meters return to previous block -->
-      <return reset_stage="1"/>
-    </block>
-    <block name="DatalinkLoss">
-      <!-- If we have another 60 seconds datalink loss fly home through corridor -->
-      <exception cond="block_time>120" deroute="line_p9_p8"/> <!-- fly back home -->
-      <!-- If motor temperature becomes higher 100 degrees goto forwared and fly to home in corridor -->
-      <exception cond="get_temp(1) > 100" deroute="line_p9_p8"/> <!-- fly back home -->
-      <!-- Set Hover waypoint to current positions and set height -->
-      <call fun="NavSetWaypointHere(WP_HOVER)" loop="false"/>
-      <call fun="waypoint_set_alt(WP_HOVER,stateGetPositionEnu_f()->z + 20)" loop="false"/>
-      <stay precall="PrecallModeHover()"wp="HOVER" until="60 > datalink_time"/>
-      <!-- Return to previous block if datalink is OK -->
-      <return reset_stage="1"/>
-<!-- if the function above did not work, keep in this block -->
-      <stay precall="PrecallModeHover()"wp="HOVER"/>
-    </block>
-    <block name="failsafe">
-      <!-- Ultimate KILL MODE -->
-      <call fun="NavKillThrottle()"/>
-      <call fun="NavSetFailsafe"/>
-      <call fun="INTERMCU_SET_CMD_STATUS(INTERMCU_CMD_FAILSAFE)" loop="false"/>
-      <attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
-    </block>
-
-  </blocks>
-</procedure>
-
diff --git a/conf/flight_plans/tudelft/obc2016/include_obc2016_safety.xml b/conf/flight_plans/tudelft/obc2016/include_obc2016_safety.xml
deleted file mode 100644
index 3921162695..0000000000
--- a/conf/flight_plans/tudelft/obc2016/include_obc2016_safety.xml
+++ /dev/null
@@ -1,90 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../../flight_plan.dtd">
-
-<procedure>
-
-  <sectors>
-    <sector name="MissionBoundary" color="yellow" type="dynamic">
-      <corner name="_MB1"/>
-      <corner name="_MB2"/>
-      <corner name="_MB3"/>
-      <corner name="_MB4"/>
-      <corner name="_MB5"/>
-      <corner name="_MB6"/>
-      <corner name="_MB7"/>
-      <corner name="_MB8"/>
-      <corner name="_MB9"/>
-      <corner name="_MB10"/>
-      <corner name="_MB11"/>
-      <corner name="_MB12"/>
-      <corner name="_MB13"/>
-      <corner name="_MB14"/>
-      <corner name="_MB15"/>
-      <corner name="_MB16"/>
-    </sector>
-  </sectors>
-
-<!-- ****************************** EXCEPTIONS ***************************** -->
-  <exceptions>
-    <!-- RC-Loss -->
-    <!-- Handled by FTD-Radio-Control -->
-
-    <!-- Datalink-Loss: -->
-    <!-- Handled in Mission Navigation -->
-
-    <!-- GPS-Failure: -->
-    <!-- Handled in Mission Navigation -->
-
-    <!-- Baro-Failure: -->
-    <!-- Inform Operator, Fly lower, keep flying on GPS -->
-
-    <!-- Hard GeoFence -->
-    <!-- TODO Maybe ADD aditional exception with 2 sec timer here just to be sure to avoid position GPS spikes or some other jitter issues -->
-    <!--exception cond="((!InsideMissionBoundary(GetPosX(), GetPosY())) && gps_has_been_good()" deroute="GeoFence"/-->
-
-    <!-- Failure of Autopilot -->
-    <!-- FTD will failsafe if no commands arrive during 100ms -->
-
-    <!-- Failure of Geofence detection processor -->
-    <!-- FTD will failsafe if no heartbeat arrives from AP (with GPS) during 100ms -->
-
-    <!-- Soft Altitude GeoFence 2800ft MSL-->
-    <!-- <exception cond="MoreThan(GetAmsl(), 2800) && gps_has_been_good()" deroute="AlmostHeightViolation" />-->
-
-    <!-- Hard Altitude GeoFence 3000ft MSL -->
-    <!-- <exception cond="MoreThan(GetAmsl(), 3000) && gps_has_been_good()" deroute="HeightViolation" /-->
-
-    <!-- Case of loss of GPS AND loss of datalink -->
-    <!-- exception cond="And(datalink_time > 10, !GpsFixValid())" deroute="DatalinkAndGpsFailure"/-->
-  </exceptions>
-
-  <blocks>
-    <!-- ******* Activate the irreversible Forced Crash Command to the Flight Termination Device ******** -->
-
-    <block name="GeoFence">
-      <!--call fun="ForceCrash()"/-->
-      <stay wp="STDBY"/>
-    </block>
-
-    <block name="AlmostHeightViolation">
-      <!--call fun="NavKillThrottle()"/-->
-      <stay wp="STDBY"/>
-    </block>
-
-    <block name="HeightViolation">
-      <!--call fun="ForceCrash()"/-->
-      <stay wp="STDBY"/>
-    </block>
-
-    <block name="DatalinkAndGpsFailure">
-      <!--call fun="ForceCrash()"/-->
-      <stay wp="STDBY"/>
-    </block>
-
-    <block name="ManualTerminateRequest" strip_button="FlightTermination" strip_icon="downdownend.png">
-      <!--call fun="ForceCrash()"/-->
-      <stay wp="STDBY"/>
-    </block>
-
-    </blocks>
-</procedure>
-
diff --git a/conf/flight_plans/tudelft/obc2016/obc2016.xml b/conf/flight_plans/tudelft/obc2016/obc2016.xml
deleted file mode 100644
index c0c29b648b..0000000000
--- a/conf/flight_plans/tudelft/obc2016/obc2016.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../../flight_plan.dtd">
-
-<flight_plan alt="423.8" ground_alt="343.8" home_mode_height="120" lat0="-27.273900" lon0="151.290039" max_dist_from_home="12038" name="OBC2016" qfu="170" security_height="10">
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint lat="-27.274012" lon="151.290038" name="TD"/>
-    <waypoint lat="-27.3581" lon="151.240624" name="REPORT_JOE"/>
-    <waypoint lat="-27.358357" lon="151.239732" name="j1" height="40"/>
-    <waypoint lat="-27.357885" lon="151.241427" name="j2" height="40"/>
-    <waypoint lat="-27.360014" lon="151.240522" name="j3" height="40"/>
-    <waypoint lat="-27.357827" lon="151.247775" name="j4" height="40"/>
-    <waypoint lat="-27.356253" lon="151.246831" name="j5" height="40"/>
-    <waypoint lat="-27.282360" lon="151.289117" name="intermediate_wp" height="50"/>
-    <waypoint lat="-27.270220" lon="151.295874" name="_MB1"/>
-    <waypoint lat="-27.279114" lon="151.294158" name="_MB2"/>
-    <waypoint lat="-27.319091" lon="151.286441" name="_MB3"/>
-    <waypoint lat="-27.317933" lon="151.278923" name="_MB4"/>
-    <waypoint lat="-27.277956" lon="151.286643" name="_MB5"/>
-    <waypoint lat="-27.277580" lon="151.284204" name="_MB6"/>
-    <waypoint lat="-27.276210" lon="151.275317" name="_MB7"/>
-    <waypoint lat="-27.325115" lon="151.257217" name="_MB8"/>
-    <waypoint lat="-27.358508" lon="151.255387" name="_MB9"/>
-    <waypoint lat="-27.361077" lon="151.246946" name="_MB10"/>
-    <waypoint lat="-27.363744" lon="151.237290" name="_MB11"/>
-    <waypoint lat="-27.355123" lon="151.234302" name="_MB12"/>
-    <waypoint lat="-27.352455" lon="151.243958" name="_MB13"/>
-    <waypoint lat="-27.350364" lon="151.250673" name="_MB14"/>
-    <waypoint lat="-27.324265" lon="151.252104" name="_MB15"/>
-    <waypoint lat="-27.266754" lon="151.273390" name="_MB16"/>
-    <waypoint lat="-27.268686" lon="151.285921" name="_MB17"/>
-    <waypoint lat="-27.273826" lon="151.290156" name="p1" height="60"/>
-    <waypoint lat="-27.316738" lon="151.281871" name="p2" height="120"/>
-    <waypoint lat="-27.317045" lon="151.283862" name="p3" height="120"/>
-    <waypoint lat="-27.278580" lon="151.291288" name="p4" height="120"/>
-    <waypoint lat="-27.273606" lon="151.290506" name="p5" height="120"/>
-    <waypoint lat="-27.271136" lon="151.274482" name="p6" height="120"/>
-    <waypoint lat="-27.324690" lon="151.254661" name="p7" height="120"/>
-    <waypoint lat="-27.354436" lon="151.253030" name="p8" height="120"/>
-    <waypoint lat="-27.358100" lon="151.240624" name="p9" height="50"/>
-  </waypoints>
-  <sectors>
-    <sector color="red" name="Safety" type="dynamic">
-      <corner name="_MB1"/>
-      <corner name="_MB2"/>
-      <corner name="_MB3"/>
-      <corner name="_MB4"/>
-      <corner name="_MB5"/>
-      <corner name="_MB6"/>
-      <corner name="_MB7"/>
-      <corner name="_MB8"/>
-      <corner name="_MB9"/>
-      <corner name="_MB10"/>
-      <corner name="_MB11"/>
-      <corner name="_MB12"/>
-      <corner name="_MB13"/>
-      <corner name="_MB14"/>
-      <corner name="_MB15"/>
-      <corner name="_MB16"/>
-      <corner name="_MB17"/>
-    </sector>
-  </sectors>
-  <modules>
-    <module name="nav" type="heli_spinup"/>
-  </modules>
-  <includes>
-    <include name="Mission" procedure="include_obc2016_mission.xml"/>
-  </includes>
-  <blocks>
-    <block name="Boot"/>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotorcraft_selfie.xml b/conf/flight_plans/tudelft/rotorcraft_selfie.xml
deleted file mode 100644
index cec90610be..0000000000
--- a/conf/flight_plans/tudelft/rotorcraft_selfie.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
-
-<flight_plan alt="2" ground_alt="0" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
-  <header>
-#include "autopilot.h"
-  </header>
-  <waypoints>
-    <waypoint name="HOME" x="0.0" y="0.0"/>
-    <waypoint name="CLIMB" x="0.0" y="5.0"/>
-    <waypoint name="STDBY" x="-2.0" y="-5.0"/>
-    <waypoint name="p1" x="3.6" y="-13.9"/>
-    <waypoint name="p2" x="27.5" y="-48.2"/>
-    <waypoint name="p3" x="16.7" y="-19.6"/>
-    <waypoint name="p4" x="13.7" y="-40.7"/>
-    <waypoint name="CAM" x="-20" y="-50" height="2."/>
-    <waypoint name="TD" x="5.6" y="-10.9"/>
-  </waypoints>
-  <blocks>
-    <block name="Wait GPS">
-      <call_once fun="NavKillThrottle()"/>
-      <while cond="!GpsFixValid()"/>
-    </block>
-    <block name="Geo init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call_once fun="NavSetGroundReferenceHere()"/>
-    </block>
-    <block name="avoid">
-      <attitude pitch="(ref_pitch)" roll="(ref_roll)" alt="2.5" vmode="alt" until="FALSE"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotorcraft_survey_antwerpen.xml b/conf/flight_plans/tudelft/rotorcraft_survey_antwerpen.xml
deleted file mode 100644
index 40d37907fb..0000000000
--- a/conf/flight_plans/tudelft/rotorcraft_survey_antwerpen.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
-
-<flight_plan alt="152" ground_alt="147" lat0="51.2788881" lon0="4.4135337" max_dist_from_home="150" name="Rotorcraft Survey Antwerpen" security_height="2">
-
-  <waypoints>
-    <waypoint name="HOME" x="-8.9" y="21.1"/>
-    <waypoint name="CLIMB" x="-11.9" y="20.1"/>
-    <waypoint name="STDBY" x="-14.4" y="21.6"/>
-    <waypoint name="p1" x="-3.2" y="17.7"/>
-    <waypoint name="p2" x="-31.8" y="38.5"/>
-    <waypoint name="p3" x="-26.6" y="14.0"/>
-    <waypoint name="p4" x="-20.4" y="37.2"/>
-    <waypoint name="CAM" x="-44.3" y="-9.5"/>
-    <waypoint name="TD" x="-9.5" y="14.8"/>
-    <waypoint name="S1" height="30" x="-57.6" y="32.8"/>
-    <waypoint name="S2" height="30" x="17.3" y="19.4"/>
-    <waypoint name="p1" x="-3.2" y="17.7"/>
-    <waypoint name="p2" x="-31.8" y="38.5"/>
-    <waypoint name="raceA" x="-3.2" y="17.7"/>
-    <waypoint name="raceB" x="-31.8" y="38.5"/>
-  </waypoints>
-
-  <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
-  </includes>
-
-  <blocks>
-    <block name="Dummy"/>
-  </blocks>
-
-</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotorcraft_survey_aubel.xml b/conf/flight_plans/tudelft/rotorcraft_survey_aubel.xml
deleted file mode 100644
index 26376ad1fe..0000000000
--- a/conf/flight_plans/tudelft/rotorcraft_survey_aubel.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
-
-<flight_plan alt="175" ground_alt="160" lat0="50.692111" lon0="5.820278" max_dist_from_home="150" name="Survey-Drop-Race" security_height="2">
-  <waypoints>
-    <waypoint name="HOME" x="29.1" y="12.0"/>
-    <waypoint name="CLIMB" x="-32.4" y="-36.2"/>
-    <waypoint name="STDBY" x="34.8" y="0.3"/>
-    <waypoint name="raceA" x="14.5" y="-24.7"/>
-    <waypoint name="raceB" x="52.8" y="-12.7"/>
-    <waypoint name="WG" x="40.0" y="16.7"/>
-    <waypoint name="WD" x="33.9" y="-10.8"/>
-    <waypoint name="DROP" x="27.6" y="16.9"/>
-    <waypoint name="RZ1" x="27.6" y="16.9"/>
-    <waypoint name="RZ2" x="35.5" y="-15.4"/>
-    <waypoint name="RZ3" x="42.6" y="-12.6"/>
-    <waypoint name="FC" x="28.7" y="-18.8"/>
-    <waypoint name="S1" x="-13.2" y="-1.7"/>
-    <waypoint name="S2" x="54.0" y="27.6"/>
-    <waypoint name="S3" x="87.9" y="-36.2"/>
-    <waypoint name="S4" x="21.8" y="-69.6"/>
-    <waypoint name="p1" x="10.9" y="-24.1"/>
-    <waypoint name="p2" x="53.6" y="-9.7"/>
-    <waypoint name="p3" x="55.3" y="-14.0"/>
-    <waypoint name="p4" x="12.6" y="-27.8"/>
-    <waypoint name="CAM" x="-31.6" y="-44.0"/>
-    <waypoint name="CRUISE" x="-31.6" y="-39.9"/>
-    <waypoint height="15" name="TD" x="32.4" y="7.0"/>
-    <waypoint height="15" x="0" y="0" name="ETD"/>
-    <waypoint name="_red1" x="94.0" y="133.0"/>
-    <waypoint name="_red2" x="171.4" y="-26.2"/>
-    <waypoint name="_red3" x="-32.5" y="-127.4"/>
-    <waypoint name="_red4" x="-106.7" y="49.5"/>
-    <waypoint name="_green1A" x="-56.1" y="58.5"/>
-    <waypoint name="_green1B" x="-63.6" y="84.0"/>
-    <waypoint name="_green1C" x="-38.6" y="91.2"/>
-    <waypoint name="_green1D" x="-28.1" y="68.8"/>
-    <waypoint name="_green2A" x="-23.9" y="-102.5"/>
-    <waypoint name="_green2B" x="-77.1" y="30.9"/>
-    <waypoint name="_green2C" x="86.6" y="101.4"/>
-    <waypoint name="_green2D" x="146.0" y="-30.7"/>
-  </waypoints>
-  <sectors>
-    <sector color="red" name="RED">
-      <corner name="_red1"/>
-      <corner name="_red2"/>
-      <corner name="_red3"/>
-      <corner name="_red4"/>
-    </sector>
-    <sector color="green" name="GREEN1">
-      <corner name="_green1A"/>
-      <corner name="_green1B"/>
-      <corner name="_green1C"/>
-      <corner name="_green1D"/>
-    </sector>
-    <sector color="green" name="GREEN2">
-      <corner name="_green2A"/>
-      <corner name="_green2B"/>
-      <corner name="_green2C"/>
-      <corner name="_green2D"/>
-    </sector>
-  </sectors>
-  <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
-  </includes>
-  <blocks>
-    <block name="Dummy"/>
-  </blocks>
-</flight_plan>
diff --git a/conf/flight_plans/tudelft/rotorcraft_survey_delft.xml b/conf/flight_plans/tudelft/rotorcraft_survey_delft.xml
index abb7820299..126d9b7913 100644
--- a/conf/flight_plans/tudelft/rotorcraft_survey_delft.xml
+++ b/conf/flight_plans/tudelft/rotorcraft_survey_delft.xml
@@ -72,7 +72,7 @@
     </sector>
   </sectors>
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="include_rotorcraft_survey_mission.xml"/>
   </includes>
   <blocks>
     <block name="Dummy"/>
diff --git a/conf/flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml b/conf/flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml
index 84b4d02c15..37e90e0838 100644
--- a/conf/flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml
+++ b/conf/flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml
@@ -95,7 +95,7 @@
     </sector>
   </sectors>
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="include_rotorcraft_survey_mission.xml"/>
   </includes>
   <blocks>
     <block name="Dummy"/>
diff --git a/conf/flight_plans/versatile_geofence.xml b/conf/flight_plans/versatile_geofence.xml
deleted file mode 100644
index cf2fb44f6e..0000000000
--- a/conf/flight_plans/versatile_geofence.xml
+++ /dev/null
@@ -1,198 +0,0 @@
-<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
-
-<flight_plan alt="260" ground_alt="185" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25" home_mode_height="50" geofence_max_alt="300" geofence_sector="Airspace">
-  <header>
-#include "subsystems/datalink/datalink.h"
-</header>
-  <waypoints>
-    <waypoint name="HOME" x="0" y="0"/>
-    <waypoint name="STDBY" x="20" y="80"/>
-    <waypoint name="1" x="44.8" y="102.2"/>
-    <waypoint name="2" x="-63.5" y="122.9"/>
-    <waypoint name="MOB" x="-11.5" y="-21.2"/>
-    <waypoint name="S1" x="-151.6" y="80.4"/>
-    <waypoint name="S2" x="180.1" y="214.9"/>
-    <waypoint alt="215.0" name="AF" x="200" y="-10"/>
-    <waypoint alt="185.0" name="TD" x="80.0" y="20.0"/>
-    <waypoint name="BASELEG" x="26.9" y="-23.0"/>
-    <waypoint name="_1" x="-100" y="0"/>
-    <waypoint name="_2" x="-100" y="200"/>
-    <waypoint name="_3" x="100" y="200"/>
-    <waypoint name="_4" x="100" y="0"/>
-    <waypoint name="_A1" x="500" y="500"/>
-    <waypoint name="_A2" x="500" y="-500"/>
-    <waypoint name="_A3" x="-500" y="-500"/>
-    <waypoint name="_A4" x="-500" y="500"/>
-    <waypoint name="CLIMB" x="-122.5" y="35.4"/>
-  </waypoints>
-  <sectors>
-    <sector name="Square">
-      <corner name="_1"/>
-      <corner name="_2"/>
-      <corner name="_3"/>
-      <corner name="_4"/>
-    </sector>
-    <sector name="Airspace">
-      <corner name="_A1"/>
-      <corner name="_A2"/>
-      <corner name="_A3"/>
-      <corner name="_A4"/>
-    </sector>
-  </sectors>
-  <variables>
-    <variable var="roll_step" init="15." min="0." max="50." step="1.0"/>
-  </variables>
-  <exceptions/>
-  <blocks>
-    <block name="Wait GPS">
-      <set value="1" var="autopilot.kill_throttle"/>
-      <while cond="!GpsFixValid()"/>
-    </block>
-    <block name="Geo init">
-      <while cond="LessThan(NavBlockTime(), 10)"/>
-      <call_once fun="NavSetGroundReferenceHere()"/>
-      <!--call_once fun="NavSetAltitudeReferenceHere()"/-->
-    </block>
-    <block name="Holding point">
-      <set value="1" var="autopilot.kill_throttle"/>
-      <attitude roll="0" throttle="0" vmode="throttle"/>
-    </block>
-    <block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
-      <exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
-      <set value="0" var="autopilot.kill_throttle"/>
-      <go wp="CLIMB"/>
-    </block>
-    <block name="Standby" strip_button="Standby" strip_icon="home.png">
-      <circle radius="nav_radius" wp="STDBY"/>
-    </block>
-    <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png" group="extra_pattern">
-      <call_once fun="nav_line_setup()"/>
-      <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
-    </block>
-    <block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
-      <eight center="1" radius="nav_radius" turn_around="2"/>
-    </block>
-    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
-      <oval p1="1" p2="2" radius="nav_radius"/>
-    </block>
-    <block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
-      <call_once fun="NavSetWaypointHere(WP_MOB)"/>
-      <circle radius="100" wp="MOB"/>
-    </block>
-    <block name="Auto pitch (circle wp 1)">
-      <circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
-    </block>
-    <block name="Climb 75% throttle">
-      <circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
-    </block>
-    <block name="Climb 0m/s">
-      <circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
-    </block>
-    <block name="Climb 1m/s">
-      <circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
-    </block>
-    <block name="Climb nav_climb m/s">
-      <circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
-    </block>
-
-    <block name="Circle 0% throttle">
-      <circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
-      <deroute block="Standby"/>
-    </block>
-
-    <block name="Oval 0% throttle">
-      <oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
-      <deroute block="Standby"/>
-    </block>
-
-
-    <block name="Route 1-2">
-      <go approaching_time="0" from="1" hmode="route" wp="2"/>
-    </block>
-    <block name="Stack wp 2">
-      <circle radius="75" wp="2"/>
-    </block>
-    <block name="Route 2-1">
-      <go approaching_time="0" from="2" hmode="route" wp="1"/>
-    </block>
-    <block name="Stack wp 1">
-      <circle radius="75" wp="1"/>
-    </block>
-    <block name="Glide 1-2">
-      <go from="1" hmode="route" vmode="glide" wp="2"/>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
-      <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
-    </block>
-    <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
-      <set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
-      <set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
-      <deroute block="land"/>
-    </block>
-    <block name="land">
-      <call_once fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
-      <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
-    </block>
-    <block name="final">
-      <exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
-      <go from="AF" hmode="route" vmode="glide" wp="TD"/>
-    </block>
-    <block name="flare">
-      <go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
-      <attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
-    </block>
-    <block name="Steps roll -10, +10">
-      <while cond="TRUE">
-        <attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
-        <attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps roll -20, +20">
-      <while cond="TRUE">
-        <attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps roll from var">
-      <while cond="TRUE">
-        <attitude alt="250" roll="roll_step" until=" stage_time > 3" vmode="alt"/>
-        <attitude alt="250" roll="-roll_step" until="stage_time > 3" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Steps pitch -10, +10">
-      <while cond="TRUE">
-        <attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
-      </while>
-    </block>
-    <block name="Heading 30">
-      <heading alt="GetAltRef()+50" course="30" until="FALSE"/>
-    </block>
-    <block name="For loop (circles wp 1)">
-      <for from="0" to="3" var="i">
-        <circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
-      </for>
-      <deroute block="Standby"/>
-    </block>
-    <block name="Test datalink (go to wp 2)">
-      <exception cond="datalink_time > 22" deroute="Standby"/>
-      <go from="STDBY" hmode="route" wp="2"/>
-      <go from="2" hmode="route" wp="STDBY"/>
-    </block>
-    <block name="Fly in Square">
-      <exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
-      <attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
-    </block>
-    <block name="Come back wp 1">
-      <exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
-      <go wp="1"/>
-      <deroute block="Fly in Square"/>
-    </block>
-  </blocks>
-</flight_plan>
diff --git a/conf/userconf/tudelft/conf.xml b/conf/userconf/tudelft/conf.xml
index bed86e05a6..e845e63ffe 100644
--- a/conf/userconf/tudelft/conf.xml
+++ b/conf/userconf/tudelft/conf.xml
@@ -22,17 +22,6 @@
    settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffd633d633"
   />
-  <aircraft
-   name="ARDrone2_flip"
-   ac_id="14"
-   airframe="airframes/tudelft/ardrone2_flip.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#ffffcd49cd49"
-  />
   <aircraft
    name="ARDrone2_indi"
    ac_id="13"
@@ -66,17 +55,6 @@
    settings_modules="modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#fffff996b847"
   />
-  <aircraft
-   name="Ardrone2_182"
-   ac_id="182"
-   airframe="airframes/tudelft/IMAV2013/ardrone2.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/time_countdown.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="red"
-  />
   <aircraft
    name="BebopMavlink"
    ac_id="9"
@@ -258,7 +236,7 @@
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
    settings_modules="modules/geo_mag.xml modules/nav_survey_poly_rotorcraft.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/switch_servo.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
-   release="46b814ea46496cfc3f6a874bb5013db1a350bfcf"
+   release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
   <aircraft
    name="MAVTec4_Bart"
@@ -281,17 +259,7 @@
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/switch_servo.xml [modules/air_data.xml] [modules/geo_mag.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#8c63ffff8e00"
-  />
-  <aircraft
-   name="MavRick_LisaS"
-   ac_id="131"
-   airframe="airframes/tudelft/IMAV2013/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_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml"
-   gui_color="white"
+   release="33e02c9f1e831cb30ba9dc442e055b6e28c72a52"
   />
   <aircraft
    name="MentorEnergy"
@@ -317,17 +285,6 @@
    gui_color="blue"
    release="f739a81cfa2c633e33f31ab5f095d8f617276974"
   />
-  <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_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
-  />
   <aircraft
    name="Robird"
    ac_id="68"
@@ -440,17 +397,6 @@
    settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#baa3d698b729"
   />
-  <aircraft
-   name="bebop2_23"
-   ac_id="23"
-   airframe="airframes/tudelft/bebop2_indi_MAVlink.xml"
-   radio="radios/dummy.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
-   settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#f6d5baaaffff"
-  />
   <aircraft
    name="bebop2_detect_gate_front"
    ac_id="218"
@@ -529,17 +475,6 @@
    settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#68f5eb116e0c"
   />
-  <aircraft
-   name="frog_flip"
-   ac_id="4"
-   airframe="airframes/BR/bebop_indi_frog_flip.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
-   gui_color="#b777d813cd0b"
-  />
   <aircraft
    name="mavshot"
    ac_id="5"
diff --git a/conf/userconf/tudelft/course2018_conf.xml b/conf/userconf/tudelft/course2018_conf.xml
index b10a8f34aa..e77e4be362 100644
--- a/conf/userconf/tudelft/course2018_conf.xml
+++ b/conf/userconf/tudelft/course2018_conf.xml
@@ -9,6 +9,6 @@
    settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="white"
-   release="593ed974ecf1a78f2eb2b0168a6fa0c93fad8259"
+   release="5e3b6247cc7e2770162bf215b8f427eac58fbdaf"
   />
 </conf>
diff --git a/conf/userconf/tudelft/delfly_conf.xml b/conf/userconf/tudelft/delfly_conf.xml
index bf53c96d16..03168f8142 100644
--- a/conf/userconf/tudelft/delfly_conf.xml
+++ b/conf/userconf/tudelft/delfly_conf.xml
@@ -20,5 +20,6 @@
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
    settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
+   release="bd49f8763f106f69dc87ad735c8bd6ff277a3f62"
   />
 </conf>