diff --git a/conf/airframes/TUDelft/airframes/asctec_freek.xml b/conf/airframes/TUDelft/airframes/asctec_freek.xml
index 44b2461715..b3a6d464fc 100644
--- a/conf/airframes/TUDelft/airframes/asctec_freek.xml
+++ b/conf/airframes/TUDelft/airframes/asctec_freek.xml
@@ -121,7 +121,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -131,11 +130,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
@@ -195,9 +189,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/TUDelft/airframes/bebop2_indi.xml b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
index 82e2bdce25..ea04be3062 100644
--- a/conf/airframes/TUDelft/airframes/bebop2_indi.xml
+++ b/conf/airframes/TUDelft/airframes/bebop2_indi.xml
@@ -100,7 +100,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -110,11 +109,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/bebop_mavlink.xml b/conf/airframes/TUDelft/airframes/bebop_mavlink.xml
index 0a78ce0fa8..61fad62179 100644
--- a/conf/airframes/TUDelft/airframes/bebop_mavlink.xml
+++ b/conf/airframes/TUDelft/airframes/bebop_mavlink.xml
@@ -135,7 +135,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -145,11 +144,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
diff --git a/conf/airframes/TUDelft/airframes/heli450.xml b/conf/airframes/TUDelft/airframes/heli450.xml
index 505d459dc3..7ffb51fba3 100644
--- a/conf/airframes/TUDelft/airframes/heli450.xml
+++ b/conf/airframes/TUDelft/airframes/heli450.xml
@@ -121,7 +121,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -131,11 +130,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
 
diff --git a/conf/airframes/TUDelft/airframes/logo600.xml b/conf/airframes/TUDelft/airframes/logo600.xml
index adf69235fc..4ef3ef0a37 100644
--- a/conf/airframes/TUDelft/airframes/logo600.xml
+++ b/conf/airframes/TUDelft/airframes/logo600.xml
@@ -154,7 +154,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="100"/>
@@ -164,11 +163,6 @@
     <define name="IGAIN_P" value="0"/>
     <define name="IGAIN_Q" value="0"/>
     <define name="IGAIN_R" value="0"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="0"/>
-    <define name="DDGAIN_Q" value="0"/>
-    <define name="DDGAIN_R" value="0"/>
   </section>
 
 
@@ -227,14 +221,6 @@
     <define name="IGAIN" value="20"/>
   </section>
 
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
-    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
-    <define name="JS_AXIS_MODE" value="4"/>
-  </section>
-
   <section name="AUTOPILOT">
     <define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
     <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
diff --git a/conf/airframes/examples/bebop2_indi.xml b/conf/airframes/examples/bebop2_indi.xml
index 7e64dc2b14..319390d5be 100644
--- a/conf/airframes/examples/bebop2_indi.xml
+++ b/conf/airframes/examples/bebop2_indi.xml
@@ -108,7 +108,6 @@
     <define name="DEADBAND_P" value="20"/>
     <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
-    <define name="REF_TAU" value="4"/>
 
     <!-- feedback -->
     <define name="GAIN_P" value="400"/>
@@ -118,11 +117,6 @@
     <define name="IGAIN_P" value="75"/>
     <define name="IGAIN_Q" value="75"/>
     <define name="IGAIN_R" value="50"/>
-
-    <!-- feedforward -->
-    <define name="DDGAIN_P" value="300"/>
-    <define name="DDGAIN_Q" value="300"/>
-    <define name="DDGAIN_R" value="300"/>
   </section>
 
   <section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">