diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index 3c7ed0971c..fd4fd9859d 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -194,8 +194,7 @@
     </subsystem>
 
     <subsystem name="control"/>
-    <!-- Sensors
-    <subsystem name="gyro"          type="roll"/> -->
+    <!-- Sensors -->
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/CDW/LisaFw.xml b/conf/airframes/CDW/LisaFw.xml
deleted file mode 100644
index 98e57af116..0000000000
--- a/conf/airframes/CDW/LisaFw.xml
+++ /dev/null
@@ -1,211 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor
-     Transparent modem
--->
-
-<airframe name="Fixed Wing Lisa">
-  <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="1" min="1130" neutral="1575" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="2" min="1980" neutral="1465" max="1170"/>
-    <servo name="EXTRA1" 	no="3" min="1980" neutral="1465" max="1170"/>
-    <servo name="EXTRA2" 	no="4" min="1980" neutral="1465" max="1170"/>
-    <servo name="EXTRA3" 	no="5" min="1980" neutral="1465" max="1170"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    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="$aileron + $elevator"/>
-    <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
-    <set servo="EXTRA1" value="@THROTTLE"/>
-    <set servo="EXTRA2" value="@THROTTLE"/>
-    <set servo="EXTRA3" value="@THROTTLE"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-  </section>
-
- <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-   <define name="THROTTLE_SLEW" value="0.5"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.8"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-10000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <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="0.6"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="1" 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>
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="4"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
-    </load>
-    <load name="infrared_adc.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" 			board="lisa_l_1.0"	processor="stm32" >
-      <define name="AGR_CLIMB" />
-      <define name="ALT_KALMAN" />
-      <define name="STM32" />		<!-- Temporary Hack -->
-    </target>
-    <target name="sim" 			board="pc" />
-    <subsystem name="navigation"/>
-    <subsystem name="control"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" 	type="transparent">
-      <configure name="MODEM_PORT" 	value="UART2"/>
-      <configure name="MODEM_BAUD" 		value="B57600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-
-    <!-- Sensors -->
-    <subsystem name="radio_control" 	type="ppm"/>
-    <!--<subsystem name="ahrs"  	type="infrared">
-      <configure name="ADC_IR1"        value="ADC_1"/>
-      <configure name="ADC_IR2"        value="ADC_2"/>
-      <configure name="ADC_IR_TOP"     value="ADC_0"/>
-      <configure name="ADC_IR_NB_SAMPLES" value="16"/>
-    </subsystem>-->
-
-    <subsystem name="gps" 		type="ublox_utm">
-      <configure name="GPS_PORT"		value="UART1"/>
-    </subsystem>
-
-  </firmware>
-
-
-</airframe>
diff --git a/conf/airframes/CDW/TinyFw.xml b/conf/airframes/CDW/TinyFw.xml
deleted file mode 100644
index 954004b372..0000000000
--- a/conf/airframes/CDW/TinyFw.xml
+++ /dev/null
@@ -1,204 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- Microjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     Tilted infrared sensor
-     Transparent modem
--->
-
-<airframe name="Fixed Wing Lisa">
-
-  <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    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="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-  </section>
-
- <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="4000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.075"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-   <define name="THROTTLE_SLEW" value="0.5"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.8"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-10000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <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="0.6"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.15"/><!-- 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="1" 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>
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="4"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
-    </load>
-    <load name="infrared_adc.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" 			board="tiny_2.11">
-      <define name="AGR_CLIMB" />
-      <define name="ALT_KALMAN" />
-    </target>
-    <target name="sim" 			board="pc" />
-
-    <subsystem name="radio_control" 	type="ppm" />
-
-    <!-- Communication -->
-    <subsystem name="telemetry" 	type="transparent">
-      <configure name="MODEM_BAUD" 		value="B9600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="gyro"      type="roll"/>
-    <subsystem name="ahrs"  type="infrared"/>
-    <subsystem name="gps" 		type="ublox_utm"/>
-    <subsystem name="navigation"/>
-
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel" 		board="tiny_2.11" />
-    <target name="setup_actuators" 	board="tiny_2.11" />
-  </firmware>
-
-
-
-</airframe>
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 117bc78989..ffafe387ba 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -71,14 +71,10 @@
     <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="450"/>
-    <define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/>
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_SIGN"  value="1"/>
+    <define name="GYRO_P_NEUTRAL" value="500"/>
+    <define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
   </section>
 
   <section name="BAT">
@@ -258,10 +254,10 @@
     </subsystem>
 
     <!-- Sensors -->
-<!--    <subsystem name="gyro"		type="roll">
-      <configure name="ADC_GYRO_ROLL" 	value="ADC_3" />
+    <subsystem name="imu"		type="analog">
+      <configure name="GYRO_P" 	value="ADC_3" />
     </subsystem>
--->    <subsystem name="ahrs" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="control"	/>
     <subsystem name="navigation"	type="extra"/>
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 857bb271f7..57d43ec484 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -1,13 +1,10 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!--
-     Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     PerkinElmer TPS334 IR Sensors
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+     Trip 50cm 150km range
+     Tiny Sense (=tiny2.11 with onboard thermopiles + current)
      XBee modem
-     Payload: Sensirion humidity/temp, VTI pressure/temp
-     K68, LEA 5
+     LEA 5H
 -->
 
 <airframe name="MavLab50cm">
@@ -98,17 +95,11 @@
     <define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
   </section>
 
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="382"/>
-    <define name="ADC_PITCH_NEUTRAL" value="400"/>
-    <define name="ADC_TEMP_NEUTRAL" value="0"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_SIGN"  value="1"/>
+    <define name="GYRO_P_NEUTRAL" value="382"/>
     <define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
-    <define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
-    <define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-    <define name="PITCH_DIRECTION" value="1."/>
+    <define name="GYRO_P_SENS" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit" integer="16"/>
   </section>
 
   <section name="MISC">
diff --git a/conf/airframes/TU_Delft/Trip50B.xml b/conf/airframes/TU_Delft/Trip50B.xml
deleted file mode 100644
index dab375a875..0000000000
--- a/conf/airframes/TU_Delft/Trip50B.xml
+++ /dev/null
@@ -1,320 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-     Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     PerkinElmer TPS334 IR Sensors
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
-     XBee modem
-     Payload: Sensirion humidity/temp, VTI pressure/temp
-     K68, LEA 5
--->
-
-<airframe name="MavLab50cm">
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <!-- Left: 2ms is up -->
-    <servo name="AILEVON_LEFT" no="1" min="1100" neutral="1500" max="2900"/>
-    <!-- Right: 2ms is donw -->
-    <servo name="AILEVON_RIGHT" no="5" min="300" neutral="1200" max="1900"/>
-    <servo name="CAM_TILT" no="3" min="1500" neutral="2050" max="2050"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="CAM_TILT" failsafe_value="0"/>
-  </commands>
-
-  <ap_only_commands>
-    <copy command="CAM_TILT"/>
-  </ap_only_commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="(@ROLL*0.8f) + (@PITCH)"/>
-    <set servo="AILEVON_RIGHT" value="(@ROLL*0.8f) - (@PITCH)"/>
-    <set servo="CAM_TILT" value="@CAM_TILT"/>
-  </command_laws>
-
-  <section name="CAMERA" prefix="CAM_">
-    <define name="TILT0" value="0" unit="deg"/>
-    <define name="TILT_MIN" value="-30" unit="deg"/>
-    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
-    <define name="TILT_MAX" value="30" unit="deg"/>
-  </section>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_4"/>
-    <define name="GYRO_PITCH" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-    <define name="AIRSPEED" value="ADC_3"/>
-    <define name="AIRSPEED_NB_SAMPLES" value="32"/>
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="500"/>
-    <define name="ADC_IR2_NEUTRAL" value="500"/>
-    <define name="ADC_TOP_NEUTRAL" value="490"/>
-
-    <define name="CORRECTION_UP" value="1."/>
-    <define name="CORRECTION_DOWN" value="1."/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="-1."/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR1_SIGN" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="1"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="18.9649028778" unit="deg"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="6.0" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="6.8" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="7.3" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
-
-    <define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
-  </section>
-
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="382"/>
-    <define name="ADC_PITCH_NEUTRAL" value="400"/>
-    <define name="ADC_TEMP_NEUTRAL" value="0"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <define name="DYNAMIC_RANGE" value="500" unit="deg/s"/>
-    <define name="ROLL_SCALE" value="-2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
-    <define name="PITCH_SCALE" value="2.0/1024.*GYRO_DYNAMIC_RANGE" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-    <define name="PITCH_DIRECTION" value="1."/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
-    <define name="CARROT" value="10." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-<!--uncommant API protocol in makefile-->
-    <define name="XBEE_INIT" value="\"ATCHC\rATID3332\rATPL4\rATRN1\rATTT80\rATBD3\rATWR\r\""/>
-    <define name="NO_XBEE_API_INIT" value="TRUE"/>  <!-- uncommant after programed-->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="5" unit="deg"/>
-
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
-
-	<!-- Vertical Outerloop
-		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
-		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-	-->
-
-    <!-- outer loop proportional gain: alt error 5 climb m/s -->
-    <define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
-    <!-- outer loop saturation: m/s-->
-    <define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
-
-    <!-- auto throttle inner loop
-		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
-		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
-		+ v_ctl_auto_throttle_pgain *
-		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
-		+ v_ctl_auto_throttle_dgain * d_err);
-
-		/* pitch pre-command */
-		float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
-		* v_ctl_auto_throttle_pitch_of_vz_pgain;
-	-->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40000000596"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500."/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.035000000149"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0."/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
-    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
-
-    <define name="AUTO_AIRSPEED_SETPOINT" value="10" unit="m/s"/>
-    <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"/>
-
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0."/>
-    <define name="AUTO_PITCH_IGAIN" value="0."/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="0"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.5"/>	<!-- Heading outerloop: only P-gain -->
-
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/> <!-- Max Angles -->
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-7110.09179688"/>	<!-- Pitch Angle PD control -->
-    <define name="PITCH_DGAIN" value="2."/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1500."/> <!-- Feed forward ABS(roll) to elevator -->
-
-    <define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
-    <define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
-
-<!--
-#ifdef H_CTL_ROLL_ATTITUDE_GAIN
-inline static void h_ctl_roll_loop( void ) {
-  float err = estimator_phi - h_ctl_roll_setpoint;
-  float cmd = - h_ctl_roll_attitude_gain * err
-    - h_ctl_roll_rate_gain * estimator_p
-    + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
-
-  h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
-}
--->
-
-   </section>
-
-  <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
-<!--    <define name="NAV_GROUND_SPEED_PGAIN" value="0"/> -->
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="25"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="1.0"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.0"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.3"/><!-- 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="0.0" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-  </section>
-
-<!--
-  <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="XBEE"/>
-    <define name="DEVICE_ADDRESS" value="0x005067361851"/>
-  </section>
--->
-
- <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_sense.h\"
-
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
-
-#TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
-
-# Maxstream API protocol
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_GYRO -DIDG300
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
-ap.srcs += infrared.c estimator.c gyro.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
-
-ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-
-ap.srcs += baro_bmp.c $(SRC_ARCH)/i2c_hw.c i2c.c
-ap.CFLAGS += -DUSE_I2C0 -DUSE_BARO_BMP -DBARO_BMP_ACCEL
-
-# camera control
-ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-ap.srcs += cam.c point.c
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
-sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-# -DTEST_CAM
-sim.srcs += cam.c point.c
-sim.srcs += subsystems/navigation/bomb.c
-
-
-
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/TU_Delft/holiday50.xml b/conf/airframes/TU_Delft/holiday50.xml
deleted file mode 100644
index c60b9f2e2f..0000000000
--- a/conf/airframes/TU_Delft/holiday50.xml
+++ /dev/null
@@ -1,320 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<airframe name="Holiday 50 Delft Tiny 1.1">
-
-  <modules>
-    <load name="./TUDelft/opticflow.xml"/>
-  </modules>
-
-<!-- commands section -->
-  <servos>
-    <servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
-    <servo name="AILERONS" no="2" min="1830" neutral="1480" max="1130"/> <!-- positive = right turn -->
-    <servo name="ELEVATOR" no="1" min="1100" neutral="1400" max="1900"/> <!-- positive = up -->
-    <servo name="CAM_TILT" no="3" min="1150" neutral="1500" max="1850"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="CAM_TILT" failsafe_value="0"/>
-    <axis name="HATCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <ap_only_commands>
-    <copy command="CAM_TILT"/>
-  </ap_only_commands>
-
-  <command_laws>
-    <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="AILERONS" value="@ROLL"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="CAM_TILT" value="@CAM_TILT"/>
-  </command_laws>
-
-  <section name="CAMERA" prefix="CAM_">
-    <define name="TILT0" value="0" unit="deg"/>
-    <define name="TILT_MIN" value="-30" unit="deg"/>
-    <define name="TILT_NEUTRAL" value="0" unit="deg"/>
-    <define name="TILT_MAX" value="30" unit="deg"/>
-  </section>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_0"/>
-    <define name="IR2" value="ADC_1"/>
-    <define name="IR_TOP" value="ADC_2"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_TEMP" value="ADC_4"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-    <define name="OPTICFLOW" value="ADC_5"/>
-
-    <define name="CURRENT" value="ADC_6"/>		<!-- Current Measurement -->
-  </section>
-
-  <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="1"/>
-
-    <define name="LATERAL_CORRECTION" value="0.7"/>
-    <define name="LONGITUDINAL_CORRECTION" value="-0.7"/>
-    <define name="VERTICAL_CORRECTION" value="1.3"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1.0"/>
-    <define name="CORRECTION_DOWN" value="1.0"/>
-    <define name="CORRECTION_LEFT" value="1.0"/>
-    <define name="CORRECTION_RIGHT" value="1.0"/>
-  </section>
-
-  <section name="AIRSPEED" prefix="AIRSPEED_">
-    <define name="BIAS" value="(168.0f)"/>
-    <define name="QUADRATIC_SCALE" value="1.2588f"/>
-    <define name="ZERO" value="0"/>
-    <define name="RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
-    <define name="SCALE" value="1." unit="m/s/adc_unit"/>
-  </section>
-
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="325"/>
-    <define name="ADC_TEMP_NEUTRAL" value="450"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <define name="DYNAMIC_RANGE" value="150" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+2.2))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="2.0*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="12000"/> <!-- 12Amp Full power on Ground -->
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-
-    <define name="MilliAmpereOfAdc(adc)" value="((adc-508)*50)"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="70."/>
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="5" unit="deg"/>
-
-    <define name="LIGHT_LED_1" value="3"/>
-<!--    <define name="POWER_SWITCH_LED" value="2"/> -->
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
-
-	<!-- Vertical Outerloop
-		v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error + altitude_pre_climb;
-		BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
-	-->
-
-    <!-- outer loop proportional gain: alt error 5 climb m/s -->
-    <define name="ALTITUDE_PGAIN" value="-0.04"/>
-    <!-- outer loop saturation: m/s-->
-    <define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
-
-    <!-- auto throttle inner loop
-		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
-		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
-		+ v_ctl_auto_throttle_pgain *
-		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
-		+ v_ctl_auto_throttle_dgain * d_err);
-
-		/* pitch pre-command */
-		float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain)
-		* v_ctl_auto_throttle_pitch_of_vz_pgain;
-	-->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.319999992847"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.0" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.005"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.56"/>
-    <define name="THROTTLE_SLEW_LIMITER" value="1" unit="s"/>
-
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="16" unit="m/s"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="0" unit="degree/(m/s)"/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/>
-    <define name="AUTO_AIRSPEED_SETPOINT" value="0" unit="%/(m/s)"/>
-    <define name="AUTO_AIRSPEED_PGAIN" value="0" unit="degree/(m/s)"/>
-    <define name="AUTO_AIRSPEED_IGAIN" value="0" unit="degree/(m/s)"/>
-
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.4" unit="radians"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.4" unit="radians"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.5"/>	<!-- Heading outerloop: only P-gain -->
-
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/> <!-- Max Angles -->
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-5925.65087891"/>	<!-- Pitch Angle PD control -->
-    <define name="PITCH_DGAIN" value="2.0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2050"/> <!-- Feed forward ABS(roll) to elevator -->
-
-    <define name="ROLL_SLEW" value="0.10"/> <!-- Maximal roll angle change per 1/60 of second -->
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-6000"/> <!-- Roll Angle PD control -->
-    <define name="ROLL_RATE_GAIN" value="-550"/>
-
-<!--
-#ifdef H_CTL_ROLL_ATTITUDE_GAIN
-inline static void h_ctl_roll_loop( void ) {
-  float err = estimator_phi - h_ctl_roll_setpoint;
-  float cmd = - h_ctl_roll_attitude_gain * err
-    - h_ctl_roll_rate_gain * estimator_p
-    + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
-
-  h_ctl_aileron_setpoint = TRIM_PPRZ(cmd);
-}
--->
-
-   </section>
-
-  <section name="NAV">
-    <define name="NAV_PITCH" value="0."/>
-    <define name="NAV_GLIDE_PITCH_TRIM" value="-0.0"/>
-<!--    <define name="NAV_GROUND_SPEED_PGAIN" value="0"/> -->
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="30"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="18"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.60"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.40"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.3"/><!-- Pitch for Aggressive Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-    </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
-  </section>
-
-<!--
-  <section name="DATALINK" prefix="DATALINK_">
-    <define name="DEVICE_TYPE" value="AEROCOMM"/>
-    <define name="DEVICE_ADDRESS" value="0x005067361851"/>
-  </section>
--->
-
- <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
-
-FLASH_MODE=IAP
-
-# main files (including the 60Hz timing)
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
-
-# Command allocation and Radio Mixers
-ap.srcs += commands.c
-
-# Actuators: tiny1.1 board has 4015_MAT servos
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-# 35MHz Radio
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-# Paparazzi protocol on UART0 at 57600
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
-
-# communication from FBW and AP
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-# USE_GPS on UART1
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED
-ap.srcs += infrared.c estimator.c
-
-ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
-ap.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
-
-ap.CFLAGS += -DUSE_GYRO -DADXRS150
-ap.srcs += gyro.c
-
-ap.CFLAGS += -DUSE_MODULES
-
-ap.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-ap.srcs += subsystems/navigation/traffic_info.c
-
-# camera control
-ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-# -DTEST_CAM
-ap.srcs += cam.c point.c
-# subsystems/navigation/traffic_info.c
-
-ap.CFLAGS += -DWIND_INFO -DSTRONG_WIND
-ap.srcs += subsystems/navigation/bomb.c
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DSTRONG_WIND
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
-sim.CFLAGS += -DTUNE_AGRESSIVE_CLIMB
-# subsystems/navigation/traffic_info.c
-sim.CFLAGS += -DUSE_MODULES
-
-sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
-# -DTEST_CAM
-sim.srcs += cam.c point.c
-sim.srcs += subsystems/navigation/bomb.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/TU_Delft/yapa_xsens.xml b/conf/airframes/TU_Delft/yapa_xsens.xml
deleted file mode 100644
index daf296a3c2..0000000000
--- a/conf/airframes/TU_Delft/yapa_xsens.xml
+++ /dev/null
@@ -1,226 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!--
-	YAPA + XSens + XBee
--->
-
-<airframe name="Yapa v1">
-
-  <servos>
-    <servo name="THROTTLE" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="2" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_RIGHT" no="6" min="2000" neutral="1500" max="1000"/>
-    <servo name="ELEVATOR" no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="BRAKE" failsafe_value="0"/>	<!-- both elerons up as butterfly brake ? -->
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="BRAKE" value="@YAW"/>
-  </rc_commands>
-
-  <section name="SERVO_MIXER_GAINS">
-    <define name="AILERON_RATE_UP" value="0.50f"/>
-    <define name="AILERON_RATE_DOWN" value="0.25f"/>
-
-    <define name="AILERON_RATE_UP_BRAKE" value="0.5f"/>
-    <define name="AILERON_RATE_DOWN_BRAKE" value="0.9f"/>
-
-    <define name="PITCH_GAIN" value="0.9f"/>
-
-    <define name="YAW_THRUST" value="0.0f"/>
-    <define name="BRAKE_AILEVON" value="-0.68f"/>
-    <define name="BRAKE_PITCH" value="0.0f"/>
-    <define name="MAX_BRAKE_RATE" value="150"/>
-
-    <define name="RATELIMIT(X,RATE)" value="( _rate_limited_value + Chop( (X) - _rate_limited_value, -(RATE), (RATE)  )); \
-       int16_t _rate_limited_value = 0;"/>
-
-</section>
-
-  <command_laws>
-    <!-- Brake Rate Limiter -->
-    <let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
-    <!--<let var="brake_value" value="RATELIMIT(  $brake_value , MAX_BRAKE_RATE )"/>
-
-    <let var="test; \
-  	      static int16_t _var_brake_value = 0; \
-              _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
-              int verwaarloos_deze_warning_CDW" value="0"/>
-		-->
-
-    <!-- Differential Aileron Depending on Brake Value -->
-    <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
-    <let var="aileron_down_rate" value="(AILERON_RATE_DOWN * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_DOWN_BRAKE * $brake_value)"/>
-    <let var="aileron_up" value="(@ROLL  *  (((float)$aileron_up_rate) / ((float)MAX_PPRZ)))"/>
-    <let var="aileron_down" value="(@ROLL  * (((float)$aileron_down_rate) / ((float)MAX_PPRZ)))"/>
-    <let var="leftturn" value="(@ROLL >= 0? 1 : 0)"/>
-    <let var="rightturn" value="(1 - $leftturn)"/>
-    <set servo="AILERON_LEFT" value="($aileron_up * $leftturn) + ($aileron_down * $rightturn) - $brake_value*(BRAKE_AILEVON)"/>
-    <set servo="AILERON_RIGHT" value="($aileron_up * $rightturn) + ($aileron_down * $leftturn) + $brake_value*(BRAKE_AILEVON)"/>
-
-    <!-- Differential Thurst -->
-    <set servo="THROTTLE" value="@THROTTLE"/>
-
-    <!-- Pitch with Brake-Trim Function -->
-    <set servo="ELEVATOR" value="-@PITCH * PITCH_GAIN + BRAKE_PITCH * $brake_value"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.7"/>
-    <define name="MAX_PITCH" value="0.7"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>
-
-    <define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
-    <define name="CARROT" value="5." unit="s"/>
-    <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="GLIDE_AIRSPEED" value="10"/>
-    <define name="GLIDE_VSPEED" value="3."/>
-    <define name="GLIDE_PITCH" value="45" unit="deg"/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="-0.03"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.65"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-1.20000004768"/>
-    <define name="COURSE_DGAIN" value="0.3"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
-
-    <define name="PITCH_PGAIN" value="-12000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000."/>
-
-    <define name="ROLL_SLEW" value="1."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="0."/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
-    <define name="DESCENT_NAV_RATIO" value="1.0"/>
-  </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DEFAULT_THROTTLE" value="0.35" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-
-    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
-    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
-    <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
-  </section>
-
-  <section name="DIGITAL_CAMERA" prefix="DC_">
-    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
-    <define name="AUTOSHOOT_METER_GRID" value="50" unit="meter"/>
-  </section>
-
-
-  <modules>
-    <load name="ins_xsens_MTiG_fixedwing.xml">
-      <configure name="XSENS_UART_NR" value="0"/>
-    </load>
-
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="2"/>
-      <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
-      <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
-    </load>
-
-<!--    <load name="digital_cam_i2c.xml"/>  -->
-  <!--    <load name="ins_ppzuavimu.xml"/>  -->
-    <load name="digital_cam.xml" >
-      <define name="DC_SHUTTER_LED" value="2"/>
-    </load>
-
-  </modules>
-
-  <firmware name="fixedwing">
-
-    <target name="ap" board="tiny_2.11">
-      <define name="STRONG_WIND"/>
-      <define name="WIND_INFO"/>
-      <define name="WIND_INFO_RET"/>
-      <define name="LOITER_TRIM"/>
-      <define name="ALT_KALMAN"/>
-    </target>
-    <target name="sim" board="pc"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B57600"/>
-    </subsystem>
-
-    <!-- Actuators -->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="navigation"/>
-    <subsystem name="gps" type="xsens"/>
-
-
-</firmware>
-
-</airframe>