diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index 5da7f694b1..8da7f898a5 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -1,4 +1,4 @@
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diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index d59cad1053..cd9c69901e 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -2,7 +2,6 @@
-
@@ -92,15 +89,12 @@
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-CONFIG = \"tiny_2_1.h\"
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-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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-FLASH_MODE=IAP
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-ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -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
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-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 -DUSE_RC_TELEMETRY
-ap.srcs += radio_control.c ppm_telemetry.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.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)/uart_hw.c datalink.c pprz_transport.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
-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
-ap.srcs += infrared.c estimator.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
-ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-
-ap.srcs += subsystems/navigation/snav.c
-
-# Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.ARCHDIR = $(ARCH)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
-
-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
-
-
diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile
index c5e003081c..fbc883ec03 100644
--- a/conf/boards/lisa_m_1.0.makefile
+++ b/conf/boards/lisa_m_1.0.makefile
@@ -12,6 +12,8 @@ ARCH=stm32
$(TARGET).ARCHDIR = $(ARCH)
# not needed?
$(TARGET).OOCD_INTERFACE=flossjtag
+#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
+
# -----------------------------------------------------------------------
ifndef FLASH_MODE
@@ -64,13 +66,16 @@ MODEM_UART_NR = 2
endif
ifndef ADC_IR1
-ADC_IR1 = 1
+ADC_IR1 = 1
+ADC_IR1_CHAN = 0
endif
ifndef ADC_IR2
-ADC_IR2 = 2
+ADC_IR2 = 2
+ADC_IR2_CHAN = 1
endif
ifndef ADC_IR3
-ADC_IR_TOP = 3
+ADC_IR_TOP = 4
+ADC_IR_TOP_CHAN = 3
endif
ifndef ADC_IR_NB_SAMPLES
ADC_IR_NB_SAMPLES = 16