diff --git a/sw/airborne/autopilot/Makefile b/sw/airborne/autopilot/Makefile
index 69b30762b8..da2305eefd 100644
--- a/sw/airborne/autopilot/Makefile
+++ b/sw/airborne/autopilot/Makefile
@@ -35,12 +35,6 @@ TARGET 	  = autopilot
 LOW_FUSE  = e0
 HIGH_FUSE = 99
 
-ifeq ($(CTL_BRD_VERSION),V1_1)
-LOW_FUSE  = ff
-HIGH_FUSE = 89
-CTL_BRD_FLAGS=-DCTL_BRD_V1_1
-endif
-
 ifeq ($(SIMUL),1)
 SIMUL_FLAGS= -DSIMUL
 endif
diff --git a/sw/airborne/autopilot/adc.c b/sw/airborne/autopilot/adc.c
index 436d608787..447c9f2d6c 100644
--- a/sw/airborne/autopilot/adc.c
+++ b/sw/airborne/autopilot/adc.c
@@ -50,13 +50,7 @@
 #define ANALOG_PORT_DIR	DDRF
 
 
-#ifdef CTL_BRD_V1_1
-#define ANALOG_VREF 0
-#endif
-
-#if defined CTL_BRD_V1_2 || defined CTL_BRD_V1_2_1
 #define ANALOG_VREF _BV(REFS0)
-#endif
 
 uint16_t		adc_samples[ NB_ADC ];
 
diff --git a/sw/airborne/autopilot/autopilot.h b/sw/airborne/autopilot/autopilot.h
index 04678478cc..1f8c366cb8 100644
--- a/sw/airborne/autopilot/autopilot.h
+++ b/sw/airborne/autopilot/autopilot.h
@@ -98,9 +98,6 @@ extern bool_t launch;
 
 #define CheckEvent(_event) (_event ? _event = FALSE, TRUE : FALSE)
 
-#ifdef CTL_BRD_V1_1
-extern struct adc_buf buf_bat;
-#endif
 
 void periodic_task( void );
 void use_gps_pos(void);
diff --git a/sw/airborne/autopilot/estimator.c b/sw/airborne/autopilot/estimator.c
index 7f1d43480c..5dde117502 100644
--- a/sw/airborne/autopilot/estimator.c
+++ b/sw/airborne/autopilot/estimator.c
@@ -148,6 +148,15 @@ void estimator_update_state_infrared( void ) {
   estimator_theta = rad_of_ir * ir_pitch;
 }
 
+
+#include "link_fbw.h"
+void estimator_update_state_3DMG ( void ) {
+  estimator_phi = from_fbw.euler[0];
+  estimator_psi = from_fbw.euler[1];
+  estimator_theta = from_fbw.euler[2];
+}
+
+
 #define INIT_WEIGHT 100. /* The number of times the initial value has to be taken */
 #define RHO 0.999 /* The higher, the slower the estimation is changing */
 
diff --git a/sw/airborne/autopilot/main.c b/sw/airborne/autopilot/main.c
index 6da5e4895a..7ed585fd01 100644
--- a/sw/airborne/autopilot/main.c
+++ b/sw/airborne/autopilot/main.c
@@ -492,7 +492,9 @@ inline void periodic_task( void ) {
   }
   case 2:
     ir_update();
+#ifndef IMU_TYPE_3DMG
     estimator_update_state_infrared();
+#endif
     roll_pitch_pid_run(); /* Set  desired_aileron & desired_elevator */
     to_fbw.channels[RADIO_THROTTLE] = desired_gaz; /* desired_gaz is set upon GPS message reception */
     to_fbw.channels[RADIO_ROLL] = desired_aileron;
diff --git a/sw/airborne/autopilot/mainloop.c b/sw/airborne/autopilot/mainloop.c
index bd95852753..ff923f9cb6 100644
--- a/sw/airborne/autopilot/mainloop.c
+++ b/sw/airborne/autopilot/mainloop.c
@@ -58,9 +58,6 @@ int main( void ) {
   timer_init(); 
   modem_init();
   adc_init();
-#ifdef CTL_BRD_V1_1  
-  adc_buf_channel(ADC_CHANNEL_BAT, &buf_bat, DEFAULT_AV_NB_SAMPLE);
-#endif
   spi_init();
   link_fbw_init();
   gps_init();
@@ -103,7 +100,7 @@ int main( void ) {
       radio_control_task();
 #ifdef IMU_TYPE_3DMG
       DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
-
+      estimator_update_state_3DMG();
 #endif
     }
   } 
diff --git a/sw/airborne/autopilot/modem.h b/sw/airborne/autopilot/modem.h
index 2d84056e16..3299b49383 100644
--- a/sw/airborne/autopilot/modem.h
+++ b/sw/airborne/autopilot/modem.h
@@ -53,16 +53,6 @@ extern uint8_t ck_a, ck_b;
 #define MODEM_TX_EN     7
 #define MODEM_TX_DATA   6
 
-#ifdef CTL_BRD_V1_1
-#define MODEM_CLK_DDR   DDRD
-#define MODEM_CLK_PORT  PORTD
-#define MODEM_CLK       0
-#define MODEM_CLK_INT   INT0
-#define MODEM_CLK_INT_REG EICRA
-#define MODEM_CLK_INT_CFG _BV(ISC01)
-#define MODEM_CLK_INT_SIG SIG_INTERRUPT0
-#endif /* CTL_BRD_V1_1 */
-
 #ifdef CTL_BRD_V1_2 
 #define MODEM_CLK_DDR   DDRD
 #define MODEM_CLK_PORT  PORTD