diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index e7f87ef2cb..a9c08f7b0c 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -25,7 +25,12 @@
 # All targets need the board config
 $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 
-$(TARGET).CFLAGS += -DWIND_INFO -DTRAFFIC_INFO
+ifeq ($(OPTIONS), minimal)
+else
+  $(TARGET).CFLAGS += -DWIND_INFO 
+endif
+
+$(TARGET).CFLAGS += -DTRAFFIC_INFO
 
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DLED
 sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
diff --git a/conf/messages.xml b/conf/messages.xml
index d2b6702116..4a8efb2d44 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -388,7 +388,37 @@
     <field name="groundspeed_sp" type="float" unit="m/s"/>
   </message>
 
- <!-- 55 is free --> 
+  <message name="XSENS" id="55">
+    <field name="counter" type="int16" unit=""/>
+
+    <field name="p" type="float" unit="deg/s"/>
+    <field name="q" type="float" unit="deg/s"/>
+    <field name="r" type="float" unit="deg/s"/>
+
+    <field name="phi" type="float" unit="deg"/>
+    <field name="theta" type="float" unit="deg"/>
+    <field name="psi" type="float" unit="deg"/>
+
+    <field name="ax" type="float" unit="m/s2"/>
+    <field name="ay" type="float" unit="m/s2"/>
+    <field name="az" type="float" unit="m/s2"/>
+
+    <field name="vx" type="float" unit="m/s"/>
+    <field name="vy" type="float" unit="m/s"/>
+    <field name="vz" type="float" unit="m/s"/>
+
+    <field name="lat" type="float" unit="deg"/>
+    <field name="lon" type="float" unit="deg"/>
+    <field name="alt" type="float" unit="m"/>
+
+    <field name="status" type="uint8" unit=""/>
+
+    <field name="hour" type="uint8" unit=""/>
+    <field name="min" type="uint8" unit=""/>
+    <field name="sec" type="uint8" unit=""/>
+    <field name="nanosec" type="uint32" unit=""/>
+
+  </message>
 
  <message name="BARO_ETS" id="56">
    <field name="adc" type="uint16"/>
@@ -1868,6 +1898,11 @@
     <field name="pitch" type="int8"/>
   </message>
 
+  <message name="KITE_COMMAND" id="96">
+    <field name="POWER"  	type="uint16"/>
+    <field name="TURN" 		type="uint16"/>
+  </message>
+
  <message name="SET_ACTUATOR" id="100">
    <field name="value" type="uint16"/>
    <field name="no" type="uint8"/>