diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
new file mode 100644
index 0000000000..300eb6eb11
--- /dev/null
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -0,0 +1,224 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->
+
+<airframe name="lisa_asctec">
+  <!-- ************************* FIRMWARE ************************* -->
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.0">
+      <!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="motor_mixing"/>
+      <subsystem name="actuators" type="asctec_v2"/>
+      <subsystem name="telemetry" type="xbee_api"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
+      <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
+      <define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
+    </target>
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="motor_mixing"/>
+      <subsystem name="actuators" type="mkk"/>
+    </target>
+    <subsystem name="imu" type="aspirin_v2.1"/>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_euler"/>
+    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ins" type="hff"/>
+  </firmware>
+
+  <firmware name="lisa_test_progs">
+    <target name="test_led" board="lisa_l_1.0"/>
+    <target name="test_uart" board="lisa_l_1.1"/>
+    <target name="test_servos" board="lisa_l_1.1"/>
+    <target name="test_telemetry" board="lisa_l_1.1"/>
+    <target name="test_baro" board="lisa_l_1.1"/>
+    <target name="test_imu_b2" board="lisa_l_1.1"/>
+    <target name="test_imu_b2_2" board="lisa_l_1.1"/>
+    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
+    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
+    <target name="test_rc_ppm" board="lisa_l_1.1"/>
+    <target name="test_adc" board="lisa_l_1.1"/>
+    <target name="test_hmc5843" board="lisa_l_1.1"/>
+    <target name="test_itg3200" board="lisa_l_1.1"/>
+    <target name="test_adxl345" board="lisa_l_1.1"/>
+    <target name="test_esc_mkk_simple" board="lisa_l_1.1"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
+    <!--target name="test_actuators_mkk"       board="lisa_l_1.1"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/-->
+  </firmware>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+    <define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
+  </section>
+
+  <!-- ************************* MODULES ************************* -->
+
+  <modules main_freq="512">
+    <!--   <load name="high_speed_logger_spi_link.xml"/> -->
+    <load name="imu_quality_assessment.xml"/>
+  </modules>
+
+  <!-- ************************* ACTUATORS ************************* -->
+
+  <servos driver="Asctec_v2">
+    <servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
+    <servo name="BACK" no="1" min="0" neutral="3" max="200"/>
+    <servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
+    <servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- Driver expects: Front - Back - Left - Right -->
+    <define name="ROLL_COEF" value="{  256, -256,  256, -256 }"/>
+    <define name="PITCH_COEF" value="{  256, -256, -256,  256 }"/>
+    <define name="YAW_COEF" value="{  256,  256, -256, -256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
+    <set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
+    <set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
+  </command_laws>
+
+  <!-- ************************* SENSORS ************************* -->
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="200"/>
+    <define name="ACCEL_X_SENS" value="9.810" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="9.810" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="9.810" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+    <define name="MAG_X_SENS" value="1." integer="16"/>
+    <define name="MAG_Y_SENS" value="1." integer="16"/>
+    <define name="MAG_Z_SENS" value="1." integer="16"/>
+    <define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="10." integer="16"/>
+  </section>
+
+  <!-- ************************* GAINS ************************* -->
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="45." unit="deg"/>
+    <define name="SP_MAX_THETA" value="45." unit="deg"/>
+    <define name="SP_MAX_R" value="90." unit="deg/s"/>
+    <define name="DEADBAND_R" value="250"/>
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.85"/>
+    <define name="REF_MAX_P" value="300." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.85"/>
+    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_R" value="500" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.85"/>
+    <define name="REF_MAX_R" value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="900"/>
+    <define name="PHI_DGAIN" value="200"/>
+    <define name="PHI_IGAIN" value="200"/>
+    <define name="THETA_PGAIN" value="900"/>
+    <define name="THETA_DGAIN" value="200"/>
+    <define name="THETA_IGAIN" value="200"/>
+    <define name="PSI_PGAIN" value="900"/>
+    <define name="PSI_DGAIN" value="200"/>
+    <define name="PSI_IGAIN" value="10"/>
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value=" 200"/>
+    <define name="THETA_DDGAIN" value=" 200"/>
+    <define name="PSI_DDGAIN" value=" 200"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP" value="500"/>
+    <define name="HOVER_KD" value="200"/>
+    <define name="HOVER_KI" value="100"/>
+    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value="163"/>
+    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
+    <define name="NOMINAL_HOVER_THROTTLE" value="0.4"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="0"/>
+  </section>
+
+  <!-- ************************* MISC ************************* -->
+
+  <!-- for the sim -->
+
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <section name="MAGNETICS" prefix="AHRS_H_">
+    <define name="X" value="0.4"/>
+    <define name="Y" value="0"/>
+    <define name="Z" value="0.9"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="FACE_REINJ_1" value="1024"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+  </section>
+
+  </airframe>
diff --git a/conf/airframes/CDW/tricopter_cdw.xml b/conf/airframes/CDW/tricopter_cdw.xml
new file mode 100644
index 0000000000..00d9368d88
--- /dev/null
+++ b/conf/airframes/CDW/tricopter_cdw.xml
@@ -0,0 +1,214 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+
+http://www.robbe.de/roxxy-bl-outrunner-2827-34.html
+
+Technische Daten
+
+Abmessungen: Ø 28 x 29 mm
+Freie Wellenlänge: 12.5 mm
+Gewicht ca.: 57 g
+Laststrom (5min/120°C): 9 A
+Umdrehung / Volt: 760 Umin/V
+Max.Wirkungsgrad: 76 %
+Laststrom max. (60 Sek.): 10 A
+Zellenzahl: 6-10 NC/NiMH
+Leistung: 110 W
+Wellendurchmesser: 3.17 mm
+Spannung: 7-12 Volt
+LiPo/LiIo-Zellen: 2-3
+
+-->
+
+<airframe name="BOOZ2_a1">
+  <!-- ************************* FIRMWARE ************************* -->
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_2.0">
+      <define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
+      <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
+    </target>
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry" type="xbee_api"/>
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="mkk_v2"/>
+    <subsystem name="actuators" type="pwm">
+      <define name="USE_PWM0"/>
+    </subsystem>
+    <subsystem name="imu" type="aspirin_v2.1"/>
+    <subsystem name="gps" type="ublox"/>
+    <subsystem name="stabilization" type="int_euler"/>
+    <subsystem name="ahrs" type="int_cmpl_euler"/>
+    <subsystem name="ins" type="hff"/>
+  </firmware>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
+    <define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
+  </section>
+
+  <!-- ************************* MODULES ************************* -->
+
+  <modules>
+    <load name="configure_actuators_mkk_v2.xml"/>
+    <load name="imu_quality_assessment.xml"/>
+  </modules>
+
+  <!-- ************************* ACTUATORS ************************* -->
+
+  <section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
+    <define name="NB" value="3"/>
+    <define name="ADDR" value="{ 0x52, 0x56, 0x54 }"/>
+    <define name="DEVICE" value="i2c1"/>
+  </section>
+
+  <servos driver="Mkk_v2">
+    <servo name="FRONTRIGHT" no="0" min="0" neutral="30" max="2047"/>
+    <servo name="FRONTLEFT" no="1" min="0" neutral="30" max="2047"/>
+    <servo name="BACK" no="2" min="0" neutral="30" max="2047"/>
+  </servos>
+
+  <servos driver="Pwm">
+    <servo name="TAIL" no="0" min="1000" neutral="1500" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="YAW" failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="3"/>
+    <define name="SCALE" value="2048"/>
+    <define name="ROLL_COEF" value="{  2048, -2048,    0}"/>
+    <define name="PITCH_COEF" value="{  1024,  1024, -2048}"/>
+    <define name="YAW_COEF" value="{    0,    0,    0}"/>
+    <define name="THRUST_COEF" value="{ 2048,  2048,  2048}"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONTRIGHT" value="motor_mixing.commands[SERVO_FRONTRIGHT]"/>
+    <set servo="FRONTLEFT" value="motor_mixing.commands[SERVO_FRONTLEFT]"/>
+    <set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
+    <set servo="TAIL" value="@YAW"/>
+  </command_laws>
+
+  <!-- ************************* SENSORS ************************* -->
+
+  <section name="IMU" prefix="IMU_">
+    <define name="MAG_X_NEUTRAL" value="-152"/>
+    <define name="MAG_Y_NEUTRAL" value="-51"/>
+    <define name="MAG_Z_NEUTRAL" value="10"/>
+    <define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI" value="-90." unit="deg"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="15." integer="16"/>
+  </section>
+
+  <!-- ************************* GAINS ************************* -->
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="45." unit="deg"/>
+    <define name="SP_MAX_THETA" value="45." unit="deg"/>
+    <define name="SP_MAX_R" value="360." unit="deg/s"/>
+    <define name="DEADBAND_R" value="200"/>
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_P" value="0.9"/>
+    <define name="REF_MAX_P" value="300." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
+    <define name="REF_ZETA_Q" value="0.9"/>
+    <define name="REF_MAX_Q" value="300." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+    <define name="REF_OMEGA_R" value="1200" unit="deg/s"/>
+    <define name="REF_ZETA_R" value="0.85"/>
+    <define name="REF_MAX_R" value="600." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(7000.)"/>
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="400"/>
+    <define name="PHI_DGAIN" value="410"/>
+    <define name="PHI_IGAIN" value="0"/>
+    <define name="THETA_PGAIN" value="400"/>
+    <define name="THETA_DGAIN" value="410"/>
+    <define name="THETA_IGAIN" value="114"/>
+    <define name="PSI_PGAIN" value="900"/>
+    <define name="PSI_DGAIN" value="1328"/>
+    <define name="PSI_IGAIN" value="0"/>
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value=" 100"/>
+    <define name="THETA_DDGAIN" value=" 100"/>
+    <define name="PSI_DDGAIN" value=" 300"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP" value="500"/>
+    <define name="HOVER_KD" value="200"/>
+    <define name="HOVER_KI" value="100"/>
+    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value="163"/>
+    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value="160000"/>
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="PGAIN" value="100"/>
+    <define name="DGAIN" value="100"/>
+    <define name="IGAIN" value="0"/>
+  </section>
+
+  <!-- ************************* MISC ************************* -->
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="FMS">
+
+  </section>
+
+  <section name="MISC">
+    <define name="XBEE_INIT" value="&quot;ATID3332\r&quot;"/>
+    <define name="FACE_REINJ_1" value="1024"/>
+    <define name="VoltageOfAdc(adc)" value="(0.00528*adc)"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+  </section>
+
+  </airframe>