diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
deleted file mode 100644
index 85026bf548..0000000000
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ /dev/null
@@ -1,216 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     IR i2c
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
-     Radiotronix modem
-     LEA 5H GPS
-     Airspeed sensor
-     Digital camera
--->
-
-<airframe name="Funjet Tiny 2.11">
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </load>
-    <load name="infrared_i2c.xml"/>
-    <load name="pbn.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="AGR_CLIMB"/>
-    <define name="ALT_KALMAN"/>
-    <define name="LOITER_TRIM"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <!--subsystem name="joystick"/-->
-
-    <!-- Communication -->
-    <subsystem name="telemetry"     type="transparent"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="control"/>
-    <subsystem name="ahrs"          type="infrared"/>
-    <!-- Sensors -->
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="imu"		        type="analog">
-      <configure name="GYRO_P" value="ADC_5" />
-    </subsystem>
-
-    <subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem>
-
-    <subsystem name="navigation"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-
-  <servos>
-    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="IR1_NEUTRAL" value="-15"/>
-    <define name="IR2_NEUTRAL" value="10"/>
-    <define name="TOP_NEUTRAL" value="-15"/>
-    <define name="I2C_DEFAULT_CONF" value="1"/>
-
-    <define name="LATERAL_CORRECTION" value="1"/>
-    <define name="LONGITUDINAL_CORRECTION" value="1"/>
-    <define name="VERTICAL_CORRECTION" value="1"/>
-
-    <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="2." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
-  </section>
-
-  <!-- Gyro sensitivity : -->
-  <!-- GYRO_ADXRS300_RESISTOR_BRIDGE value="(3.3/(3.3+1.8))" -->
-  <!-- GYRO_ADXRS300_SENSITIVITY value="5" unit="mV/(deg/s)" -->
-  <!-- ROLL_SCALE value="RadOfDeg(3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE))" unit="rad/s/adc_unit" -->
-  <section name="IMU" prefix="IMU_">
-    <define name="GYRO_P_SIGN"  value="1"/>
-    <define name="GYRO_P_NEUTRAL" value="487"/>
-    <define name="GYRO_P_SENS" value="0.0173851" integer="16"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.06"/> <!-- -0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
-    <define name="ROLL_RATE_GAIN" value="3000."/>
-
-    <define name="PITCH_PGAIN" value="20000."/>
-    <define name="PITCH_DGAIN" value="0.4"/>
-
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="ELEVATOR_OF_ROLL" value="1400"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.7"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.2"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.2"/><!-- 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"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
deleted file mode 100644
index d69d0ec140..0000000000
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ /dev/null
@@ -1,232 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     IR i2c
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
-     Radiotronix modem
-     LEA 5H GPS
-     Airspeed sensor
-     Digital camera
--->
-
-<airframe name="Funjet Tiny 2.11">
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </load>
-    <load name="infrared_i2c.xml"/>
-    <load name="pbn.xml"/>
-    <load name="ins_vn100.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="AGR_CLIMB"/>
-    <define name="ALT_KALMAN"/>
-    <define name="PITCH_TRIM"/>
-    <define name="USE_I2C0"/>
-    <define name="USE_AIRSPEED"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-      <define name="SPI_MASTER"/>
-      <define name="USE_SPI_SLAVE0"/>
-    </target>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <!--subsystem name="joystick"/-->
-    <subsystem name="spi"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="control" type="new"/>
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="gyro" type="roll">
-      <configure name="ADC_GYRO_ROLL" value="ADC_5"/>
-    </subsystem>
-
-    <subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem>
-
-    <subsystem name="navigation"/>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="IR1_NEUTRAL" value="-15"/>
-    <define name="IR2_NEUTRAL" value="0"/>
-    <define name="TOP_NEUTRAL" value="-20"/>
-    <define name="I2C_DEFAULT_CONF" value="1"/>
-
-    <define name="LATERAL_CORRECTION" value="1"/>
-    <define name="LONGITUDINAL_CORRECTION" value="1"/>
-    <define name="VERTICAL_CORRECTION" value="1"/>
-
-    <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="2." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
-  </section>
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="487"/>
-    <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="10000."/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.06"/> <!-- -0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.04"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="15."/>
-    <define name="AUTO_AIRSPEED_PGAIN" value="0.05"/>
-    <define name="AUTO_AIRSPEED_IGAIN" value="0.01"/>
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-    <define name="AIRSPEED_MAX" value="22"/>
-    <define name="AIRSPEED_MIN" value="8"/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
-    <define name="ROLL_RATE_GAIN" value="3000."/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="ROLL_KFFA" value="500"/>
-    <define name="ROLL_KFFD" value="500"/>
-
-    <define name="PITCH_PGAIN" value="20000."/>
-    <define name="PITCH_DGAIN" value="0.4"/>
-    <define name="PITCH_IGAIN" value="500"/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="ELEVATOR_OF_ROLL" value="1400"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
deleted file mode 100644
index 808bbf1c01..0000000000
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ /dev/null
@@ -1,232 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     IR i2c
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/Image:Tiny_v2_1_Funjet.jpg)
-     Radiotronix modem
-     LEA 5H GPS
-     Airspeed sensor
-     Digital camera
--->
-
-<airframe name="Funjet Tiny 2.11">
-
-  <modules>
-    <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="5"/>
-      <define name="LIGHT_LED_NAV" value="3"/>
-    </load>
-    <load name="infrared_i2c.xml"/>
-    <load name="pbn.xml"/>
-    <load name="ins_vn100.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="AGR_CLIMB"/>
-    <define name="ALT_KALMAN"/>
-    <define name="PITCH_TRIM"/>
-    <define name="USE_I2C0"/>
-    <define name="USE_AIRSPEED"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-      <define name="SPI_MASTER"/>
-      <define name="USE_SPI_SLAVE0"/>
-    </target>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <!--subsystem name="joystick"/-->
-    <subsystem name="spi"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="control" type="new"/>
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-    <subsystem name="gyro" type="roll">
-      <configure name="ADC_GYRO_ROLL" value="ADC_5"/>
-    </subsystem>
-
-    <subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem>
-
-    <subsystem name="navigation"/>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1050"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1120" neutral="1540" max="1980"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="IR1_NEUTRAL" value="-5"/>
-    <define name="IR2_NEUTRAL" value="0"/>
-    <define name="TOP_NEUTRAL" value="-10"/>
-    <define name="I2C_DEFAULT_CONF" value="1"/>
-
-    <define name="LATERAL_CORRECTION" value="1"/>
-    <define name="LONGITUDINAL_CORRECTION" value="1"/>
-    <define name="VERTICAL_CORRECTION" value="1"/>
-
-    <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="2." unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="2." unit="deg"/>
-  </section>
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="487"/>
-    <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="10000."/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="16." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-  </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="0.06"/> <!-- -0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <!--define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
-    <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_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
-    <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
-    <define name="AUTO_AIRSPEED_PGAIN" value="0.08"/>
-    <define name="AUTO_AIRSPEED_IGAIN" value="0.001"/>
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-    <define name="AIRSPEED_MAX" value="22"/>
-    <define name="AIRSPEED_MIN" value="12"/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
-    <define name="ROLL_RATE_GAIN" value="3000."/>
-    <define name="ROLL_IGAIN" value="0"/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="20000."/>
-    <define name="PITCH_DGAIN" value="1000"/>
-    <define name="PITCH_IGAIN" value="300"/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="ELEVATOR_OF_ROLL" value="0"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
deleted file mode 100644
index 4d1da7a63e..0000000000
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ /dev/null
@@ -1,214 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/Tiny_v2)
-     ArduIMU
-     XBee modem
-     LEA 5H GPS
-     Airspeed sensor
-     Altitude sensor
--->
-
-<airframe name="Funjet Tiny 2.11">
-
-  <modules target="jsbsim">
-    <load name="ins_arduimu_basic.xml"/>
-    <!--load name="airspeed_ets.xml">
-      <define name="USE_AIRSPEED"/>
-    </load>
-    <load name="baro_ets.xml">
-      <define name="USE_BARO_ETS"/>
-    </load-->
-    <!--load name="alt_filter.xml"/-->
-    <load name="generic_com.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
-    <!--define name="AGR_CLIMB"/-->
-    <define name="ALT_KALMAN"/>
-    <define name="USE_AIRSPEED"/>
-    <!--define name="LOITER_TRIM"/-->
-    <!--define name="PITCH_TRIM"/-->
-
-    <target name="sim" board="pc"/>
-    <target name="jsbsim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-    </target>
-
-    <subsystem name="radio_control" type="datalink"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1040" neutral="1040" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="6" 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"/>
-  </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="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="15." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.159999996424"/> <!-- -0.024 -->
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="5."/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
-    <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
-    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="30"/>
-    <define name="AIRSPEED_MIN" value="10"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim --> <!-- 5 deg -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.699999988079"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
-    <define name="ROLL_RATE_GAIN" value="1000."/>
-    <define name="ROLL_IGAIN" value="400."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="20000."/>
-    <define name="PITCH_DGAIN" value="0."/>
-    <define name="PITCH_IGAIN" value="460."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.0)"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <!--define name="ELEVATOR_OF_ROLL" value="1400"/-->
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
-    <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
-    <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
deleted file mode 100644
index b60aba47f9..0000000000
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ /dev/null
@@ -1,199 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Merlin
-     Tiny 2.11
-     Tilted infrared sensor
-     XBee modem
-     LEA 5H
--->
-
-<airframe name="Merlin">
-
-  <firmware name="fixedwing">
-    <define name="PITCH_TRIM"/>
-    <define name="ALT_KALMAN"/>
-
-    <target name="ap" 			board="tiny_2.11"/>
-    <target name="sim" 			board="pc"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="control"/>
-    <subsystem name="ahrs"      type="infrared"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" 		board="tiny_2.11" />
-    <target name="setup_actuators" 	board="tiny_2.11" />
-  </firmware>
-
-  <modules>
-    <load name="infrared_adc.xml"/>
-  </modules>
-
-<!-- commands section -->
-  <servos>
-    <servo name="AILERON_RIGHT" no="0" min="1900" neutral="1500" max="1100"/>
-    <servo name="AILERON_LEFT"  no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="ELEVATOR"      no="6" min="1100" neutral="1500" max="1900"/>
-    <servo name="RUDDER"        no="7" min="1100" neutral="1500" max="1900"/>
-    <servo name="MOTOR"         no="3" min="1000" neutral="1000" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"      failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"      value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </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"/>
-
-    <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="0" unit="deg"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-                                        <!-- 0.0247311828 -->
-                                        <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="18." 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_FREQUENCY" value="60" unit="Hz"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
-  </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="0.06"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-
-  </section>
-
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="5900"/>
-    <define name="ROLL_RATE_GAIN" value="2900"/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="ROLL_KFFA" value="500"/>
-    <define name="ROLL_KFFD" value="500"/>
-
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="PITCH_IGAIN" value="500"/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
-    <define name="ELEVATOR_OF_ROLL" value="0"/>
- </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-</airframe>
-
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
deleted file mode 100644
index 47636c319b..0000000000
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ /dev/null
@@ -1,195 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="MiniMag Tiny 2.11">
-
-  <firmware name="fixedwing">
-    <define name="USE_I2C0"/>
-    <define name="AGR_CLIMB" />
-    <define name="LOITER_TRIM" />
-    <define name="ALT_KALMAN" />
-
-    <target name="sim" board="pc" />
-    <target name="ap" board="tiny_2.11">
-      <define name="SPI_MASTER"/>
-      <define name="USE_SPI_SLAVE0"/>
-    </target>
-
-    <subsystem name="spi"/>
-
-    <subsystem  name="telemetry" type="transparent">
-      <configure name="MODEM_BAUD" value="B9600" />
-    </subsystem>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="navigation" />
-<!--    <subsystem name="ahrs" type="infrared"/>-->
-    <subsystem name="control"/>
-    <subsystem name="gps" type="ublox"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11" />
-    <target name="setup_actuators" board="tiny_2.11" />
-  </firmware>
-
-  <modules>
-    <load name="ins_vn100.xml" />
-  </modules>
-
-<!-- commands section -->
-  <servos>
-    <servo name="THROTTLE"   no="0" min="1200" neutral="1200" max="2000"/>
-<!-- Servo aileron gauche = couleur blanche -->
-<!-- Aileron gauche oppose de l'aileron droit -->
-    <servo name="AILERON_LEFT"  no="4" min="1775" neutral="1500" max="1050"/>
-<!-- max = valeur aileron vers le bas-->
-    <servo name="AILERON_RIGHT" no="3" min="1875" neutral="1475" max="1225"/>
-    <!-- Rudder = Couleur rouge droite gauche -->
-    <servo name="RUDDER" no="6" min="1875" neutral="1500" max="1250"/>
-    <servo name="ELEVATOR" no="7" min="1850" neutral="1586" max="1150"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"      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"/>
-    <set command="YAW"    value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-     <define name="AILERON_DIFF" value="0.66"/>
-     <define name="COMBI_SWITCH" value="1.0"/>
-  </section>
-
-  <command_laws>
-    <set servo="THROTTLE"           value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.6"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </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="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="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1."/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="11." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
-  </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="0.07"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
-    <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="-500"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- 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="0.05"/>
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-
-    <define name="ROLL_PGAIN" value="12000."/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="ELEVATOR_OF_ROLL" value="1250"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" 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="0.8"/><!-- 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="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"/>
-  </section>
-
-</airframe>
-
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
deleted file mode 100644
index e21e36530f..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ /dev/null
@@ -1,275 +0,0 @@
-on<!DOCTYPE airframe SYSTEM "airframe.dtd">
-
-<!-- Twinstar II, 2x Jeti 12 advance
-     Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     PerkinElmer TPS334 IR Sensors
-     Tilted infrared sensor
-     XBee modem
-     K66, LEA 5H
--->
-
-<airframe name="Drops K66">
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR_LEFT" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="1" min="1900" neutral="1500" max="1100"/>
-    <servo name="ELEVATOR" no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="RUDDER" no="3" min="1100" neutral="1500" max="1900"/>
-    <servo name="AILERON_RIGHT" no="4" min="1900" neutral="1500" max="1100"/>
-    <servo name="HATCH" no="5" min="1860" neutral="1860" max="1022"/>
-    <servo name="MOTOR_RIGHT" no="6" min="1000" neutral="1000" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="YAW" failsafe_value="0"/>
-    <axis name="HATCH" failsafe_value="0"/>
-    <axis name="GAIN1" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-    <set command="HATCH" value="@CALIB"/>
-    <set command="GAIN1" value="@GAIN1"/>
-  </rc_commands>
-
-  <auto_rc_commands>
-    <set command="YAW" value="@YAW"/>
-    <set command="GAIN1" value="@GAIN1"/>
-  </auto_rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR_LEFT" value="@THROTTLE"/>
-    <set servo="MOTOR_RIGHT" value="(@GAIN1 > 0 ? @THROTTLE : 0)"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <set servo="HATCH" value="@HATCH"/>
-  </command_laws>
-
-  <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="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="32"/>
-  </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="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="1.7"/>
-
-    <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="0" unit="deg"/>
-  </section>
-
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <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="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-                                        <!-- 0.0247311828 -->
-                                        <!-- 0.02432905 -->
-    <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="18." 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_FREQUENCY" value="60" unit="Hz"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
-  </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="0.06"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.101000003517"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-   <define name="THROTTLE_SLEW" value="0.1"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.0340000391"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_PGAIN" value="6000."/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="8898.3046875"/>
-    <define name="PITCH_DGAIN" value="1694.91503906"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
-    <define name="ROLL_RATE_GAIN" value="2923.72900391"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="5000"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </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"/>
-	<define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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
-
-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 -DRADIO_CONTROL_AUTO1
-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 += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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 += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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_GYRO -DADXRS150
-ap.srcs += gyro.c
-
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
-# -DGPS_LED=2
-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_a.c fw_v_ctl.c
-
-ap.srcs += subsystems/navigation/nav_line.c
-ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-
-ap.srcs += subsystems/navigation/bomb.c
-
-ap.srcs += subsystems/navigation/snav.c
-
-# Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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 += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
-
-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 += subsystems/navigation/bomb.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
deleted file mode 100644
index 9a32f4ceb5..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ /dev/null
@@ -1,312 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
-     Radiotronix modem
-     Digital camera
--->
-
-<airframe name="Funjet 1 Tiny 2.1">
-
-  <modules>
-<!--    <load name="poles.xml"/> -->
-<!--    <load name="infrared_i2c.xml"/>  -->
-  </modules>
-
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1570" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1450" 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="1.14591562748" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="3.38045096397" 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."/>
-
-    <define name="I2C_DEFAULT_CONF" value="0x1"/>
-  </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_FREQUENCY" value="60" unit="Hz"/>
-    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
-    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.104000002146"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
-    <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="0.0149999996647"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
-    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
-    <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="1.20599997044"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="14814.8154297"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
-    <define name="ROLL_RATE_GAIN" value="1527.7779541"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="PITCH_IGAIN" value="500"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" 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="0.75"/><!-- 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="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </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>
-  <section name="SIMU">
-    <define name="ROLL_RESPONSE_FACTOR" value="15"/>
-    <define name="MAX_ROLL_DOT" value="10" unit="rad/s"/>
-</section>
-
-<!--
-  <section name="Digital camera telecommand">
-    <!-- IOs are seen as LEDs --
-
-    <define name="LED_6_BANK" value="0"/>
-    <define name="LED_6_PIN" value="2"/> <!-- I2C SCL --
-
-    <!-- ADC 5 --
-    <define name="LED_7_BANK" value="0"/>
-    <define name="LED_7_PIN" value="3"/> <!-- I2C SDA --
-
-    <define name="DC_SHUTTER_LED" value="6"/> <!-- Grey wire --
-    <define name="DC_ZOOM_LED" value="7"/>
-  </section>
--->
- <makefile>
-CONFIG = \"tiny_2_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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
-
-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=B9600
-#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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 += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
-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.CFLAGS += -DUSE_GYRO -DADXRS150
-ap.srcs += gyro.c subsystems/navigation/nav_line.c
-ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c
-
-########## Barometer (SPI)
-#ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
-#ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-
-########## Chemo sensor (I2C)
-#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-#ap.CFLAGS += -DUSE_I2C -DUSE_I2C0
-
-# Digital camera
-# Shutter: I2C SCL
-# Zoom: I2C SDA
-# ap.CFLAGS += -DDIGITAL_CAM
-# ap.srcs += dc.c
-
-ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
-
-# for infrared
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
-
-
-# Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c subsystems/datalink/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
-# -DENOSE
-#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-#sim.CFLAGS += -DUSE_I2C -DUSE_I2C0
-# chemotaxis.c anemotaxis.c subsystems/navigation/discsurvey.c $(SRC_ARCH)/sim_enose.c chemo_detect.c
-
-#sim.CFLAGS += -DDIGITAL_CAM -DPOWER_SWITCH_LED=4
-#sim.srcs += dc.c
-
-
-
-# a test program to setup actuators
-setup_actuators.ARCHDIR = $(ARCHI)
-
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
deleted file mode 100644
index fb6fc880da..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ /dev/null
@@ -1,216 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../airframe.dtd">
-
-<!-- Funjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
-     Radiotronix modem
--->
-
-<airframe name="JSBSim test file (from funjet file)">
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1500" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1515" max="1170"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$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="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-
-  </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="6" 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="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
-    <define name="MINIMUM_AIRSPEED" value="17." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="17." 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_FREQUENCY" value="60" unit="Hz"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
-  </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="0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.300000011921"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
-    <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="0.37"/>
-
-    <!-- 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="1."/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="50000"/>
-    <define name="PITCH_DGAIN" value="0"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="20000"/>
-    <define name="ROLL_RATE_GAIN" value="0"/>
-
-    <define name="ROLL_KFFP" value="-500"/>
-    <define name="ROLL_KFFD" value="0"/>
-    <define name="ROLL_IGAIN" value="5000"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" 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="0.7"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.25"/><!-- 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="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </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>
-
-  <section name="SIMU">
-    <!--define name="JSBSIM_MODEL" value="&quot;fulmar&quot;"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
-  <makefile>
-
-# Config for SITL simulation with JSBSim
-include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
-
-sim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
-sim.LDFLAGS += -L/home/cocoleon/usr/lib/
-
-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 += $(SIMDIR)/sim_ac_fw.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
deleted file mode 100644
index aae85cf9bf..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ /dev/null
@@ -1,275 +0,0 @@
-<airframe name="Miraterre Slayer 2">
- <!-- Slayer (http://www.recherche.enac.fr/wiki/index.php/Image:DragonSlayer_0948sm.jpg)
-      Two ailevons
-      Baro
-      Tilted infrared sensor, gyro
-      Still camera
-      Tiny 0.99
--->
-
-<!-- commands section -->
-  <servos>
-    <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
-    <servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
-    <servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="HATCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.8"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-     <set servo="HATCH" value="@HATCH"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.96"/>
-    <define name="MAX_PITCH" value="0.8"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_0"/>
-    <define name="IR_TOP" value="ADC_4"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_5"/>
-<!--    <define name="GYRO_TEMP" value="ADC_6"/> -->
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-  </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="510"/>
-
-    <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR2_SIGN" value="1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="LATERAL_CORRECTION" value="0.356000006199"/>
-    <define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
-    <define name="VERTICAL_CORRECTION" value="1.5"/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
-
-    <define name="CORRECTION_UP" value="1.5"/>
-    <define name="CORRECTION_DOWN" value="1.5"/>
-    <define name="CORRECTION_LEFT" value="1."/>
-    <define name="CORRECTION_RIGHT" value="1."/>
-  </section>
-
- <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="484"/>
-<!--    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
--->
-    <define name="ROLL_SCALE" value="1.3846"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
-  </section>
-
- <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="5000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="VoltageOfAdc(adc)" value="(0.0183*adc)"/>
-  </section>
-
- <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
-    <define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
-    <define name="CARROT" value="3." unit="s"/>
-    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-    <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="90"/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-
-
-    <define name="TELEMETRY_MODE_AP" value="1"/>
-  </section>
-
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.065"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="3."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value=".47"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1250"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2000"/>
-    <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="0.15"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.025"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
-
-   <define name="THROTTLE_SLEW" value="0.05"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="2.6"/>
-    <define name="COURSE_DGAIN" value="1"/>
-    <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="0."/>
-
-    <define name="ELEVATOR_OF_ROLL" value="1000"/>
-
-    <!--  roll rate loop -->
-    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
-    <define name="ROLL_RATE_GAIN" value="1500"/>
-
-    <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-
- <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="1."/><!-- Throttle for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.42"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.1"/><!-- Throttle for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.5"/><!-- Pitch for Aggressive Decent -->
-    <define name="CLIMB_NAV_RATIO" value="0.4"/><!-- 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." unit="%"/>
-    	<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    	<define name="DEFAULT_PITCH" value="0.2" unit="rad"/>
-	<define name="HOME_RADIUS" value="100" unit="m"/>
-</section>
-
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
-
-# AEROCOMM
-# ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-
-# RADIOTRONIX
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-
-ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
-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 subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
-
-# Camera power switch on ADC_7 pin
-ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=10 -DPOWER_SWITCH_LED=3
-
-
-ap.CFLAGS += -DUSE_GYRO -DADXRS150
-# -DIDG300
-ap.srcs += gyro.c
-# ap.srcs += subsystems/navigation/bomb.c
-
-# Hack to use the same tuning file than slayer1
-ap.CFLAGS += -DUSE_GPIO
-ap.srcs += $(SRC_ARCH)/gpio.c
-
-# Harware In The Loop
-
-#ap.CFLAGS += -DHITL
-
-
-# ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
-
-ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
-ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
-ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A_W3=0X8D9C -D BARO_MS5534A_W4=0xB080
-# C1 = 22032 UT1=24568
-
-
-
-# Config for SITL simulation
-# Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.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  -DUSE_BARO_MS5534A
-
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c $(SRC_ARCH)/sim_baro.c
-
-sim.srcs += fw_h_ctl.c
-# sim.srcs += fw_h_ctl_a.c
-# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
deleted file mode 100644
index 09c264bf3b..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ /dev/null
@@ -1,264 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Solar Storm
-     Tiny 1.1
-     Tilted infrared sensor
-     Radiotronix modem
-     MPTT tracker
-     Drop servo -->
-
-<airframe name="SolarStorm">
-
-  <modules>
-    <load name="poles.xml"/>
-    <load name="MPPT.xml"/>
-  </modules>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
-    <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1470" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="5" min="1100" neutral="1545" max="1870"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="HATCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-    <define name="AILERON_DIFF" value="0.5"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $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="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_2"/>
-    <define name="IR2" value="ADC_1"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-
-  </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="1.2"/>
-
-    <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="3.49504256248" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="8.42247962952" 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="512"/>
-    <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="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="13." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="24." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.356000006199"/>
-    <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="-2500"/>
-    <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="0.15"/>
-
-    <!-- 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="0.885999977589"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="14255.3193359"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2000."/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="12000"/>
-    <define name="ROLL_RATE_GAIN" value="2500"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="00"/>
-    <define name="PITCH_IGAIN" value="500"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
-  </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="0.75"/><!-- 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="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </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>
-
-
- <makefile>
-CONFIG = \"tiny_1_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
-#ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
-ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
-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.CFLAGS += -DUSE_GYRO -DADXRS150
-ap.srcs += gyro.c subsystems/navigation/nav_line.c
-ap.srcs += subsystems/navigation/nav_survey_rectangle.c
-
-########## MPTT
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
-
-
-ap.CFLAGS += -DUSE_MODULES
-
-# Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.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 $(SRC_ARCH)/led_hw.c
-
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-
-sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-
-sim.CFLAGS += -DUSE_MODULES
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
deleted file mode 100644
index dc9f9a9d23..0000000000
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ /dev/null
@@ -1,280 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- SPirit Of Corsica II
-     Ailerons, elevator, NO rudder
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
-     XBee modem (transparent)
-     Current sensor
--->
-
-<airframe name="Spoc II Tiny 2.1">
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
-    <servo name="AILERON_RIGHT" no="2" min="1900" neutral="1500" max="1100"/>
-    <servo name="ELEVATOR" no="7" min="1980" neutral="1420" max="1170"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.66"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <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="IR1" value="ADC_2"/>
-    <define name="IR2" value="ADC_1"/>
-    <define name="IR_TOP" value="ADC_0"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_5"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-
-  </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."/>
-
-    <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="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" 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="490"/>
-    <define name="ADC_TEMP_NEUTRAL" value="512"/>
-    <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="10000"/>
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </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_FREQUENCY" value="60" unit="Hz"/>
-    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
-    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.305000007153"/>
-    <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="1.20599997044"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="7627.11914062"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
-    <define name="ROLL_RATE_GAIN" value="1779.66101074"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="PITCH_IGAIN" value="500"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" 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="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="GYRO_GAINS">
-    <define name="GYRO_MAX_RATE" value="200."/>
-    <define name="ROLLRATESUM_NB_SAMPLES" value="64"/>
-    <define name="ALT_ROLL__PGAIN" value="1.0"/>
-    <define name="ROLL_RATE_PGAIN" value="1000.0"/>
-    <define name="ROLL_RATE_IGAIN" value="0.0"/>
-    <define name="ROLL_RATE_DGAIN" value="0.0"/>
-  </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>
-
-  <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
- <makefile>
-CONFIG = \"tiny_2_1_1.h\"
-
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -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
-
-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
-
-#TRANSPARENT
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/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_5
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
-# -DGPS_LED=2
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
-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_survey_rectangle.c subsystems/navigation/nav_line.c
-
-ap.CFLAGS += -DUSE_GYRO -DADXRS150
-ap.srcs += gyro.c
-
-# Current sensor
-ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
-
-# Config for SITL simulation
-#include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
-sim.srcs = latlong.c radio_control.c subsystems/datalink/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
-
-# Config for JSBSim simulation
-include $(PAPARAZZI_SRC)/conf/firmwares/sitl_jsbsim.makefile
-
-jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim
-jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/
-
-jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
-jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
-
-
-# a test program to setup actuators
-setup_actuators.ARCHDIR = $(ARCHI)
-
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
deleted file mode 100644
index 68ab8b4a11..0000000000
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ /dev/null
@@ -1,186 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Twinstar II, 2x Jeti 18 advance plus, AXI 2212/26
-     Tiny 2.11
-     ArduIMU
-     XBee modem with API Mode
-     LEA 5H GPS
--->
-
-<airframe name="Twinstar">
-
-  <modules>
-    <load name="ins_arduimu_basic.xml">
-      <define name="USE_HIGH_ACCEL_FLAG"/>
-    </load>
-    <load name="cam_point.xml">
-      <define name="POINT_CAM_ROLL"/>
-    </load>
-    <!--load name="cam_segment.xml"/-->
-  </modules>
-
-  <firmware name="fixedwing">
-    <target name="ap" 			board="tiny_2.11"/>
-    <target name="sim" 			board="pc"/>
-
-    <define name="LOITER_TRIM"/>
-    <define name="ALT_KALMAN"/>
-    <define name="AGR_CLIMB"/>
-    <define name="USE_I2C0"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="xbee_api"/>
-    <subsystem name="control"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" 		board="tiny_2.11"/>
-    <target name="setup_actuators" 	board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR"         no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILERON_RIGHT" no="7" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILERON_LEFT"  no="6" min="1000" neutral="1500" max="2000"/>
-    <servo name="ELEVATOR"      no="3" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER"        no="4" min="1000" neutral="1500" max="2000"/>
-    <servo name="CAM_TILT"      no="1" min="1000" neutral="1500" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE"  failsafe_value="0"/>
-    <axis name="ROLL"      failsafe_value="0"/>
-    <axis name="PITCH"     failsafe_value="0"/>
-    <axis name="YAW"       failsafe_value="0"/>
-    <axis name="CAM_TILT"  failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="YAW"      value="@YAW"/>
-    <set command="CAM_TILT" value="@GAIN1"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILERON_DIFF" value="0.8"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <set servo="RUDDER" value="@YAW"/>
-    <set servo="CAM_TILT" value="@CAM_TILT"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="rad"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="CAM" prefix="CAM_">
-    <define name="TILT_MAX" value="45" unit="deg" code_unit="deg"/>
-    <define name="TILT_NEUTRAL" value="0" unit="deg" code_unit="deg"/>
-    <define name="TILT_MIN" value="-45" unit="deg" code_unit="deg"/>
-    <define name="TILT0" value="0" unit="deg" code_unit="deg"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="18." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-  </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="0.06"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-
-    <define name="THROTTLE_SLEW" value="0.1"/>
-  </section>
-
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
-    <define name="ROLL_RATE_GAIN" value="3000."/>
-
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="0.4"/>
-
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="ELEVATOR_OF_ROLL" value="1500"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="AGGRESSIVE" prefix="AGR_">
-    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
-    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
-    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
-    <define name="DESCENT_PITCH" value="-0.35"/><!-- 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="0.17" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
deleted file mode 100644
index 4b26f53a25..0000000000
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ /dev/null
@@ -1,225 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="Soarzy Tiny 0.99">
-
-<!-- commands section -->
-  <servos>
-    <servo name="THROTTLE"   no="3" min="1200" neutral="1200" max="2000"/>
-<!-- Servo aileron gauche = couleur blanche -->
-<!-- Aileron gauche oppose de l'aileron droit -->
-    <servo name="AILERON_RIGHT"  no="5" min="1250" neutral="1445" max="1650"/>
-<!-- max = valeur aileron vers le bas-->
-    <servo name="AILERON_LEFT" no="4" min="1350" neutral="1565" max="1750"/>
-    <!-- Rudder = Couleur rouge droite gauche -->
-    <servo name="RUDDER" no="0" min="1000" neutral="1200" max="1900"/>
-    <servo name="ELEVATOR" no="1" min="1180" neutral="1445" max="1820"/>
-
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="YAW"      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"/>
-    <set command="YAW"    value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-     <define name="AILERON_DIFF" value="0.66"/>
-     <define name="COMBI_SWITCH" value="1.0"/>
-  </section>
-
-  <command_laws>
-    <set servo="THROTTLE"           value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
-
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.6"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR2" value="ADC_0"/>
-    <define name="IR1" value="ADC_1"/>
-<!-- ADC_2 IS NOT WORKING -->
-    <define name="IR_TOP" value="ADC_4"/>
-    <define name="IR_NB_SAMPLES" value="16"/>
-  </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="IR1_SIGN" value="-1"/>
-    <define name="TOP_SIGN" value="-1"/>
-
-    <define name="LATERAL_CORRECTION" value="1."/>
-    <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1."/>
-
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-6" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="12" 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="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
-
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
-
-
-    <define name="CATASTROPHIC_BAT_LEVEL" value="6." unit="V"/>
-    <define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
-    <define name="LOW_BAT_LEVEL" value="7.0" unit="V"/>
-    <define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="8." 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_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="50."/>
-  </section>
-
-  <section name="VERTICAL CONTROL" prefix="V_CTL_">
-
-    <define name="POWER_CTL_BAT_NOMINAL" value="7.4" unit="volt"/>
-    <!-- outer loop proportional gain -->
-    <define name="ALTITUDE_PGAIN" value="0.07"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.55"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30"/>
-    <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="-500"/>
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.025"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-
-    <!-- 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="0.05"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-
-    <define name="ROLL_PGAIN" value="12000."/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-    <define name="PITCH_PGAIN" value="9000."/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-    <define name="ELEVATOR_OF_ROLL" value="1250"/>
-
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" 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="0.8"/><!-- 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="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"/>
-</section>
-
- <makefile>
-include $(PAPARAZZI_SRC)/conf/firmwares/tiny.makefile
-
-FLASH_MODE=IAP
-
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DSYS_TIME_LED=1
-ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
-
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-#XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#XBEE ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
-
-ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
-
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-# ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
-ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
-
-ap.srcs += gps_ubx.c gps.c latlong.c
-
-ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
-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 subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
-
-ap.CFLAGS += -DUSE_ADC_6 -DADC_CHANNEL_CURRENT=ADC_6
-
-# Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/firmwares/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c
-
-  </makefile>
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
deleted file mode 100644
index d2a4bf9bbd..0000000000
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ /dev/null
@@ -1,187 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- SPirit Of Corsica III
-     Ailerons, elevator, NO rudder
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     arduIMU i2c
-     XBee modem (transparent)
-     Current sensor
--->
-
-<airframe name="Spoc III Tiny 2.1">
-
-  <modules>
-    <load name="ins_arduimu_basic.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="ALT_KALMAN"/>
-    <define name="LOITER_TRIM"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-      <define name="USE_I2C0"/>
-    </target>
-
-
-    <subsystem name="radio_control" type="datalink"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
-
-    <!-- Actuators are automatically chosen according to board-->
-    <subsystem name="control"/>
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-
-    <!--subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem-->
-
-    <subsystem name="navigation"/>
-  </firmware>
-
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="7" min="1000" neutral="1000" max="2000"/>
-    <servo name="ELEVATOR" no="0" min="1900" neutral="1500" max="1100"/>
-    <!-- Wing 1 -->
-    <servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
-    <servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="AILERON_DIFF" value="0.66"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.6"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
-    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.26" unit="rad" />
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </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_FREQUENCY" value="60" unit="Hz"/>
-    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
-    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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="0.04"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <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="1.20599997044"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="PITCH_PGAIN" value="8200"/>
-    <define name="PITCH_DGAIN" value="1.5"/>
-
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="8500"/>
-    <define name="ROLL_RATE_GAIN" value="2700"/>
-
-    <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="PITCH_IGAIN" value="500"/>
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="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>
-
-  <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
deleted file mode 100644
index 519bfe1e73..0000000000
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ /dev/null
@@ -1,218 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- SPirit Of Corsica III
-     Ailerons, elevator, NO rudder
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     arduIMU i2c
-     XBee modem (transparent)
-     Current sensor
--->
-
-<airframe name="Spoc III Tiny 2.1">
-
-  <modules>
-    <load name="ins_arduimu_basic.xml"/>
-    <load name="airspeed_ets.xml">
-      <define name="SENSOR_SYNC_SEND"/>
-      <define name="USE_AIRSPEED"/>
-      <define name="AIRSPEED_ETS_SCALE" value="1.53"/>
-      <define name="AIRSPEED_ETS_REVERSE"/>
-    </load>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="ALT_KALMAN"/>
-    <define name="LOITER_TRIM"/>
-    <define name="USE_GYRO_PITCH_RATE"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-      <define name="USE_I2C0"/>
-    </target>
-
-
-    <!-- Control -->
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
-    <subsystem name="radio_control" type="datalink"/>
-
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-
-    <!--subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem-->
-
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="ELEVATOR" no="7" min="1900" neutral="1590" max="1100"/>
-    <!-- Wing 2 -->
-    <servo name="AILERON_LEFT" no="6" min="1900" neutral="1486" max="1100"/>
-    <servo name="AILERON_RIGHT" no="2" min="1900" neutral="1400" max="1100"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="AILERON_DIFF" value="0.66"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.8"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*17.4"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="17." 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_FREQUENCY" value="60" unit="Hz"/>
-    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
-    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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."/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="25"/>
-    <define name="AIRSPEED_MIN" value="14"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim --> <!-- 5 deg -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
-
-   <define name="THROTTLE_SLEW" value="0.005"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20599997044"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
-    <define name="ROLL_RATE_GAIN" value="2400."/>
-    <define name="ROLL_IGAIN" value="0."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="7000."/>
-    <define name="PITCH_DGAIN" value="2400."/>
-    <define name="PITCH_IGAIN" value="300."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="0.043"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
deleted file mode 100644
index efa6c520c5..0000000000
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ /dev/null
@@ -1,221 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- SPirit Of Corsica III
-     Ailerons, elevator, NO rudder
-     Tiny 2.1 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     arduIMU i2c
-     XBee modem (transparent)
-     Current sensor
--->
-
-<airframe name="Spoc III Tiny 2.1">
-
-  <modules>
-    <load name="ins_arduimu_basic.xml"/>
-    <load name="airspeed_ets.xml">
-      <define name="SENSOR_SYNC_SEND"/>
-      <define name="USE_AIRSPEED"/>
-      <define name="AIRSPEED_ETS_SCALE" value="1.53"/>
-      <!--define name="AIRSPEED_ETS_REVERSE"/-->
-    </load>
-    <load name="generic_com.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="ALT_KALMAN"/>
-    <define name="LOITER_TRIM"/>
-    <define name="USE_GYRO_PITCH_RATE"/>
-
-    <target name="sim" board="pc"/>
-    <target name="ap" board="tiny_2.11">
-      <configure name="FLASH_MODE" value="IAP"/>
-      <define name="USE_I2C0"/>
-    </target>
-
-
-    <!-- Control -->
-    <subsystem name="control" type="new"/>
-    <subsystem name="navigation"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api"/>
-    <subsystem name="radio_control" type="datalink"/>
-
-    <!-- Sensors -->
-    <subsystem name="gps" type="ublox"/>
-
-    <subsystem name="current_sensor">
-      <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
-    </subsystem>
-
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" board="tiny_2.11"/>
-    <target name="setup_actuators" board="tiny_2.11"/>
-  </firmware>
-
-<!-- commands section -->
-  <servos>
-    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="ELEVATOR" no="7" min="1900" neutral="1600" max="1100"/>
-    <!-- Wing 4 -->
-    <!--servo name="AILERON_LEFT" no="6" min="1900" neutral="1500" max="1100"/>
-    <servo name="AILERON_RIGHT" no="2" min="1900" neutral="1590" max="1100"/-->
-    <!-- Wing 1 -->
-    <servo name="AILERON_LEFT" no="2" min="1900" neutral="1526" max="1100"/>
-    <servo name="AILERON_RIGHT" no="6" min="1900" neutral="1537" max="1100"/>
-  </servos>
-
-  <commands>
-    <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL" failsafe_value="0"/>
-    <axis name="PITCH" 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="AILERON_DIFF" value="0.66"/>
-  </section>
-
-  <command_laws>
-    <set servo="MOTOR" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
-    <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-  </command_laws>
-
-  <section name="AUTO1" prefix="AUTO1_">
-    <define name="MAX_ROLL" value="0.85"/>
-    <define name="MAX_PITCH" value="0.8"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="rad" />
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="rad" />
-  </section>
-
-  <section name="BAT">
-    <define name="CATASTROPHIC_BAT_LEVEL" value="4" unit="V"/>
-    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-156)*18.2"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="14." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="17." 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_FREQUENCY" value="60" unit="Hz"/>
-    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
-    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
-    <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
-
-    <define name="TRIGGER_DELAY" value="1."/>
-    <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-
-    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
-    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
-  </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."/>
-
-    <!-- Cruise throttle + limits -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
-    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(20.)"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-RadOfDeg(20.)"/>
-    <define name="AUTO_THROTTLE_LOITER_TRIM" value="0."/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="0."/>
-
-    <!-- Climb loop (throttle) -->
-    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
-    <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
-
-    <!-- Climb loop (pitch) -->
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
-    <define name="AUTO_PITCH_PGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-
-    <!-- airspeed control -->
-    <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
-    <define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
-    <define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
-    <define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
-    <define name="AIRSPEED_MAX" value="25"/>
-    <define name="AIRSPEED_MIN" value="14"/>
-
-    <!-- groundspeed control -->
-    <define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
-    <define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
-    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
-
-    <!-- pitch trim --> <!-- 5 deg -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(0.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-0.)"/>
-
-   <define name="THROTTLE_SLEW" value="0.005"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="1.20599997044"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
-    <define name="ROLL_RATE_GAIN" value="2400."/>
-    <define name="ROLL_IGAIN" value="0."/>
-    <define name="ROLL_KFFA" value="0"/>
-    <define name="ROLL_KFFD" value="0"/>
-
-    <define name="PITCH_PGAIN" value="7000."/>
-    <define name="PITCH_DGAIN" value="2400."/>
-    <define name="PITCH_IGAIN" value="300."/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <define name="PITCH_OF_ROLL" value="0.043"/>
-    <define name="AILERON_OF_THROTTLE" value="0.0"/>
-
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-  </section>
-
-  <section name="FAILSAFE" prefix="FAILSAFE_">
-    <define name="DELAY_WITHOUT_GPS" value="1" unit="s"/>
-    <define name="DEFAULT_THROTTLE" value="0.5" unit="%"/>
-    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="0.0" unit="rad"/>
-    <define name="HOME_RADIUS" value="100" unit="m"/>
-  </section>
-
-  <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="&quot;Corsica&quot;"/>
-    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
-    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
deleted file mode 100644
index b788ca4f40..0000000000
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ /dev/null
@@ -1,219 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<!-- Twinjet Multiplex (http://www.multiplex-rc.de/)
-     Tiny 2.12 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
-     Tilted infrared sensor
--->
-
-<airframe name="Twinjet 2 Tiny 2.12">
-
-  <modules>
-    <!--load name="adp_roll.xml"/-->
-    <!--load name="ins_vn100.xml"/-->
-    <!--load name="ets_module_sensors.xml"/-->
-    <!--load name="infrared_i2c.xml"/-->
-    <!--load name="max3100.xml"/>
-    <load name="gsm.xml"/-->
-    <!--load name="demo_module.xml">
-      <define name="TEST" value="1"/>
-      <define name="TEST_FLAG"/>
-    </load-->
-    <!--load name="enose.xml"/-->
-    <load name="light.xml"/>
-    <load name="infrared_adc.xml"/>
-  </modules>
-
-  <firmware name="fixedwing">
-    <define name="PITCH_TRIM"/>
-    <define name="ALT_KALMAN"/>
-    <define name="USE_I2C0"/>
-
-    <target name="ap" 			board="tiny_2.11"/>
-    <target name="sim" 			board="pc"/>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="xbee_api"/>
-    <subsystem name="control"       type="adaptive"/>
-    <subsystem name="ahrs"      type="infrared"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="navigation"/>
-  </firmware>
-
-  <firmware name="setup">
-    <target name="tunnel" 		board="tiny_2.11" />
-    <target name="setup_actuators" 	board="tiny_2.11" />
-  </firmware>
-
-  <!-- commands section -->
-  <servos>
-    <servo name="MOTOR_LEFT" no="3" min="1000" neutral="1000" max="2000"/>
-    <servo name="MOTOR_RIGHT" no="4" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT" no="6" min="1900" neutral="1515" max="1100"/>
-    <servo name="AILEVON_RIGHT" no="7" 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="YAW" failsafe_value="0"/>
-  </commands>
-
-  <rc_commands>
-    <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL" value="@ROLL"/>
-    <set command="PITCH" value="@PITCH"/>
-    <set command="YAW" value="@YAW"/>
-  </rc_commands>
-
-  <section name="MIXER">
-    <define name="AILEVON_AILERON_RATE" value="0.75"/>
-    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
-    <define name="MOTOR_YAW_RATE" value="0.0"/>
-  </section>
-
-  <command_laws>
-    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
-    <let var="yaw" value="@YAW   * MOTOR_YAW_RATE"/>
-    <set servo="MOTOR_LEFT" value="@THROTTLE - $yaw"/>
-    <set servo="MOTOR_RIGHT" value="@THROTTLE + $yaw"/>
-    <set servo="AILEVON_LEFT" value="$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="1.25"/>
-
-    <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="-1.146" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0.15" unit="deg"/>
-
-    <define name="I2C_DEFAULT_CONF" value="1"/>
-  </section>
-
-  <section name="BAT">
-    <define name="MILLIAMP_AT_FULL_THROTTLE" value="8600"/>
-    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="MISC">
-    <define name="MINIMUM_AIRSPEED" value="10." unit="m/s"/>
-    <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-    <define name="MAXIMUM_AIRSPEED" value="20." 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_FREQUENCY" value="60" unit="Hz"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\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="LIGHT_LED_1" value="3"/>
-    <define name="LIGHT_LED_2" value="5"/>
-  </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="0.0450000017881"/>
-    <!-- outer loop saturation -->
-    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
-
-    <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.319999992847"/>
-    <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="0.035000000149"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="0"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
-
-    <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
-    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
-    <define name="AUTO_PITCH_DGAIN" value="0"/>
-    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
-    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
-    <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
-
-    <!-- pitch trim -->
-    <define name="PITCH_LOITER_TRIM" value="RadOfDeg(5.)"/>
-    <define name="PITCH_DASH_TRIM" value="RadOfDeg(-5.)"/>
-
-   <define name="THROTTLE_SLEW" value="0.3"/>
-
-  </section>
-
-  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="0.995000004768"/>
-
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
-
-    <define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
-    <define name="ROLL_RATE_GAIN" value="0."/>
-    <define name="ROLL_IGAIN" value="500"/>
-    <define name="ROLL_KFFA" value="500"/>
-    <define name="ROLL_KFFD" value="500"/>
-
-    <define name="PITCH_PGAIN" value="14522.4716797"/>
-    <define name="PITCH_DGAIN" value="0."/>
-    <define name="PITCH_IGAIN" value="500"/>
-    <define name="PITCH_KFFA" value="0."/>
-    <define name="PITCH_KFFD" value="0."/>
-
-    <!--define name="ELEVATOR_OF_ROLL" value="1541."/-->
-    <define name="PITCH_OF_ROLL" value="RadOfDeg(0.2)"/>
-
-  </section>
-
-  <section name="NAV">
-    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_CROSS_TRACK_ERROR_IGAIN" value="0."/>
-    <define name="NAV_CROSS_TRACK_ERROR_MAX" value="10." unit="deg"/>
-  </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="0.7"/><!-- Gaz for Aggressive Climb -->
-    <define name="CLIMB_PITCH" value="0.25"/><!-- 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>
-
-  <section name="SIMU">
-    <define name="YAW_RESPONSE_FACTOR" value="1."/>
-  </section>
-
-</airframe>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 8aaac3765f..7cded421f5 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -1,11 +1,15 @@
 <airframe name="Blender">
 
   <modules main_freq="512">
-    <!--load name="booz_pwm.xml">
-      <define name="USE_PWM1"/>
+    <load name="booz_pwm.xml">
+      <define name="USE_PWM0"/>
+    </load>
+    <load name="booz_drop.xml"/>
+    <load name="booz_cam.xml"/>
+    <load name="sonar_maxbotix_booz.xml"/>
+    <!--load name="adc_generic.xml">
+      <configure name="ADC_CHANNEL_GENERIC1" value="ADC_0"/>
     </load-->
-    <!--load name="booz_drop.xml"/>
-    <load name="booz_cam.xml"/-->
   </modules>
 
   <firmware name="rotorcraft">
@@ -18,7 +22,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="jsbsim"/>
+      <subsystem name="fdm"         type="nps"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
@@ -31,7 +35,8 @@
       <configure name="GPS_BAUD" value="B57600"/>
     </subsystem>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"           type="extended"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
@@ -57,9 +62,9 @@
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="20"/>
     <define name="MAX_MOTOR" value="255"/>
-    <define name="TRIM_A" value="-3"/>
-    <define name="TRIM_E" value="-3"/>
-    <define name="TRIM_R" value="0"/>
+    <define name="TRIM_A" value="-50"/>
+    <define name="TRIM_E" value="-150"/>
+    <define name="TRIM_R" value="-100"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
     <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
@@ -88,13 +93,21 @@
     <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
     <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
 
-    <define name="MAG_X_NEUTRAL" value="80"/>
+    <!-- Calib Toulouse -->
+    <!--define name="MAG_X_NEUTRAL" value="80"/>
     <define name="MAG_Y_NEUTRAL" value="-271"/>
     <define name="MAG_Z_NEUTRAL" value="112"/>
-
     <define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
     <define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
+    <define name="MAG_Z_SENS" value="5.298653926" integer="16"/-->
+
+    <!-- Calid IMAV -->
+    <define name="MAG_X_NEUTRAL" value="308"/>
+    <define name="MAG_Y_NEUTRAL" value="-395"/>
+    <define name="MAG_Z_NEUTRAL" value="156"/>
+    <define name="MAG_X_SENS" value="4.04127878147" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.99918458069" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.79859595184" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -103,18 +116,32 @@
   </section>
 
   <!-- Magnetic field for Toulouse (declination -16°) -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
+  <!--section name="AHRS" prefix="AHRS_">
     <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
     <define name="H_X" value=" 0.513081"/>
     <define name="H_Y" value="-0.00242783"/>
     <define name="H_Z" value=" 0.858336"/>
+  </section-->
+
+  <!-- Magnetic field for Gifhorn (declination 2°) -->
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
+    <define name="H_X" value="0.3794131"/>
+    <define name="H_Y" value="0.0141005"/>
+    <define name="H_Z" value="0.9251199"/>
   </section>
 
   <section name="INS" prefix="INS_">
     <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
     <!-- calibration SENS = 1.156 :( -->
     <define name="BARO_SENS" value="1.156" integer="16"/>
+    <define name="SONAR_SENS" value="0.0128633" integer="16"/>
+    <define name="SONAR_OFFSET" value="7"/>
+    <define name="SONAR_MAX_RANGE" value="4.0"/>
+    <define name="SONAR_THROTTLE_THRESHOLD" value="6000"/>
+    <define name="SONAR_BARO_THRESHOLD" value="20."/>
   </section>
 
 
@@ -138,7 +165,7 @@
     <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
-     <!-- reference -->
+    <!-- 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"/>
@@ -155,23 +182,26 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="450"/>
-    <define name="PHI_DGAIN"  value="190"/>
-    <define name="PHI_IGAIN"  value="100"/>
+    <define name="PHI_PGAIN"  value="1800"/>
+    <define name="PHI_DGAIN"  value="240"/>
+    <define name="PHI_IGAIN"  value="200"/>
 
-    <define name="THETA_PGAIN"  value="450"/>
-    <define name="THETA_DGAIN"  value="190"/>
-    <define name="THETA_IGAIN"  value="100"/>
+    <define name="THETA_PGAIN"  value="1800"/>
+    <define name="THETA_DGAIN"  value="240"/>
+    <define name="THETA_IGAIN"  value="200"/>
 
-    <define name="PSI_PGAIN"  value="700"/>
-    <define name="PSI_DGAIN"  value="250"/>
+    <define name="PSI_PGAIN"  value="1000"/>
+    <define name="PSI_DGAIN"  value="350"/>
     <define name="PSI_IGAIN"  value="20"/>
 
     <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 100"/>
-    <define name="THETA_DDGAIN" value=" 100"/>
-    <define name="PSI_DDGAIN"   value=" 100"/>
+    <define name="PHI_DDGAIN"   value="170"/>
+    <define name="THETA_DDGAIN" value="170"/>
+    <define name="PSI_DDGAIN"   value="170"/>
 
+    <define name="PHI_AGAIN"   value="0"/>
+    <define name="THETA_AGAIN" value="0"/>
+    <define name="PSI_AGAIN"   value="0"/>
   </section>
 
   <section name="GUIDANCE_V"   prefix="GUIDANCE_V_">
@@ -181,26 +211,28 @@
    <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="REF_MIN_ZDD"  value="-1.2*9.81"/>
-   <define name="REF_MAX_ZDD"  value=" 0.8*9.81"/>
+   <define name="REF_MIN_ZDD"  value="-0.5*9.81"/>
+   <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
    <define name="REF_MIN_ZD"   value="-1.5"/>
    <define name="REF_MAX_ZD"   value=" 1.5"/>
-   <define name="HOVER_KP"     value="300"/>
-   <define name="HOVER_KD"     value="160"/>
+   <define name="HOVER_KP"     value="130"/>
+   <define name="HOVER_KD"     value="80"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <define name="ADAPT_NOISE_FACTOR" value="1.5"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="140"/>
-   <define name="DGAIN" value="90"/>
-   <define name="IGAIN" value="30"/>
+   <define name="MAX_BANK" value="30" unit="deg"/>
+   <define name="PGAIN" value="50"/>
+   <define name="DGAIN" value="80"/>
+   <define name="IGAIN" value="20"/>
    <define name="NGAIN" value="0"/>
    <!-- feedforward -->
-   <define name="AGAIN" value="100"/>
+   <define name="AGAIN" value="0"/>
  </section>
 
  <section name="BAT">
@@ -210,8 +242,8 @@
  <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_ATTITUDE_Z_HOLD"/>
-   <!--define name="MODE_AUTO2"  value="AP_MODE_NAV"/-->
+   <!--define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/-->
+   <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
  </section>
 
  <section name="FMS">
@@ -219,23 +251,28 @@
  </section>
 
  <section name="CAM" prefix="BOOZ_CAM_">
-    <define name="TILT_NEUTRAL" value="1500"/>
+    <!--define name="TILT_NEUTRAL" value="1500"/>
     <define name="TILT_MIN" value="1060"/>
     <define name="TILT_MAX" value="2250"/>
     <define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
-    <define name="TILT_ANGLE_MAX" value="  0." unit="deg"/>
+    <define name="TILT_ANGLE_MAX" value="  0." unit="deg"/-->
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
     <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
+    <define name="ON" value="{}"/>
+    <define name="OFF" value="{}"/>
     <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
  </section>
 
+  <section name="DROP">
+    <define name="DROP_SERVO_CLOSED" value="2000"/>
+    <define name="DROP_SERVO_OPEN" value="1000"/>
+    <define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
+  </section>
 
  <section name="MISC">
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-   <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
-   <!--define name="IMU_MAG_OFFSET" value="-9."/-->
  </section>
 
   <section name="GCS">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 84969a8d08..a69350fb62 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -6,9 +6,7 @@
     </load>
     <load name="booz_drop.xml"/>
     <load name="booz_cam.xml"/>
-    <!--load name="sonar_maxbotix_booz.xml">
-      <configure name="ADC_SONAR" value="ADC_0"/>
-    </load-->
+    <!--load name="sonar_maxbotix_booz.xml"/-->
     <!--load name="adc_generic_booz.xml"/-->
     <!--load name="sys_mon.xml"/-->
   </modules>
@@ -23,7 +21,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="jsbsim"/>
+      <subsystem name="fdm"         type="nps"/>
       <!--define name="NPS_NO_SUPERVISION"/-->
     </target>
 
@@ -36,6 +34,7 @@
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
@@ -135,28 +134,34 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="2000"/>
-    <define name="PHI_DGAIN"  value="400"/>
-    <define name="PHI_IGAIN"  value="200"/>
+    <define name="PHI_PGAIN"  value="6000"/>
+    <define name="PHI_DGAIN"  value="800"/>
+    <define name="PHI_IGAIN"  value="500"/>
 
-    <define name="THETA_PGAIN"  value="2000"/>
-    <define name="THETA_DGAIN"  value="400"/>
-    <define name="THETA_IGAIN"  value="200"/>
+    <define name="THETA_PGAIN"  value="6000"/>
+    <define name="THETA_DGAIN"  value="800"/>
+    <define name="THETA_IGAIN"  value="500"/>
 
-    <define name="PSI_PGAIN"  value="2000"/>
-    <define name="PSI_DGAIN"  value="400"/>
-    <define name="PSI_IGAIN"  value="10"/>
+    <define name="PSI_PGAIN"  value="3000"/>
+    <define name="PSI_DGAIN"  value="600"/>
+    <define name="PSI_IGAIN"  value="100"/>
 
     <!-- feedforward -->
     <define name="PHI_DDGAIN"   value=" 300"/>
     <define name="THETA_DDGAIN" value=" 300"/>
     <define name="PSI_DDGAIN"   value=" 300"/>
 
+    <define name="PHI_AGAIN"   value="0"/>
+    <define name="THETA_AGAIN" value="0"/>
+    <define name="PSI_AGAIN"   value="0"/>
+
   </section>
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="SONAR_SENS" value="2.146" integer="16"/>
+    <!--define name="SONAR_SENS" value="2.146" integer="16"/-->
+    <define name="SONAR_SENS" value="0.0128633" integer="16"/>
+    <define name="SONAR_MAX_RANGE" value="4.0"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -165,7 +170,7 @@
     <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="REF_MIN_ZDD"  value="-1.5*9.81"/>
+    <define name="REF_MIN_ZDD"  value="-0.8*9.81"/>
     <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
     <define name="REF_MIN_ZD"   value="-1.5"/>
     <define name="REF_MAX_ZD"   value=" 1.5"/>
@@ -181,6 +186,7 @@
 
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="30" unit="deg"/>
     <define name="PGAIN" value="50"/>
     <define name="DGAIN" value="100"/>
     <define name="IGAIN" value="15"/>
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
deleted file mode 100644
index 72341e345c..0000000000
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ /dev/null
@@ -1,246 +0,0 @@
-<airframe name="NavGo">
-
-  <modules main_freq="512">
-    <!--load name="booz_pwm.xml">
-      <define name="USE_PWM1"/>
-    </load-->
-    <!--load name="booz_drop.xml"/>
-    <load name="booz_cam.xml"/-->
-  </modules>
-
-  <firmware name="rotorcraft">
-    <define name="USE_INS_NAV_INIT"/>
-    <define name="USE_ATTITUDE_REF" value="0"/>
-    <!--define name="GUIDANCE_H_USE_REF"/-->
-
-    <target name="ap" board="navgo_1.0">
-      <define name="FAILSAFE_GROUND_DETECT"/>
-      <define name="USE_GPS_ACC4R"/>
-    </target>
-    <target name="nps" board="pc">
-      <subsystem name="fdm"         type="jsbsim"/>
-    </target>
-
-    <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="skiron">
-      <define name="SKIRON_I2C_SCL_TIME" value="25"/>
-    </subsystem>
-    <subsystem name="imu"           type="navgo"/>
-    <subsystem name="gps"           type="ublox">
-      <configure name="GPS_BAUD" value="B57600"/>
-    </subsystem>
-    <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
-    <subsystem name="ins"           type="hff"/>
-  </firmware>
-
-  <servos>
-    <servo name="FRONT"  no="0"    min="0" neutral="0" max="255"/>
-    <servo name="BACK"   no="2"    min="0" neutral="0" max="255"/>
-    <servo name="RIGHT"  no="1"    min="0" neutral="0" max="255"/>
-    <servo name="LEFT"   no="3"    min="0" neutral="0" max="255"/>
-  </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="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
-    <define name="NB" value="4"/>
-    <define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
-  </section>
-
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="20"/>
-    <define name="MAX_MOTOR" value="255"/>
-    <define name="TRIM_A" value="6"/>
-    <define name="TRIM_E" value="0"/>
-    <define name="TRIM_R" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
-    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
-    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-  </section>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="GYRO_P_NEUTRAL" value="10"/>
-    <define name="GYRO_Q_NEUTRAL" value="-32"/>
-    <define name="GYRO_R_NEUTRAL" value="11"/>
-
-    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
-    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
-    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="9"/>
-    <define name="ACCEL_Y_NEUTRAL" value="14"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-16"/>
-
-    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
-    <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="80"/>
-    <define name="MAG_Y_NEUTRAL" value="-271"/>
-    <define name="MAG_Z_NEUTRAL" value="112"/>
-
-    <define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
-    <define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0."/>
-    <define name="BODY_TO_IMU_THETA" value="0."/>
-    <define name="BODY_TO_IMU_PSI"   value="0."/>
-
-  </section>
-
-  <!-- Magnetic field for Toulouse (declination -16°) -->
-  <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="H_X" value=" 0.513081"/>
-    <define name="H_Y" value="-0.00242783"/>
-    <define name="H_Z" value=" 0.858336"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
-    <!-- calibration SENS = 1.156 :( -->
-    <define name="BARO_SENS" value="1.156" integer="16"/>
-  </section>
-
-
-  <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="90." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="350"/>
-    <define name="PHI_DGAIN"  value="190"/>
-    <define name="PHI_IGAIN"  value="100"/>
-
-    <define name="THETA_PGAIN"  value="350"/>
-    <define name="THETA_DGAIN"  value="190"/>
-    <define name="THETA_IGAIN"  value="100"/>
-
-    <define name="PSI_PGAIN"  value="700"/>
-    <define name="PSI_DGAIN"  value="250"/>
-    <define name="PSI_IGAIN"  value="20"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 70"/>
-    <define name="THETA_DDGAIN" value=" 70"/>
-    <define name="PSI_DDGAIN"   value=" 70"/>
-
-  </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="REF_MIN_ZDD"  value="-1.2*9.81"/>
-   <define name="REF_MAX_ZDD"  value=" 0.8*9.81"/>
-   <define name="REF_MIN_ZD"   value="-1.5"/>
-   <define name="REF_MAX_ZD"   value=" 1.5"/>
-   <define name="HOVER_KP"     value="350"/>
-   <define name="HOVER_KD"     value="160"/>
-   <define name="HOVER_KI"     value="0"/>
-   <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="140"/>
-   <define name="DGAIN" value="90"/>
-   <define name="IGAIN" value="30"/>
-   <define name="NGAIN" value="0"/>
-   <!-- feedforward -->
-   <define name="AGAIN" value="100"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </section>
-
- <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_ATTITUDE_Z_HOLD"/>
-   <!--define name="MODE_AUTO2"  value="AP_MODE_NAV"/-->
- </section>
-
- <section name="FMS">
-   <define name="BOOZ_FMS_TIMEOUT" value="0"/>
- </section>
-
- <section name="CAM" prefix="BOOZ_CAM_">
-    <define name="TILT_NEUTRAL" value="1500"/>
-    <define name="TILT_MIN" value="1060"/>
-    <define name="TILT_MAX" value="2250"/>
-    <define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
-    <define name="TILT_ANGLE_MAX" value="  0." unit="deg"/>
-    <define name="PAN_NEUTRAL" value="0"/>
-    <define name="PAN_MIN" value="0"/>
-    <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
-    <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
-    <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
- </section>
-
-
- <section name="MISC">
-   <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-   <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
-   <!--define name="IMU_MAG_OFFSET" value="-9."/-->
- </section>
-
-  <section name="GCS">
-    <define name="ALT_SHIFT_PLUS_PLUS" value="5"/>
-    <define name="ALT_SHIFT_PLUS" value="1"/>
-    <define name="ALT_SHIFT_MINUS" value="-1"/>
-  </section>
-
-</airframe>