diff --git a/conf/airframes/TUDelft/conf.xml b/conf/TUDELFT/tudelft_conf.xml
similarity index 84%
rename from conf/airframes/TUDelft/conf.xml
rename to conf/TUDELFT/tudelft_conf.xml
index 587a8cb677..ae0801bf38 100644
--- a/conf/airframes/TUDelft/conf.xml
+++ b/conf/TUDELFT/tudelft_conf.xml
@@ -8,62 +8,62 @@
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/geo_mag.xml"
-   gui_color="red"
+   gui_color="#ffffd633d633"
   />
   <aircraft
    name="ARDrone2_flip"
    ac_id="14"
-   airframe="airframes/TUDelft/airframes/ardrone2_flip.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_flip.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_att_indi.xml"
    settings_modules="modules/air_data.xml"
-   gui_color="red"
+   gui_color="#ffffcd49cd49"
   />
   <aircraft
    name="ARDrone2_indi"
    ac_id="13"
-   airframe="airframes/TUDelft/airframes/ardrone2_indi.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_att_indi.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
-   gui_color="red"
+   gui_color="#ffffc457c457"
   />
   <aircraft
    name="ARDrone2_opticflow"
    ac_id="12"
-   airframe="airframes/TUDelft/airframes/ardrone2_opticflow.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_opticflow.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int_quat.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml"
    settings_modules="modules/gps_ubx_ucenter.xml modules/cv_opticflow.xml modules/opticflow_hover.xml"
-   gui_color="red"
+   gui_color="#ffffccc2ccc2"
   />
   <aircraft
    name="ARDrone2_optitrack"
    ac_id="11"
-   airframe="airframes/TUDelft/airframes/ardrone2_optitrack.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_optitrack.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/estimation/body_to_imu.xml settings/control/stabilization_att_indi.xml"
    settings_modules=""
-   gui_color="red"
+   gui_color="#fffff996b847"
   />
   <aircraft
    name="Bebop2_Smeur"
    ac_id="21"
-   airframe="airframes/TUDelft/airframes/bebop_indi.xml"
+   airframe="airframes/TUDELFT/tudelft_bebop_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/delft_basic.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="[modules/geo_mag.xml] modules/air_data.xml"
-   gui_color="red"
+   gui_color="#ffffcccaccca"
   />
   <aircraft
    name="Bebop5_Chris"
@@ -71,10 +71,10 @@
    airframe="airframes/CDW/bebop.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
-   gui_color="#ffff0689b7a1"
+   gui_color="#f84eb57ae827"
   />
   <aircraft
    name="Bebop_default"
@@ -85,40 +85,40 @@
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
-   gui_color="red"
+   gui_color="#ffffbc3bce5b"
   />
   <aircraft
    name="Heli450"
    ac_id="99"
-   airframe="airframes/TUDelft/airframes/heli450.xml"
+   airframe="airframes/TUDELFT/tudelft_heli450.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
+   gui_color="#c99fb4caebdd"
   />
   <aircraft
    name="Helisa"
    ac_id="114"
-   airframe="airframes/TUDelft/airframes/walkera_genius_v2.xml"
+   airframe="airframes/TUDELFT/tudelft_walkera_genius_v2.xml"
    radio="radios/FlyElectricRx31_DX6.xml"
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml [settings/superbitrf.xml]"
    settings_modules="modules/gps_ubx_ucenter.xml modules/logger_sd_spi_direct.xml"
-   gui_color="#063982530000"
+   gui_color="#9b69e5ce9e7a"
   />
   <aircraft
    name="Logo600"
    ac_id="111"
-   airframe="airframes/TUDelft/airframes/logo600.xml"
+   airframe="airframes/TUDELFT/tudelft_logo600.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
+   gui_color="#ffffdffac31f"
   />
   <aircraft
    name="MAVTec3_Chris"
@@ -126,32 +126,32 @@
    airframe="airframes/CDW/mavtec_cdw.xml"
    radio="radios/R6107SP_7ch.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="modules/servo_switch.xml modules/gps_ubx_ucenter.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/geo_mag.xml]"
-   gui_color="blue"
+   gui_color="#ffffd5c5aead"
   />
   <aircraft
    name="MAVTec4_Bart"
    ac_id="34"
-   airframe="airframes/TUDelft/airframes/mavtec4.xml"
+   airframe="airframes/TUDELFT/tudelft_mavtec4.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/delft_basic.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="[modules/geo_mag.xml] [modules/air_data.xml] modules/servo_switch.xml"
-   gui_color="blue"
+   gui_color="#e66affffaa08"
   />
   <aircraft
    name="MAVTec5_Freek"
    ac_id="35"
-   airframe="airframes/TUDelft/airframes/mavtec5.xml"
+   airframe="airframes/TUDELFT/tudelft_mavtec5.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/delft_basic.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
    settings_modules="[modules/geo_mag.xml] [modules/air_data.xml] modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
+   gui_color="#8c63ffff8e00"
   />
   <aircraft
    name="MentorEnergy"
@@ -173,7 +173,7 @@
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int.xml] [settings/control/stabilization_rate.xml] settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="#710080"
+   gui_color="#f1d3c1b7ffff"
   />
   <aircraft
    name="SkyWalker"
@@ -184,40 +184,40 @@
    flight_plan="flight_plans/versatile.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_basic.xml settings/estimation/ins_neutrals.xml settings/control/tune_agr_climb.xml"
    settings_modules="modules/light.xml modules/digital_cam.xml"
-   gui_color="blue"
+   gui_color="#b748fe64fe64"
   />
   <aircraft
    name="bebop2_22"
    ac_id="22"
-   airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
+   airframe="airframes/TUDELFT/tudelft_bebop2_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/delft_basic.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_att_indi.xml [settings/control/stabilization_att_int_quat.xml]"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
-   gui_color="#ffff0689b7a1"
+   gui_color="#baa3d698b729"
   />
   <aircraft
    name="bebop2_23"
    ac_id="23"
-   airframe="airframes/TUDelft/airframes/bebop2_indi.xml"
+   airframe="airframes/TUDELFT/tudelft_bebop2_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/control/stabilization_att_indi.xml [settings/control/stabilization_att_int_quat.xml]"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml"
-   gui_color="#ffff0689b7a1"
+   gui_color="#f6d5baaaffff"
   />
   <aircraft
    name="bebop_flip"
    ac_id="3"
-   airframe="airframes/TUDelft/airframes/bebop_flip.xml"
+   airframe="airframes/TUDELFT/tudelft_bebop_flip.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_indi.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml"
-   gui_color="blue"
+   gui_color="#7d7fd7e7ffff"
   />
   <aircraft
    name="frog1"
@@ -225,10 +225,10 @@
    airframe="airframes/BR/bebop_indi_frog.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
-   gui_color="#ffff0689b7a1"
+   gui_color="#68f5eb116e0c"
   />
   <aircraft
    name="frog2"
@@ -236,10 +236,10 @@
    airframe="airframes/BR/bebop_indi_frog2.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="[modules/geo_mag.xml] modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
-   gui_color="#ffff0689b7a1"
+   gui_color="#ffff957fcc75"
   />
   <aircraft
    name="frog_flip"
@@ -250,28 +250,28 @@
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_indi.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml"
-   gui_color="blue"
+   gui_color="#b777d813cd0b"
   />
   <aircraft
    name="mavshot"
    ac_id="5"
-   airframe="airframes/TUDelft/airframes/mavshot.xml"
+   airframe="airframes/TUDELFT/tudelft_mavshot.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_indi.xml settings/modules/config_asctec_v2_new.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
+   gui_color="#ffff9027e8ad"
   />
   <aircraft
    name="quadshot_pylons"
    ac_id="178"
-   airframe="airframes/TUDelft/airframes/quadshot_pylons.xml"
+   airframe="airframes/TUDELFT/tudelft_quadshot_pylons.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/dummy.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml"
    settings_modules="modules/gps_ubx_ucenter.xml"
-   gui_color="blue"
+   gui_color="#b29eb22cffff"
   />
 </conf>
diff --git a/conf/airframes/TUDelft/control_panel.xml b/conf/TUDELFT/tudelft_control_panel.xml
similarity index 99%
rename from conf/airframes/TUDelft/control_panel.xml
rename to conf/TUDELFT/tudelft_control_panel.xml
index 07bad9f531..2ba582caaf 100644
--- a/conf/airframes/TUDelft/control_panel.xml
+++ b/conf/TUDELFT/tudelft_control_panel.xml
@@ -75,7 +75,7 @@
       </program>
       <program name="Joystick">
         <arg flag="-d" constant="2"/>
-        <arg flag="-ac" constant="LadyLisaBluegiga"/>
+        <arg flag="-ac" constant="@AIRCRAFT"/>
         <arg flag="hobbyking.xml"/>
       </program>
     </session>
diff --git a/conf/airframes/TUDelft/IMAV2013/conf.xml b/conf/TUDELFT/tudelft_imav_2013_conf.xml
similarity index 88%
rename from conf/airframes/TUDelft/IMAV2013/conf.xml
rename to conf/TUDELFT/tudelft_imav_2013_conf.xml
index 6952b07622..e73b58c4f3 100644
--- a/conf/airframes/TUDelft/IMAV2013/conf.xml
+++ b/conf/TUDELFT/tudelft_imav_2013_conf.xml
@@ -2,7 +2,7 @@
   <aircraft
    name="Ardrone2_182"
    ac_id="182"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -13,7 +13,7 @@
   <aircraft
    name="Ardrone2_184"
    ac_id="184"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -24,7 +24,7 @@
   <aircraft
    name="Ardrone2_186"
    ac_id="186"
-   airframe="airframes/TUDelft/IMAV2013/ardrone2.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -35,7 +35,7 @@
   <aircraft
    name="ChouChou_LisaS"
    ac_id="135"
-   airframe="airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -46,7 +46,7 @@
   <aircraft
    name="MavRick_LisaS"
    ac_id="131"
-   airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
@@ -68,7 +68,7 @@
   <aircraft
    name="Walkera_GeniusV1"
    ac_id="134"
-   airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
@@ -79,7 +79,7 @@
   <aircraft
    name="Walkera_V120D02S"
    ac_id="133"
-   airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
+   airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml"
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/airframes/TUDelft/conf_mavlink.xml b/conf/TUDELFT/tudelft_mavlink_conf.xml
similarity index 81%
rename from conf/airframes/TUDelft/conf_mavlink.xml
rename to conf/TUDELFT/tudelft_mavlink_conf.xml
index 5e890e3e69..f60ca7c897 100644
--- a/conf/airframes/TUDelft/conf_mavlink.xml
+++ b/conf/TUDELFT/tudelft_mavlink_conf.xml
@@ -2,10 +2,10 @@
   <aircraft
    name="BebopMavlink"
    ac_id="1"
-   airframe="airframes/TUDelft/airframes/bebop_mavlink.xml"
+   airframe="airframes/TUDELFT/tudelft_bebop_mavlink.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
+   flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml settings/control/rotorcraft_speed.xml"
    settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
    gui_color="#ffff0689b7a1"
diff --git a/conf/RM/rm_conf.xml b/conf/TUDELFT/tudelft_rm_conf.xml
similarity index 88%
rename from conf/RM/rm_conf.xml
rename to conf/TUDELFT/tudelft_rm_conf.xml
index 7f57fcde48..5700dd626c 100644
--- a/conf/RM/rm_conf.xml
+++ b/conf/TUDELFT/tudelft_rm_conf.xml
@@ -2,12 +2,12 @@
   <aircraft
    name="ardrone2"
    ac_id="201"
-   airframe="airframes/TUDelft/airframes/ardrone2_oa_clint_roland.xml"
+   airframe="airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_oa_avoid.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_indi.xml] settings/control/stabilization_rate.xml settings/control/stabilization_att_int_quat.xml"
-   settings_modules="modules/obstacle_avoidance.xml"
+   settings_modules=""
    gui_color="red"
   />
   <aircraft
diff --git a/conf/airframes/BR/DreamCacher_bart.xml b/conf/airframes/BR/DreamCacher_bart.xml
index 238d40cca5..c0ae2ac96b 100644
--- a/conf/airframes/BR/DreamCacher_bart.xml
+++ b/conf/airframes/BR/DreamCacher_bart.xml
@@ -67,7 +67,7 @@
     <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/ladybird1.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/ladybird1.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
index 6da37d180b..2e6eb58a79 100644
--- a/conf/airframes/BR/bebop_default.xml
+++ b/conf/airframes/BR/bebop_default.xml
@@ -83,7 +83,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop_bart.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop_bart.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
index a017e18d35..c735145afd 100644
--- a/conf/airframes/BR/bebop_indi.xml
+++ b/conf/airframes/BR/bebop_indi.xml
@@ -93,7 +93,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop8.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
index 804da44ed8..e9808fc511 100644
--- a/conf/airframes/BR/bebop_indi_frog.xml
+++ b/conf/airframes/BR/bebop_indi_frog.xml
@@ -93,7 +93,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop8.xml"/>
+  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/bebop_indi_frog2.xml b/conf/airframes/BR/bebop_indi_frog2.xml
index a3dd12e7b2..3cbe77e44d 100644
--- a/conf/airframes/BR/bebop_indi_frog2.xml
+++ b/conf/airframes/BR/bebop_indi_frog2.xml
@@ -91,7 +91,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop4.xml"/>
+  <include href="conf/airframes/TUDELFT/calibrations/bebop4.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
index 1b84942b2c..3048516905 100644
--- a/conf/airframes/BR/bebop_indi_frog_flip.xml
+++ b/conf/airframes/BR/bebop_indi_frog_flip.xml
@@ -95,7 +95,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop8.xml"/>
+  <include href="conf/airframes/TUDELFT/calibrations/bebop8.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/ladybird_kit_bart.xml b/conf/airframes/BR/ladybird_kit_bart.xml
index 7f3d8e6d25..ebc84e38ff 100644
--- a/conf/airframes/BR/ladybird_kit_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_bart.xml
@@ -67,7 +67,7 @@
     <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
index 075d5a2b22..d1e00f063e 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
@@ -67,7 +67,7 @@
     <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
index e227f08607..080b20ce07 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
@@ -67,7 +67,7 @@
     <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/ladybird18.xml"/>
+  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml"/>
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index 9f095abf98..5015d191d4 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -67,7 +67,7 @@
     <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/ladybird18.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/ladybird18.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
index 9f7cdca1e9..1a34a6cdb7 100644
--- a/conf/airframes/CDW/bebop.xml
+++ b/conf/airframes/CDW/bebop.xml
@@ -94,7 +94,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop5.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop5.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml b/conf/airframes/TUDELFT/IMAV2013/calibrations/182_calib.xml
similarity index 100%
rename from conf/airframes/TUDelft/IMAV2013/ARDrone/182_calib.xml
rename to conf/airframes/TUDELFT/IMAV2013/calibrations/182_calib.xml
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml b/conf/airframes/TUDELFT/IMAV2013/calibrations/184_calib.xml
similarity index 100%
rename from conf/airframes/TUDelft/IMAV2013/ARDrone/184_calib.xml
rename to conf/airframes/TUDELFT/IMAV2013/calibrations/184_calib.xml
diff --git a/conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml b/conf/airframes/TUDELFT/IMAV2013/calibrations/186_calib.xml
similarity index 100%
rename from conf/airframes/TUDelft/IMAV2013/ARDrone/186_calib.xml
rename to conf/airframes/TUDELFT/IMAV2013/calibrations/186_calib.xml
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
similarity index 98%
rename from conf/airframes/TUDelft/IMAV2013/ardrone2.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
index 8bd61070ec..b857295253 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_ardrone2.xml
@@ -71,7 +71,7 @@
     <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[3]"/>
   </command_laws>
 
-  <include href="conf/airframes/TUDelft/IMAV2013/ARDrone/$AC_ID_calib.xml"/>
+  <include href="conf/airframes/TUDELFT/IMAV2013/calibrations/$AC_ID_calib.xml"/>
   <section name="IMU" prefix="IMU_">
     <!-- Body to IMU is no difference -->
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
similarity index 100%
rename from conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
diff --git a/conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml
similarity index 99%
rename from conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml
index 8e4329dd84..3b1e452aeb 100644
--- a/conf/airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml
@@ -3,7 +3,7 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/TUDelft/IMAV2013/mavrick_lisa_s.xml"
+     airframe="airframes/TUDELFT/IMAV2013/tudelft_mavrick_lisa_s.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_fixedwing.xml"
      flight_plan="flight_plans/fixedwing_basic.xml"
diff --git a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
similarity index 100%
rename from conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml
similarity index 98%
rename from conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml
index b7ced391ce..0b2878df6b 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml
@@ -3,7 +3,7 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/TUDelft/IMAV2013/walkera_V120D02S.xml"
+     airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_V120D02S.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml
similarity index 98%
rename from conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
rename to conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml
index e602b2d845..b2920e6c87 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml
@@ -3,7 +3,7 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/TUDelft/IMAV2013/walkera_genius_v1.xml"
+     airframe="airframes/TUDELFT/IMAV2013/tudelft_walkera_genius_v1.xml"
      radio="radios/cockpitSX.xml"
      telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/rotorcraft_basic.xml"
diff --git a/conf/airframes/TUDelft/calibrations/bebop10.xml b/conf/airframes/TUDELFT/calibrations/bebop10.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop10.xml
rename to conf/airframes/TUDELFT/calibrations/bebop10.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop2.xml b/conf/airframes/TUDELFT/calibrations/bebop2.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop2.xml
rename to conf/airframes/TUDELFT/calibrations/bebop2.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop2_22.xml b/conf/airframes/TUDELFT/calibrations/bebop2_22.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop2_22.xml
rename to conf/airframes/TUDELFT/calibrations/bebop2_22.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop2_23.xml b/conf/airframes/TUDELFT/calibrations/bebop2_23.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop2_23.xml
rename to conf/airframes/TUDELFT/calibrations/bebop2_23.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop4.xml b/conf/airframes/TUDELFT/calibrations/bebop4.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop4.xml
rename to conf/airframes/TUDELFT/calibrations/bebop4.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop5.xml b/conf/airframes/TUDELFT/calibrations/bebop5.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop5.xml
rename to conf/airframes/TUDELFT/calibrations/bebop5.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop6.xml b/conf/airframes/TUDELFT/calibrations/bebop6.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop6.xml
rename to conf/airframes/TUDELFT/calibrations/bebop6.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop7.xml b/conf/airframes/TUDELFT/calibrations/bebop7.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop7.xml
rename to conf/airframes/TUDELFT/calibrations/bebop7.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop8.xml b/conf/airframes/TUDELFT/calibrations/bebop8.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop8.xml
rename to conf/airframes/TUDELFT/calibrations/bebop8.xml
diff --git a/conf/airframes/TUDelft/calibrations/bebop_bart.xml b/conf/airframes/TUDELFT/calibrations/bebop_bart.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/bebop_bart.xml
rename to conf/airframes/TUDELFT/calibrations/bebop_bart.xml
diff --git a/conf/airframes/TUDelft/calibrations/ladybird1.xml b/conf/airframes/TUDELFT/calibrations/ladybird1.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/ladybird1.xml
rename to conf/airframes/TUDELFT/calibrations/ladybird1.xml
diff --git a/conf/airframes/TUDelft/calibrations/ladybird18.xml b/conf/airframes/TUDELFT/calibrations/ladybird18.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/ladybird18.xml
rename to conf/airframes/TUDELFT/calibrations/ladybird18.xml
diff --git a/conf/airframes/TUDelft/calibrations/ladybird3.xml b/conf/airframes/TUDELFT/calibrations/ladybird3.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/ladybird3.xml
rename to conf/airframes/TUDELFT/calibrations/ladybird3.xml
diff --git a/conf/airframes/TUDelft/calibrations/ladybird4.xml b/conf/airframes/TUDELFT/calibrations/ladybird4.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/ladybird4.xml
rename to conf/airframes/TUDELFT/calibrations/ladybird4.xml
diff --git a/conf/airframes/TUDelft/calibrations/ladybird5.xml b/conf/airframes/TUDELFT/calibrations/ladybird5.xml
similarity index 100%
rename from conf/airframes/TUDelft/calibrations/ladybird5.xml
rename to conf/airframes/TUDELFT/calibrations/ladybird5.xml
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_flip.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_flip.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
index 6e18cfff92..f68ecd0cd6 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_flip.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_indi">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_indi.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_indi.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
index 3f56d93bed..e9ced3802f 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_indi.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_indi">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_oa_clint_roland.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_oa_clint_roland.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
index c8a5a0b613..d467db9bde 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_oa_clint_roland.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_oa_avoid">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
index 87a0abc72c..6bd52a73bb 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_opticflow">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
index 55b4ea049d..ad585fd576 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_ins.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_opticflow">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
index 2a5c99fd0c..401c45dc1c 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_opticflow_stereo.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_opticflow">
 
diff --git a/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml
rename to conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
index 763727bf17..df4862897f 100644
--- a/conf/airframes/TUDelft/airframes/ardrone2_optitrack.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="ardrone2_optitrack">
 
diff --git a/conf/airframes/TUDelft/airframes/asctec_freek.xml b/conf/airframes/TUDELFT/tudelft_asctec_freek.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/asctec_freek.xml
rename to conf/airframes/TUDELFT/tudelft_asctec_freek.xml
index b3a6d464fc..b7207115e6 100644
--- a/conf/airframes/TUDelft/airframes/asctec_freek.xml
+++ b/conf/airframes/TUDELFT/tudelft_asctec_freek.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- this is a quadrotor frame in X-configuration equiped with
      * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
diff --git a/conf/airframes/TUDelft/airframes/bebop2_indi.xml b/conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
similarity index 98%
rename from conf/airframes/TUDelft/airframes/bebop2_indi.xml
rename to conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
index ea04be3062..cca4aee978 100644
--- a/conf/airframes/TUDelft/airframes/bebop2_indi.xml
+++ b/conf/airframes/TUDELFT/tudelft_bebop2_indi.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop2_indi">
 
@@ -71,7 +71,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop2_$AC_ID.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop2_$AC_ID.xml" />
 
   <!-- local magnetic field -->
   <!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
diff --git a/conf/airframes/TUDelft/airframes/bebop_flip.xml b/conf/airframes/TUDELFT/tudelft_bebop_flip.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/bebop_flip.xml
rename to conf/airframes/TUDELFT/tudelft_bebop_flip.xml
index 877602dfe5..29eb112e98 100644
--- a/conf/airframes/TUDelft/airframes/bebop_flip.xml
+++ b/conf/airframes/TUDELFT/tudelft_bebop_flip.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop_indi">
 
diff --git a/conf/airframes/TUDelft/airframes/bebop_indi.xml b/conf/airframes/TUDELFT/tudelft_bebop_indi.xml
similarity index 98%
rename from conf/airframes/TUDelft/airframes/bebop_indi.xml
rename to conf/airframes/TUDELFT/tudelft_bebop_indi.xml
index 022b3c9601..73c5bf7f46 100644
--- a/conf/airframes/TUDelft/airframes/bebop_indi.xml
+++ b/conf/airframes/TUDELFT/tudelft_bebop_indi.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop_indi">
 
@@ -72,7 +72,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop7.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop7.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/airframes/bebop_mavlink.xml b/conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
similarity index 98%
rename from conf/airframes/TUDelft/airframes/bebop_mavlink.xml
rename to conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
index 61fad62179..d4adf69639 100644
--- a/conf/airframes/TUDelft/airframes/bebop_mavlink.xml
+++ b/conf/airframes/TUDELFT/tudelft_bebop_mavlink.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <airframe name="bebop_indi">
 
@@ -100,7 +100,7 @@
     <define name="CALC_AMSL_BARO" value="TRUE"/>
   </section>
 
-  <include href="conf/airframes/TUDelft/calibrations/bebop5.xml" />
+  <include href="conf/airframes/TUDELFT/calibrations/bebop5.xml" />
 
   <section name="IMU" prefix="IMU_">
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
diff --git a/conf/airframes/TUDelft/airframes/old/delfly.xml b/conf/airframes/TUDELFT/tudelft_delfly.xml
similarity index 100%
rename from conf/airframes/TUDelft/airframes/old/delfly.xml
rename to conf/airframes/TUDELFT/tudelft_delfly.xml
diff --git a/conf/airframes/TUDelft/airframes/heli450.xml b/conf/airframes/TUDELFT/tudelft_heli450.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/heli450.xml
rename to conf/airframes/TUDELFT/tudelft_heli450.xml
index 7ffb51fba3..cf1d2af6a3 100644
--- a/conf/airframes/TUDelft/airframes/heli450.xml
+++ b/conf/airframes/TUDELFT/tudelft_heli450.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- this is a quadrotor frame in X-configuration equiped with
      * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
diff --git a/conf/airframes/TUDelft/airframes/logo600.xml b/conf/airframes/TUDELFT/tudelft_logo600.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/logo600.xml
rename to conf/airframes/TUDELFT/tudelft_logo600.xml
index 4ef3ef0a37..af676d426c 100644
--- a/conf/airframes/TUDelft/airframes/logo600.xml
+++ b/conf/airframes/TUDELFT/tudelft_logo600.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- this is a quadrotor frame in X-configuration equiped with
      * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
diff --git a/conf/airframes/TUDelft/airframes/mavshot.xml b/conf/airframes/TUDELFT/tudelft_mavshot.xml
similarity index 100%
rename from conf/airframes/TUDelft/airframes/mavshot.xml
rename to conf/airframes/TUDELFT/tudelft_mavshot.xml
diff --git a/conf/airframes/TUDelft/airframes/mavtec4.xml b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/mavtec4.xml
rename to conf/airframes/TUDELFT/tudelft_mavtec4.xml
index 2ba4694d03..0a848ea444 100644
--- a/conf/airframes/TUDelft/airframes/mavtec4.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- this is a quadrotor frame in X-configuration equiped with
      * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
diff --git a/conf/airframes/TUDelft/airframes/mavtec5.xml b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/mavtec5.xml
rename to conf/airframes/TUDELFT/tudelft_mavtec5.xml
index 3cdaa978ca..f189af323f 100644
--- a/conf/airframes/TUDelft/airframes/mavtec5.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
 <!-- this is a quadrotor frame in X-configuration equiped with
      * Autopilot:   Lisa/MX 2.1 with STM32F4  http://wiki.paparazziuav.org/wiki/Lisa/M_v21
diff --git a/conf/airframes/TUDelft/airframes/quadshot_pylons.xml b/conf/airframes/TUDELFT/tudelft_quadshot_pylons.xml
similarity index 100%
rename from conf/airframes/TUDelft/airframes/quadshot_pylons.xml
rename to conf/airframes/TUDELFT/tudelft_quadshot_pylons.xml
diff --git a/conf/airframes/TUDelft/airframes/rm_ardrone2.xml b/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
similarity index 99%
rename from conf/airframes/TUDelft/airframes/rm_ardrone2.xml
rename to conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
index b76b6d8e8b..ede1e0ec4a 100644
--- a/conf/airframes/TUDelft/airframes/rm_ardrone2.xml
+++ b/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
 <!-- RM airframe with INDI and video logging-->
 <airframe name="ardrone2_indi">
   <firmware name="rotorcraft">
diff --git a/conf/airframes/TUDelft/airframes/old/silverlit_lisas.xml b/conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml
similarity index 100%
rename from conf/airframes/TUDelft/airframes/old/silverlit_lisas.xml
rename to conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml
diff --git a/conf/airframes/TUDelft/airframes/walkera_genius_v2.xml b/conf/airframes/TUDELFT/tudelft_walkera_genius_v2.xml
similarity index 100%
rename from conf/airframes/TUDelft/airframes/walkera_genius_v2.xml
rename to conf/airframes/TUDELFT/tudelft_walkera_genius_v2.xml
diff --git a/conf/flight_plans/Tudelft/delft_basic.xml b/conf/flight_plans/TUDELFT/tudelft_delft_basic.xml
similarity index 100%
rename from conf/flight_plans/Tudelft/delft_basic.xml
rename to conf/flight_plans/TUDELFT/tudelft_delft_basic.xml
diff --git a/conf/flight_plans/mavtec_outdoor_demo.xml b/conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml
similarity index 100%
rename from conf/flight_plans/mavtec_outdoor_demo.xml
rename to conf/flight_plans/TUDELFT/tudelft_mavtec_outdoor_demo.xml
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_antwerpen.xml b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_antwerpen.xml
similarity index 84%
rename from conf/flight_plans/Tudelft/rotorcraft_survey_antwerpen.xml
rename to conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_antwerpen.xml
index c72a40dbe3..977175c509 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_antwerpen.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_antwerpen.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
-<flight_plan alt="152" ground_alt="147" lat0="51.2788881" lon0="4.4135337" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
+<flight_plan alt="152" ground_alt="147" lat0="51.2788881" lon0="4.4135337" max_dist_from_home="150" name="Rotorcraft Survey Antwerpen" security_height="2">
 
   <waypoints>
     <waypoint name="HOME" x="-8.9" y="21.1"/>
@@ -21,7 +21,7 @@
   </waypoints>
 
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="tudelft_rotorcraft_survey_mission.xml"/>
   </includes>
 
   <blocks>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_aubel.xml b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_aubel.xml
similarity index 97%
rename from conf/flight_plans/Tudelft/rotorcraft_survey_aubel.xml
rename to conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_aubel.xml
index 26376ad1fe..82b5836a90 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_aubel.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_aubel.xml
@@ -60,7 +60,7 @@
     </sector>
   </sectors>
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="tudelft_rotorcraft_survey_mission.xml"/>
   </includes>
   <blocks>
     <block name="Dummy"/>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml
similarity index 94%
rename from conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml
rename to conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml
index 25e674086c..e3e8ca95dd 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_delft.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_delft.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
 
-<flight_plan alt="15" ground_alt="0" lat0="51.991126" lon0="4.378142" max_dist_from_home="150" name="Survey-Drop-Race" security_height="2">
+<flight_plan alt="15" ground_alt="0" lat0="51.991126" lon0="4.378142" max_dist_from_home="150" name="Survey-Drop-Race-Delft" security_height="2">
   <waypoints>
     <waypoint name="HOME" x="0.0" y="0.0"/>
     <waypoint name="CLIMB" x="0.0" y="5.0"/>
@@ -72,7 +72,7 @@
     </sector>
   </sectors>
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="tudelft_rotorcraft_survey_mission.xml"/>
   </includes>
   <blocks>
     <block name="Dummy"/>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml
similarity index 98%
rename from conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
rename to conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml
index 84b4d02c15..17f0b39891 100644
--- a/conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
+++ b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml
@@ -95,7 +95,7 @@
     </sector>
   </sectors>
   <includes>
-    <include name="Mission" procedure="rotorcraft_survey_mission.xml"/>
+    <include name="Mission" procedure="tudelft_rotorcraft_survey_mission.xml"/>
   </includes>
   <blocks>
     <block name="Dummy"/>
diff --git a/conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml b/conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_mission.xml
similarity index 100%
rename from conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
rename to conf/flight_plans/TUDELFT/tudelft_rotorcraft_survey_mission.xml
diff --git a/conf/telemetry/xbee868.xml b/conf/telemetry/TUDELFT/tudelft_xbee868.xml
similarity index 100%
rename from conf/telemetry/xbee868.xml
rename to conf/telemetry/TUDELFT/tudelft_xbee868.xml