From c019f2b255f99cc061d143c6cb8827c7aca25a18 Mon Sep 17 00:00:00 2001
From: Piotr Esden-Tempski <piotr@esden.net>
Date: Wed, 6 Jun 2012 19:59:21 -0700
Subject: [PATCH] [airframe] Cleaned up my airframe directory.

Removed all old long untested airframes. Added new currently active
airframes and calibration files.
---
 conf/airframes/esden/calib/asp21-001.xml      |  34 +++
 conf/airframes/esden/calib/asp21-018.xml      |  29 ++
 conf/airframes/esden/hexy_ll11a2pwm.xml       | 283 ++++++++++++++++++
 conf/airframes/esden/jt_lisam.xml             | 223 --------------
 conf/airframes/esden/lisa_asctec.xml          | 227 --------------
 conf/airframes/esden/lisa_asctec_aspirin.xml  | 241 ---------------
 conf/airframes/esden/lisa_pwm_aspirin.xml     | 245 ---------------
 conf/airframes/esden/quady_ll11a2pwm.xml      | 279 +++++++++++++++++
 .../{lisa_m_pwm.xml => quady_lm1a1pwm.xml}    | 156 +++++-----
 ...a_m_2_asp_2_pwm.xml => quady_lm2a2pwm.xml} |  80 +++--
 conf/airframes/esden/synerani_4B.xml          | 248 ---------------
 11 files changed, 749 insertions(+), 1296 deletions(-)
 create mode 100644 conf/airframes/esden/calib/asp21-001.xml
 create mode 100644 conf/airframes/esden/calib/asp21-018.xml
 create mode 100644 conf/airframes/esden/hexy_ll11a2pwm.xml
 delete mode 100644 conf/airframes/esden/jt_lisam.xml
 delete mode 100644 conf/airframes/esden/lisa_asctec.xml
 delete mode 100644 conf/airframes/esden/lisa_asctec_aspirin.xml
 delete mode 100644 conf/airframes/esden/lisa_pwm_aspirin.xml
 create mode 100644 conf/airframes/esden/quady_ll11a2pwm.xml
 rename conf/airframes/esden/{lisa_m_pwm.xml => quady_lm1a1pwm.xml} (61%)
 rename conf/airframes/esden/{lisa_m_2_asp_2_pwm.xml => quady_lm2a2pwm.xml} (77%)
 delete mode 100644 conf/airframes/esden/synerani_4B.xml

diff --git a/conf/airframes/esden/calib/asp21-001.xml b/conf/airframes/esden/calib/asp21-001.xml
new file mode 100644
index 00000000000..fbbb7623404
--- /dev/null
+++ b/conf/airframes/esden/calib/asp21-001.xml
@@ -0,0 +1,34 @@
+<!-- Default Aspirin V2.1 values based on the datasheet -->
+<!-- You can also just leave out those defines then the defaults will be provided by imu_aspirin2.h -->
+
+<airframe>
+  <section name="IMU" prefix="IMU_">
+
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="0"/>
+    <define name="GYRO_Q_NEUTRAL" value="0"/>
+    <define name="GYRO_R_NEUTRAL" value="0"/>
+
+    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
+    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.359" integer="16"/>
+    
+    <define name="ACCEL_X_NEUTRAL" value="73"/>
+    <define name="ACCEL_Y_NEUTRAL" value="21"/>
+    <define name="ACCEL_Z_NEUTRAL" value="105"/>
+
+    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
+    <define name="ACCEL_X_SENS" value="4.92045228937" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.88903140733" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.83353418195" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-154"/>
+    <define name="MAG_Y_NEUTRAL" value="150"/>
+    <define name="MAG_Z_NEUTRAL" value="-16"/>
+    <define name="MAG_X_SENS" value="4.03002681028" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.07539365461" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.09839770829" integer="16"/>
+
+  </section>
+</airframe>
diff --git a/conf/airframes/esden/calib/asp21-018.xml b/conf/airframes/esden/calib/asp21-018.xml
new file mode 100644
index 00000000000..b6741862182
--- /dev/null
+++ b/conf/airframes/esden/calib/asp21-018.xml
@@ -0,0 +1,29 @@
+<airframe>
+  <section name="IMU" prefix="IMU_">
+
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="-10"/>
+    <define name="GYRO_Q_NEUTRAL" value="13"/>
+    <define name="GYRO_R_NEUTRAL" value="-51"/>
+
+    <!-- SENS = 16.4 LSB/(deg/sec) * 57.6 deg/rad = 939.650 LSB/rad/sec / 12bit FRAC: 4096 / 939.65 -->
+    <define name="GYRO_P_SENS" value="4.359" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.359" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.359" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="43"/>
+    <define name="ACCEL_Y_NEUTRAL" value="14"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-22"/>
+    <define name="ACCEL_X_SENS" value="4.87086303697" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.90476669212" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.82960340615" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="59"/>
+    <define name="MAG_Y_NEUTRAL" value="-36"/>
+    <define name="MAG_Z_NEUTRAL" value="-12"/>
+    <define name="MAG_X_SENS" value="4.0033942747" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.96136096593" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.39591729218" integer="16"/>
+
+  </section>
+</airframe>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
new file mode 100644
index 00000000000..10700993cb4
--- /dev/null
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -0,0 +1,283 @@
+<!-- this is a star hexacopter frame equiped with Lisa/L 1.1, Aspirin 2.1 and generic china pwm motor controllers -->
+
+<!--
+     Applicable configuration:
+     airframe="airframes/esden/hexy_ll11a2pwm.xml"
+     radio="radios/cockpitSX.xml"
+     telemetry="telemetry/telemetry_booz2.xml"
+     flight_plan="flight_plans/dummy.xml"
+     settings="settings/settings_booz2.xml"
+-->
+
+<airframe name="hexy_ll11a2pwm">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT_LEFT"   no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="FRONT_RIGHT"  no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="RIGHT"        no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="BACK_RIGHT"   no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="BACK_LEFT"    no="4" min="1000" neutral="1000" max="2000"/>
+    <servo name="LEFT"         no="5" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <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"/>
+    -->
+    <set servo="FRONT_LEFT"   value="0"/>
+    <set servo="FRONT_RIGHT"  value="1"/>
+    <set servo="RIGHT"        value="2"/>
+    <set servo="BACK_RIGHT"   value="3"/>
+    <set servo="BACK_LEFT"    value="4"/>
+    <set servo="LEFT"         value="5"/>
+
+  </command_laws>
+
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="STOP_MOTOR" value="1000"/>
+    <define name="MIN_MOTOR" value="1100"/>
+    <define name="MAX_MOTOR" value="1920"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="6"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  256, -256, -256, -256,  256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256,  256,    0, -256, -256,    0 }"/>
+    <define name="YAW_COEF"    value="{  256, -256,  256, -256,  256, -256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256,  256,  256 }"/>
+    <!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="2"/-->
+  </section>
+
+  <include href="conf/airframes/esden/calib/asp21-001.xml"/>
+
+  <section name="IMU" prefix="IMU_">
+	  <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 180. )"/>
+  </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_HOVER_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </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="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_PSI"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+    <define name="DEADBAND_A"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- simonk esc firmware gains light quad? -->
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="570"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="570"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="1300"/>
+    <define name="PSI_DGAIN"  value="1000"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 530"/>
+    <define name="THETA_DDGAIN" value=" 530"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+    
+    <!-- simonk esc firmware gains light quad? -->
+    <!-- feedback -->
+    <!--define name="PHI_PGAIN"  value="1300"/>
+    <define name="PHI_DGAIN"  value="1000"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="1300"/>
+    <define name="THETA_DGAIN"  value="1000"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="1300"/>
+    <define name="PSI_DGAIN"  value="1000"/>
+    <define name="PSI_IGAIN"  value="10"/-->
+
+    <!-- feedforward -->
+    <!--define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/-->
+
+    <!-- stock china esc firmware gains -->
+    <!-- feedback -->
+    <!--define name="PHI_PGAIN"  value="390"/>
+    <define name="PHI_DGAIN"  value="260"/>
+    <define name="PHI_IGAIN"  value="50"/>
+
+    <define name="THETA_PGAIN"  value="390"/>
+    <define name="THETA_DGAIN"  value="260"/>
+    <define name="THETA_IGAIN"  value="50"/>
+
+    <define name="PSI_PGAIN"  value="780"/>
+    <define name="PSI_DGAIN"  value="520"/>
+    <define name="PSI_IGAIN"  value="10"/-->
+
+    <!-- feedforward -->
+    <!--define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/-->
+
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="10." integer="16"/>
+  </section>
+
+ <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR" value="2000000"/>
+   <define name="HOVER_KP"    value="830"/>
+   <define name="HOVER_KD"    value="650"/>
+   <define name="HOVER_KI"    value="100"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
+  </section>
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="50"/>
+   <define name="DGAIN" value="50"/>
+   <define name="IGAIN" value="0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+ <modules main_freq="512">
+   <!--load name="vehicle_interface_overo_link.xml"/-->
+   <load name="gps_ubx_ucenter.xml"/>
+ </modules>
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.1">
+<!--      <define name="BOOZ_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="pwm_supervision"/>
+      <subsystem name="telemetry"     type="transparent"/>
+      <define name="SERVO_HZ" value="400"/>
+      <define name="RADIO_MODE" value="RADIO_AUX2"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
+      <!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
+    <subsystem name="imu"           type="aspirin_v2.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <!--define name="USE_INS_NAV_INIT"/-->
+    <!--subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/-->
+  </firmware>
+
+
+  <firmware name="lisa_test_progs">
+    <target name="test_led"			board="lisa_l_1.1">
+        <configure name="SYS_TIME_LED" value="none"/>
+    </target>
+    <target name="test_uart"			board="lisa_l_1.1"/>
+    <target name="test_servos"			board="lisa_l_1.1"/>
+    <target name="test_telemetry"		board="lisa_l_1.1"/>
+    <target name="test_imu_aspirin"		board="lisa_l_1.1"/>
+    <target name="test_rc_spektrum"		board="lisa_l_1.1"/>
+    <target name="test_baro"			board="lisa_l_1.1"/>
+    <!--<target name="test_imu"			board="lisa_l_1.1"/>
+    <target name="test_rc_ppm"			board="lisa_l_1.1"/>
+    <target name="test_adc"			board="lisa_l_1.1"/>
+    <target name="test_hmc5843"			board="lisa_l_1.1"/>
+    <target name="test_itg3200"			board="lisa_l_1.1"/>
+    <target name="test_adxl345"			board="lisa_l_1.1"/>
+    <target name="test_esc_mkk_simple"		board="lisa_l_1.1"/>
+    <target name="test_esc_asctecv1_simple"	board="lisa_l_1.1"/>
+    <target name="test_actuators_mkk"		board="lisa_l_1.1"/>
+    <target name="test_actuators_asctecv1"	board="lisa_l_1.1"/-->
+  </firmware>
+</airframe>
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
deleted file mode 100644
index f01d75739cf..00000000000
--- a/conf/airframes/esden/jt_lisam.xml
+++ /dev/null
@@ -1,223 +0,0 @@
-<!-- this is a synerani vehicle equiped with Lisa/M and generic china pwm motor controllers -->
-
-<airframe name="jt_lisam">
-
-  <servos>
-    <servo name="A1"            no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="A2"            no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="B1"            no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="B2"            no="3" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="4" min="2000" neutral="1500" max="1000"/>
-    <servo name="AILEVON_RIGHT" no="5" min="2000" neutral="1500" max="1000"/>
-  </servos>
-
-  <commands>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <command_laws>
-    <set servo="AILEVON_LEFT"         value="-@ROLL"/>
-    <set servo="AILEVON_RIGHT"        value="-@ROLL"/>
-  </command_laws>
-
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
-  <section name="ROTORCRAFT" prefix="ROTORCRAFT_">
-    <define name="COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE"/>
- </section>
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="1100"/>
-    <define name="MAX_MOTOR" value="1800"/>
-    <define name="TRIM_A" value="0"/>
-    <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="PITCH_COEF"  value="{ -256, -256,  256,  256 }"/>
-    <define name="ROLL_COEF"    value="{    0,    0,    0,    0 }"/>
-    <define name="YAW_COEF"   value="{  256, -256,  256, -256 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-  </section>
-
-  <include href="conf/airframes/esden/calib/aspirin_jtm.xml"/>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="BODY_TO_IMU_PHI"   value="180. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
-
-  </section>
-
- <section name="AUTOPILOT">
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_RC_CLIMB"/>
-   <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
-   <define name="AUTOPILOT_KILL_WITHOUT_AHRS"  value="TRUE"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </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_PSI"     value="RadOfDeg(45.)"/>
-    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
-    <define name="DEADBAND_R"     value="250"/>
-    <define name="DEADBAND_A"     value="250"/>
-
-    <!-- reference -->
-    <define name="REF_OMEGA_R"  value="600" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.90"/>
-    <define name="REF_MAX_R"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.90"/>
-    <define name="REF_MAX_Q"    value="500." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_P"  value="600" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="220." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PSI_PGAIN"  value="750"/>
-    <define name="PSI_DGAIN"  value="370"/>
-    <define name="PSI_IGAIN"  value="100"/>
-
-    <define name="THETA_PGAIN"  value="800"/>
-    <define name="THETA_DGAIN"  value="240"/>
-    <define name="THETA_IGAIN"  value="100"/>
-
-    <define name="PHI_PGAIN"  value="4000"/>
-    <define name="PHI_DGAIN"  value="600"/>
-    <define name="PHI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
-
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="3.3" integer="16"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="150"/>
-   <define name="HOVER_KD"    value="80"/>
-   <define name="HOVER_KI"    value="20"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.21"/>
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
-    <!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
-    <define name="H_X" value=" 0.47577"/>
-    <define name="H_Y" value=" 0.11811"/>
-    <define name="H_Z" value=" 0.87161"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
-
-<!--
- <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
--->
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_m_1.0">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="pwm_supervision"/>
-      <subsystem name="telemetry"     type="transparent"/>
-      <define name="SERVO_HZ" value="400"/>
-      <define name="SERVO_HZ_SECONDARY" value="40"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
-      <define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
-      <define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
-    </target>
-    <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
-    </target>
-
-    <subsystem name="imu"           type="aspirin_v1.0"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-    <subsystem name="stabilization" type="quaternion"/>
-  </firmware>
-
-
-  <firmware name="lisa_test_progs">
-    <target name="test_led"			board="lisa_m_1.0"/>
-    <target name="test_uart_lisam"			board="lisa_m_1.0"/>
-    <target name="test_servos"			board="lisa_m_1.0"/>
-    <target name="test_telemetry"		board="lisa_m_1.0"/>
-    <target name="test_imu_aspirin"			board="lisa_m_1.0"/>
-    <target name="test_rc_spektrum"		board="lisa_m_1.0"/>
-    <target name="test_baro"			board="lisa_m_1.0"/>
-    <!--<target name="test_imu"			board="lisa_m_1.0"/>
-    <target name="test_rc_ppm"			board="lisa_m_1.0"/>
-    <target name="test_adc"			board="lisa_m_1.0"/>
-    <target name="test_hmc5843"			board="lisa_m_1.0"/>
-    <target name="test_itg3200"			board="lisa_m_1.0"/>
-    <target name="test_adxl345"			board="lisa_m_1.0"/>
-    <target name="test_esc_mkk_simple"		board="lisa_m_1.0"/>
-    <target name="test_esc_asctecv1_simple"	board="lisa_m_1.0"/>
-    <target name="test_actuators_mkk"		board="lisa_m_1.0"/>
-    <target name="test_actuators_asctecv1"	board="lisa_m_1.0"/-->
-  </firmware>
-</airframe>
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
deleted file mode 100644
index 34b90eb86bf..00000000000
--- a/conf/airframes/esden/lisa_asctec.xml
+++ /dev/null
@@ -1,227 +0,0 @@
-<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->
-
-<airframe name="lisa_asctec">
-
-  <servos>
-    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
-    <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
-    <servo name="RIGHT"   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>
-
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="3"/>
-    <define name="MAX_MOTOR" value="200"/>
-    <define name="TRIM_A" value="0"/>
-    <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="32276"/>
-    <define name="GYRO_Q_NEUTRAL" value="33987"/>
-    <define name="GYRO_R_NEUTRAL" value="32801"/>
-    <define name="GYRO_P_SENS" value="0.92466" integer="16"/>
-    <define name="GYRO_Q_SENS" value="0.93226" integer="16"/>
-    <define name="GYRO_R_SENS" value="0.92943" integer="16"/>
-    <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_PR_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_QR_SENS" value="0.0" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="25875"/>
-    <define name="ACCEL_Y_NEUTRAL" value="26273"/>
-    <define name="ACCEL_Z_NEUTRAL" value="26152"/>
-    <define name="ACCEL_X_SENS" value="1.8788156268" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="1.88941543145" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="1.90349115464" integer="16"/>
-    <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-    <define name="MAG_X_SENS" value="1." integer="16"/>
-    <define name="MAG_Y_SENS" value="1." integer="16"/>
-    <define name="MAG_Z_SENS" value="1." integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
-
-  </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_HOVER_Z_HOLD"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </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="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="900"/>
-    <define name="PHI_DGAIN"  value="200"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="900"/>
-    <define name="THETA_DGAIN"  value="200"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="900"/>
-    <define name="PSI_DGAIN"  value="200"/>
-    <define name="PSI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN"   value=" 200"/>
-
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="500"/>
-   <define name="HOVER_KD"    value="200"/>
-   <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.2"/>
-  </section>
-
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
-
- <modules main_freq="512">
-   <!--load name="vehicle_interface_overo_link.xml"/-->
- </modules>
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.1">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
-      <subsystem name="radio_control" type="spektrum"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
-    </target>
-    <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-    </target>
-
-    <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="asctec_v2"/>
-    <subsystem name="imu"           type="b2_v1.1"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
-  </firmware>
-
-  <firmware name="lisa_test_progs">
-    <target name="test_led"   board="lisa_l_1.1">
-        <configure name="SYS_TIME_LED" value="none"/>
-    </target>
-    <target name="test_uart"   board="lisa_l_1.1"/>
-    <target name="test_servos"   board="lisa_l_1.1"/>
-    <target name="test_telemetry"   board="lisa_l_1.1"/>
-    <target name="test_baro"        board="lisa_l_1.1"/>
-    <target name="test_imu_b2"      board="lisa_l_1.1"/>
-    <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
-    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
-    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
-    <target name="test_rc_ppm"      board="lisa_l_1.1"/>
-    <target name="test_adc"         board="lisa_l_1.1"/>
-    <target name="test_hmc5843"     board="lisa_l_1.1"/>
-    <target name="test_itg3200"     board="lisa_l_1.1"/>
-    <target name="test_adxl345"             board="lisa_l_1.1"/>
-    <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
-    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
-  </firmware>
-
-
-</airframe>
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
deleted file mode 100644
index f8e702ef252..00000000000
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ /dev/null
@@ -1,241 +0,0 @@
-<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->
-
-<airframe name="lisa_asctec">
-
-  <servos>
-    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
-    <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
-    <servo name="RIGHT"   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>
-
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="3"/>
-    <define name="MAX_MOTOR" value="200"/>
-    <define name="TRIM_A" value="0"/>
-    <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="-227"/>
-    <define name="GYRO_Q_NEUTRAL" value="48"/>
-    <define name="GYRO_R_NEUTRAL" value="21"/>
-    <define name="GYRO_P_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_Q_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_R_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_PR_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_QR_SENS" value="0.0" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="4"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-14"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-5"/>
-    <define name="ACCEL_X_SENS" value="39" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="39" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39" integer="16"/>
-    <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-    <define name="MAG_X_SENS" value="1." integer="16"/>
-    <define name="MAG_Y_SENS" value="1." integer="16"/>
-    <define name="MAG_Z_SENS" value="1." integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
-
-  </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_HOVER_Z_HOLD"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </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="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="900"/>
-    <define name="PHI_DGAIN"  value="200"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="900"/>
-    <define name="THETA_DGAIN"  value="200"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="900"/>
-    <define name="PSI_DGAIN"  value="200"/>
-    <define name="PSI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 200"/>
-    <define name="THETA_DDGAIN" value=" 200"/>
-    <define name="PSI_DDGAIN"   value=" 200"/>
-
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="500"/>
-   <define name="HOVER_KD"    value="200"/>
-   <define name="HOVER_KI"    value="100"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.2"/>
-  </section>
-
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
-
-<!-- -->
- <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
-<!-- -->
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.1">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="asctec_v2"/>
-      <subsystem name="telemetry"     type="transparent"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
-    </target>
-    <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
-    </target>
-
-    <subsystem name="imu"           type="aspirin_v1.0"/>
-    <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler"/>
-  </firmware>
-
-  <firmware name="lisa_test_progs">
-    <target name="test_led"   board="lisa_l_1.1"/>
-    <target name="test_uart"   board="lisa_l_1.1"/>
-    <target name="test_servos"   board="lisa_l_1.1"/>
-    <target name="test_telemetry"   board="lisa_l_1.1"/>
-    <target name="test_baro"        board="lisa_l_1.1"/>
-    <target name="test_imu_b2"      board="lisa_l_1.1"/>
-    <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
-    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
-    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
-    <target name="test_rc_ppm"      board="lisa_l_1.1"/>
-    <target name="test_adc"         board="lisa_l_1.1"/>
-    <target name="test_hmc5843"     board="lisa_l_1.1"/>
-    <target name="test_itg3200"     board="lisa_l_1.1"/>
-    <target name="test_adxl345"             board="lisa_l_1.1"/>
-    <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
-    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
-  </firmware>
-
-  <firmware name="lisa_passthrough">
-    <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <configure name="HOST"          value="A7"/>
-      <configure name="USER"          value=""/>
-      <configure name="TARGET_DIR"    value="~"/>
-      <configure name="PERIODIC_FREQ" value="512"/>
-    </target>
-    <target name="stm_passthrough" board="lisa_l_1.1">
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="imu" type="b2_v1.1"/>
-    </target>
- </firmware>
-
-
-</airframe>
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
deleted file mode 100644
index ba20f5f612f..00000000000
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ /dev/null
@@ -1,245 +0,0 @@
-<!-- this is a microkopter frame equiped with Lisa/L and generic china pwm motor controllers -->
-
-<airframe name="lisa_pwm_aspirin">
-
-  <servos>
-    <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="RIGHT"   no="3" min="1000" neutral="1000" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <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"/>
-    -->
-    <set servo="FRONT" value="0"/>
-    <set servo="BACK" value="1"/>
-    <set servo="LEFT" value="2"/>
-    <set servo="RIGHT" value="3"/>
-
-  </command_laws>
-
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="1150"/>
-    <define name="MAX_MOTOR" value="2000"/>
-    <define name="TRIM_A" value="0"/>
-    <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 }"/>
-    <!--define name="MAX_POSITIVE_MOTOR_STEP" value="5"/-->
-  </section>
-
-  <include href="conf/airframes/esden/calib/aspirin_012.xml"/>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="225. " unit="deg"/>
-
-  </section>
-
- <section name="AUTOPILOT">
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_RC_CLIMB"/>
-   <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </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="600" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="600" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1900"/>
-    <define name="PHI_DGAIN"  value="380"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="1900"/>
-    <define name="THETA_DGAIN"  value="380"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="2000"/>
-    <define name="PSI_DGAIN"  value="400"/>
-    <define name="PSI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
-
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="H_X" value=" 0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value=" 0.85490967783446"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="150"/>
-   <define name="HOVER_KD"    value="80"/>
-   <!--define name="HOVER_KI"    value="100"/-->
-   <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.15"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
-
-<!-- -->
- <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
-<!-- -->
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.1">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="pwm_supervision"/>
-      <subsystem name="telemetry"     type="transparent"/>
-      <define name="SERVO_HZ" value="400"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
-      <define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
-      <define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
-    </target>
-    <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
-    </target>
-
-    <subsystem name="imu"           type="aspirin_v1.0"/>
-    <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="ahrs"          type="int_cmpl_quat"/>-->
-  </firmware>
-
-  <firmware name="lisa_test_progs">
-    <target name="test_led"   board="lisa_l_1.1"/>
-    <target name="test_uart"   board="lisa_l_1.1"/>
-    <target name="test_servos"   board="lisa_l_1.1"/>
-    <target name="test_telemetry"   board="lisa_l_1.1"/>
-    <target name="test_baro"        board="lisa_l_1.1"/>
-    <target name="test_imu_b2"      board="lisa_l_1.1"/>
-    <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
-    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
-    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
-    <target name="test_rc_ppm"      board="lisa_l_1.1"/>
-    <target name="test_adc"         board="lisa_l_1.1"/>
-    <target name="test_hmc5843"     board="lisa_l_1.1"/>
-    <target name="test_itg3200"     board="lisa_l_1.1"/>
-    <target name="test_adxl345"             board="lisa_l_1.1"/>
-    <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
-    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
-  </firmware>
-
-  <firmware name="lisa_passthrough">
-    <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <configure name="HOST"          value="A7"/>
-      <configure name="USER"          value=""/>
-      <configure name="TARGET_DIR"    value="~"/>
-      <configure name="PERIODIC_FREQ" value="512"/>
-    </target>
-    <target name="stm_passthrough" board="lisa_l_1.1">
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="imu" type="b2_v1.1"/>
-    </target>
- </firmware>
-
-
-</airframe>
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
new file mode 100644
index 00000000000..6215851386b
--- /dev/null
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -0,0 +1,279 @@
+<!-- this is a quadrocopter frame equiped with Lisa/L 1.1, Aspirin 2.1 and generic china pwm motor controllers -->
+
+<!--
+     Applicable configuration:
+     airframe="airframes/esden/quady_ll11a2pwm.xml"
+     radio="radios/cockpitSX.xml"
+     telemetry="telemetry/default_rotorcraft.xml"
+     flight_plan="flight_plans/dummy.xml"
+     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+-->
+
+<airframe name="quady_ll11a2pwm.xml">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="RIGHT"   no="3" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <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"/>
+    -->
+    <set servo="FRONT" value="0"/>
+    <set servo="BACK" value="1"/>
+    <set servo="LEFT" value="2"/>
+    <set servo="RIGHT" value="3"/>
+
+  </command_laws>
+
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="STOP_MOTOR" value="1000"/>
+    <define name="MIN_MOTOR" value="1100"/>
+    <define name="MAX_MOTOR" value="1920"/>
+    <define name="TRIM_A" value="0"/>
+    <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 }"/>
+    <!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="2"/-->
+  </section>
+
+  <include href="conf/airframes/esden/calib/asp21-001.xml"/>
+
+  <section name="IMU" prefix="IMU_">
+	  <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 225. )"/>
+  </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_HOVER_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </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="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_PSI"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+    <define name="DEADBAND_A"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- simonk esc firmware gains light quad? -->
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="570"/>
+    <define name="PHI_DGAIN"  value="400"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="570"/>
+    <define name="THETA_DGAIN"  value="400"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="1300"/>
+    <define name="PSI_DGAIN"  value="1000"/>
+    <define name="PSI_IGAIN"  value="10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 530"/>
+    <define name="THETA_DDGAIN" value=" 530"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+    
+    <!-- simonk esc firmware gains light quad? -->
+    <!-- feedback -->
+    <!--define name="PHI_PGAIN"  value="1300"/>
+    <define name="PHI_DGAIN"  value="1000"/>
+    <define name="PHI_IGAIN"  value="100"/>
+
+    <define name="THETA_PGAIN"  value="1300"/>
+    <define name="THETA_DGAIN"  value="1000"/>
+    <define name="THETA_IGAIN"  value="100"/>
+
+    <define name="PSI_PGAIN"  value="1300"/>
+    <define name="PSI_DGAIN"  value="1000"/>
+    <define name="PSI_IGAIN"  value="10"/-->
+
+    <!-- feedforward -->
+    <!--define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/-->
+
+    <!-- stock china esc firmware gains -->
+    <!-- feedback -->
+    <!--define name="PHI_PGAIN"  value="390"/>
+    <define name="PHI_DGAIN"  value="260"/>
+    <define name="PHI_IGAIN"  value="50"/>
+
+    <define name="THETA_PGAIN"  value="390"/>
+    <define name="THETA_DGAIN"  value="260"/>
+    <define name="THETA_IGAIN"  value="50"/>
+
+    <define name="PSI_PGAIN"  value="780"/>
+    <define name="PSI_DGAIN"  value="520"/>
+    <define name="PSI_IGAIN"  value="10"/-->
+
+    <!-- feedforward -->
+    <!--define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/-->
+
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="10." integer="16"/>
+  </section>
+
+ <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR" value="2000000"/>
+   <define name="HOVER_KP"    value="830"/>
+   <define name="HOVER_KD"    value="650"/>
+   <define name="HOVER_KI"    value="100"/>
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <!--define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/-->
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
+  </section>
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="50"/>
+   <define name="DGAIN" value="50"/>
+   <define name="IGAIN" value="0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+ <modules main_freq="512">
+   <!--load name="vehicle_interface_overo_link.xml"/-->
+   <load name="gps_ubx_ucenter.xml"/>
+ </modules>
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_l_1.1">
+<!--      <define name="BOOZ_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="pwm_supervision"/>
+      <subsystem name="telemetry"     type="transparent"/>
+      <define name="SERVO_HZ" value="400"/>
+      <define name="RADIO_MODE" value="RADIO_AUX2"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+      <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
+      <!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
+    <subsystem name="imu"           type="aspirin_v2.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <!--define name="USE_INS_NAV_INIT"/-->
+    <!--subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/-->
+  </firmware>
+
+
+  <firmware name="lisa_test_progs">
+    <target name="test_led"			board="lisa_l_1.1">
+        <configure name="SYS_TIME_LED" value="none"/>
+    </target>
+    <target name="test_uart"			board="lisa_l_1.1"/>
+    <target name="test_servos"			board="lisa_l_1.1"/>
+    <target name="test_telemetry"		board="lisa_l_1.1"/>
+    <target name="test_imu_aspirin"		board="lisa_l_1.1"/>
+    <target name="test_rc_spektrum"		board="lisa_l_1.1"/>
+    <target name="test_baro"			board="lisa_l_1.1"/>
+    <!--<target name="test_imu"			board="lisa_l_1.1"/>
+    <target name="test_rc_ppm"			board="lisa_l_1.1"/>
+    <target name="test_adc"			board="lisa_l_1.1"/>
+    <target name="test_hmc5843"			board="lisa_l_1.1"/>
+    <target name="test_itg3200"			board="lisa_l_1.1"/>
+    <target name="test_adxl345"			board="lisa_l_1.1"/>
+    <target name="test_esc_mkk_simple"		board="lisa_l_1.1"/>
+    <target name="test_esc_asctecv1_simple"	board="lisa_l_1.1"/>
+    <target name="test_actuators_mkk"		board="lisa_l_1.1"/>
+    <target name="test_actuators_asctecv1"	board="lisa_l_1.1"/-->
+  </firmware>
+</airframe>
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
similarity index 61%
rename from conf/airframes/esden/lisa_m_pwm.xml
rename to conf/airframes/esden/quady_lm1a1pwm.xml
index c5d8181dc9c..d9e0b4daff5 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -1,8 +1,17 @@
-<!-- this is an asctec frame equiped with Lisa/M and generic china pwm motor controllers -->
+<!-- this is a quadrocopter frame equiped with Lisa/M 1.0, Aspirin 1.0 and generic china pwm motor controllers -->
 
-<airframe name="lisa_asctec">
+<!--
+     Applicable configuration:
+     airframe="airframes/esden/quady_lm1a1pwm.xml"
+     radio="radios/cockpitSX.xml"
+     telemetry="telemetry/default_rotorcraft.xml"
+     flight_plan="flight_plans/dummy.xml"
+     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
+-->
 
-  <servos>
+<airframe name="quady_lm1a1pwm">
+
+  <servos min="0" neutral="0" max="0xff">
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
@@ -30,9 +39,16 @@
 
   </command_laws>
 
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="STOP_MOTOR" value="1000"/>
-    <define name="MIN_MOTOR" value="1200"/>
+    <define name="MIN_MOTOR" value="1100"/>
     <define name="MAX_MOTOR" value="1920"/>
     <define name="TRIM_A" value="0"/>
     <define name="TRIM_E" value="0"/>
@@ -43,40 +59,15 @@
     <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 }"/>
+    <!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="10"/-->
   </section>
 
-  <section name="IMU" prefix="IMU_">
-    <define name="GYRO_P_NEUTRAL" value="27"/>
-    <define name="GYRO_Q_NEUTRAL" value="-10"/>
-    <define name="GYRO_R_NEUTRAL" value="20"/>
-    <define name="GYRO_P_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_Q_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_R_SENS" value="5.0" integer="16"/>
-    <define name="GYRO_PQ_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_PR_SENS" value="0.0" integer="16"/>
-    <define name="GYRO_QR_SENS" value="0.0" integer="16"/>
-
-    <define name="ACCEL_X_NEUTRAL" value="4"/>
-    <define name="ACCEL_Y_NEUTRAL" value="-14"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-5"/>
-    <define name="ACCEL_X_SENS" value="39" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="39" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="39" integer="16"/>
-    <define name="ACCEL_XY_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_XZ_SENS" value="0.0" integer="16"/>
-    <define name="ACCEL_YZ_SENS" value="0.0" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="0"/>
-    <define name="MAG_Y_NEUTRAL" value="0"/>
-    <define name="MAG_Z_NEUTRAL" value="0"/>
-    <define name="MAG_X_SENS" value="1." integer="16"/>
-    <define name="MAG_Y_SENS" value="1." integer="16"/>
-    <define name="MAG_Z_SENS" value="1." integer="16"/>
-
-    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
+  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
 
+  <section name="IMU" prefix="IMU_">
+	  <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
   </section>
 
  <section name="AUTOPILOT">
@@ -105,38 +96,41 @@
   <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="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_PSI"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
     <define name="DEADBAND_R"     value="250"/>
+    <define name="DEADBAND_A"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1000"/>
-    <define name="PHI_DGAIN"  value="400"/>
-    <define name="PHI_IGAIN"  value="200"/>
+    <define name="PHI_PGAIN"  value="1500"/>
+    <define name="PHI_DGAIN"  value="1000"/>
+    <define name="PHI_IGAIN"  value="100"/>
 
-    <define name="THETA_PGAIN"  value="1000"/>
-    <define name="THETA_DGAIN"  value="400"/>
-    <define name="THETA_IGAIN"  value="200"/>
+    <define name="THETA_PGAIN"  value="1500"/>
+    <define name="THETA_DGAIN"  value="1000"/>
+    <define name="THETA_IGAIN"  value="100"/>
 
-    <define name="PSI_PGAIN"  value="1000"/>
-    <define name="PSI_DGAIN"  value="400"/>
+    <define name="PSI_PGAIN"  value="1500"/>
+    <define name="PSI_DGAIN"  value="1000"/>
     <define name="PSI_IGAIN"  value="10"/>
 
     <!-- feedforward -->
@@ -147,7 +141,7 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="3.3" integer="16"/>
+    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -156,26 +150,26 @@
    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="150"/>
-   <define name="HOVER_KD"    value="80"/>
-   <define name="HOVER_KI"    value="20"/>
+   <define name="HOVER_KP"    value="400"/>
+   <define name="HOVER_KD"    value="350"/>
+   <define name="HOVER_KI"    value="144"/>
    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.21"/>
+   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
   <section name="AHRS" prefix="AHRS_">
     <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="H_X" value=" 0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value=" 0.85490967783446"/>
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
+   <define name="PGAIN" value="50"/>
+   <define name="DGAIN" value="50"/>
    <define name="IGAIN" value="0"/>
  </section>
 
@@ -189,43 +183,47 @@
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
-<!--
  <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
--->
+   <!--load name="vehicle_interface_overo_link.xml"/-->
+   <load name="gps_ubx_ucenter.xml"/>
+</modules>
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_1.0">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
+<!--      <define name="BOOZ_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="spektrum"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
+      <subsystem name="actuators"     type="pwm_supervision"/>
+      <subsystem name="telemetry"     type="transparent"/>
+      <define name="SERVO_HZ" value="400"/>
+      <define name="RADIO_MODE" value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
+      <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
+      <!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
     </target>
-    <target name="nps" board="pc">
+    <target name="sim" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="actuators"     type="pwm_supervision">
-      <define name="SERVO_HZ" value="400"/>
-    </subsystem>
-
-    <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <!--define name="USE_INS_NAV_INIT"/-->
+    <!--subsystem name="stabilization"   type="euler"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
 
   <firmware name="lisa_test_progs">
-    <target name="test_led"			board="lisa_m_1.0"/>
-    <target name="test_uart_lisam"			board="lisa_m_1.0"/>
+    <target name="test_led"			board="lisa_m_1.0">
+        <configure name="SYS_TIME_LED" value="none"/>
+    </target>
+    <target name="test_uart"			board="lisa_m_1.0"/>
     <target name="test_servos"			board="lisa_m_1.0"/>
     <target name="test_telemetry"		board="lisa_m_1.0"/>
-    <target name="test_imu_aspirin"			board="lisa_m_1.0"/>
+    <target name="test_imu_aspirin"		board="lisa_m_1.0"/>
     <target name="test_rc_spektrum"		board="lisa_m_1.0"/>
     <target name="test_baro"			board="lisa_m_1.0"/>
     <!--<target name="test_imu"			board="lisa_m_1.0"/>
diff --git a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
similarity index 77%
rename from conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
rename to conf/airframes/esden/quady_lm2a2pwm.xml
index 2b996d33c7f..f9e730e21a1 100644
--- a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -2,16 +2,16 @@
 
 <!--
      Applicable configuration:
-     airframe="airframes/esden/lisa_m_2_asp2_pwm.xml"
+     airframe="airframes/esden/quady_lm2a2pwm.xml"
      radio="radios/cockpitSX.xml"
-     telemetry="telemetry/telemetry_booz2.xml"
+     telemetry="telemetry/default_rotorcraft.xml"
      flight_plan="flight_plans/dummy.xml"
-     settings="settings/settings_booz2.xml"
+     settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml"
 -->
 
-<airframe name="lisa_asctec">
+<airframe name="quady_lm2a2pwm">
 
-  <servos>
+  <servos min="0" neutral="0" max="0xff">
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
@@ -39,6 +39,13 @@
 
   </command_laws>
 
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="STOP_MOTOR" value="1000"/>
     <define name="MIN_MOTOR" value="1100"/>
@@ -52,10 +59,16 @@
     <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 }"/>
+    <!--define name="MOTOR_INERTIA_COMPENSATION_FACTOR" value="10"/-->
   </section>
 
-  <include href="conf/airframes/esden/calib/asp21-000.xml"/>
+  <include href="conf/airframes/esden/calib/asp21-018.xml"/>
 
+  <section name="IMU" prefix="IMU_">
+	  <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+	  <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
+  </section>
 
  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
@@ -108,16 +121,16 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1000"/>
-    <define name="PHI_DGAIN"  value="400"/>
-    <define name="PHI_IGAIN"  value="200"/>
+    <define name="PHI_PGAIN"  value="1500"/>
+    <define name="PHI_DGAIN"  value="1000"/>
+    <define name="PHI_IGAIN"  value="100"/>
 
-    <define name="THETA_PGAIN"  value="1000"/>
-    <define name="THETA_DGAIN"  value="400"/>
-    <define name="THETA_IGAIN"  value="200"/>
+    <define name="THETA_PGAIN"  value="1500"/>
+    <define name="THETA_DGAIN"  value="1000"/>
+    <define name="THETA_IGAIN"  value="100"/>
 
-    <define name="PSI_PGAIN"  value="1000"/>
-    <define name="PSI_DGAIN"  value="400"/>
+    <define name="PSI_PGAIN"  value="1500"/>
+    <define name="PSI_DGAIN"  value="1000"/>
     <define name="PSI_IGAIN"  value="10"/>
 
     <!-- feedforward -->
@@ -128,7 +141,7 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="3.3" integer="16"/>
+    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -137,26 +150,26 @@
    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
    <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="-150"/>
-   <define name="HOVER_KD"    value="-80"/>
-   <define name="HOVER_KI"    value="-20"/>
+   <define name="HOVER_KP"    value="400"/>
+   <define name="HOVER_KD"    value="350"/>
+   <define name="HOVER_KI"    value="144"/>
    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
    <define name="RC_CLIMB_COEF" value ="163"/>
    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.21"/>
+   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.9"/>
   </section>
 
   <section name="AHRS" prefix="AHRS_">
     <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="H_X" value=" 0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value=" 0.85490967783446"/>
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
+   <define name="PGAIN" value="50"/>
+   <define name="DGAIN" value="50"/>
    <define name="IGAIN" value="0"/>
  </section>
 
@@ -170,33 +183,34 @@
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
-<!--
  <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
--->
+   <!--load name="vehicle_interface_overo_link.xml"/-->
+   <load name="gps_ubx_ucenter.xml"/>
+</modules>
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
 <!--      <define name="BOOZ_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="spektrum"/>
+      <subsystem name="actuators"     type="pwm_supervision"/>
       <subsystem name="telemetry"     type="transparent"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
+      <define name="SERVO_HZ" value="400"/>
+      <define name="RADIO_MODE" value="RADIO_FLAP"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
+      <!--define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/-->
     </target>
-    <target name="nps" board="pc">
+    <target name="sim" board="pc">
       <subsystem name="fdm"           type="nps"/>
       <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
     </target>
 
-    <subsystem name="actuators"     type="pwm_supervision">
-      <define name="SERVO_HZ" value="400"/>
-    </subsystem>
     <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <!--define name="USE_INS_NAV_INIT"/-->
     <!--subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
deleted file mode 100644
index 662721bc488..00000000000
--- a/conf/airframes/esden/synerani_4B.xml
+++ /dev/null
@@ -1,248 +0,0 @@
-<!-- synerani H frame with pwm motor controllers Lisa/L and aspirin -->
-
-<airframe name="synerani_4b">
-
-  <servos>
-    <servo name="A1"            no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="A2"            no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="B1"            no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="B2"            no="3" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
-  </servos>
-
-  <commands>
-    <axis name="PITCH"  failsafe_value="0"/>
-    <axis name="ROLL"   failsafe_value="0"/>
-    <axis name="YAW"    failsafe_value="0"/>
-    <axis name="THRUST" failsafe_value="0"/>
-  </commands>
-
-  <!--
-  <command_laws>
-    <let var="aildderon"  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"/>
-    <set servo="FRONT" value="0"/>
-    <set servo="BACK" value="1"/>
-    <set servo="LEFT" value="2"/>
-    <set servo="RIGHT" value="3"/>
-
-  </command_laws>
-  -->
-
-  <!-- for the sim -->
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
-
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="MIN_MOTOR" value="1150"/>
-    <define name="MAX_MOTOR" value="2000"/>
-    <define name="TRIM_A" value="0"/>
-    <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="{  256, -256,  256, -256 }"/>
-    <define name="PITCH_COEF"  value="{ -256, -256,  256,  256 }"/>
-    <define name="YAW_COEF"    value="{    0,    0,    0,    0 }"/>
-    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
-    <!--define name="MAX_POSITIVE_MOTOR_STEP" value="5"/-->
-  </section>
-
-  <include href="conf/airframes/esden/calib/aspirin_012.xml"/>
-
-  <section name="IMU" prefix="IMU_">
-
-    <define name="BODY_TO_IMU_PHI"   value="180. " unit="deg"/>
-    <define name="BODY_TO_IMU_THETA" value="90. " unit="deg"/>
-    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
-
-  </section>
-
- <section name="AUTOPILOT">
-   <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_RC_CLIMB"/>
-   <define name="MODE_AUTO2"  value="AP_MODE_HOVER_Z_HOLD"/>
- </section>
-
- <section name="BAT">
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
- </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="600" unit="deg/s"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_Q"  value="600" unit="deg/s"/>
-    <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
-    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
-
-    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
-    <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
-    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
-
-    <!-- feedback -->
-    <define name="PHI_PGAIN"  value="1900"/>
-    <define name="PHI_DGAIN"  value="380"/>
-    <define name="PHI_IGAIN"  value="200"/>
-
-    <define name="THETA_PGAIN"  value="1900"/>
-    <define name="THETA_DGAIN"  value="380"/>
-    <define name="THETA_IGAIN"  value="200"/>
-
-    <define name="PSI_PGAIN"  value="2000"/>
-    <define name="PSI_DGAIN"  value="400"/>
-    <define name="PSI_IGAIN"  value="10"/>
-
-    <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
-
-  </section>
-
-  <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="H_X" value=" 0.51562740288882"/>
-    <define name="H_Y" value="-0.05707735220832"/>
-    <define name="H_Z" value=" 0.85490967783446"/>
-  </section>
-
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
-  </section>
-
- <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
-   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
-   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
-   <define name="MAX_SUM_ERR" value="2000000"/>
-   <define name="HOVER_KP"    value="150"/>
-   <define name="HOVER_KD"    value="80"/>
-   <!--define name="HOVER_KI"    value="100"/-->
-   <define name="HOVER_KI"    value="0"/>
-   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
-   <define name="RC_CLIMB_COEF" value ="163"/>
-   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
-   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-   <define name="INV_M" value ="0.15"/>
-  </section>
-
- <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-   <define name="PGAIN" value="100"/>
-   <define name="DGAIN" value="100"/>
-   <define name="IGAIN" value="0"/>
- </section>
-
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
-
-<!-- -->
- <modules main_freq="512">
-   <load name="vehicle_interface_overo_link.xml"/>
- </modules>
-<!-- -->
-
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.1">
-<!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="actuators"     type="pwm_supervision"/>
-      <subsystem name="telemetry"     type="transparent"/>
-      <define name="SERVO_HZ" value="400"/>
-      <define name="RADIO_MODE" value="RADIO_AUX2"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
-      <define name = "RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value = "UART5"/>
-      <define name = "OVERRIDE_UART5_IRQ_HANDLER"/>
-    </target>
-    <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="actuators"     type="mkk"/>
-    </target>
-
-    <subsystem name="imu"           type="aspirin_v1.0"/>
-    <subsystem name="gps"           type="ublox">
-	    <configure name="GPS_BAUD"    value="B57600"/>
-    </subsystem>
-    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
-    <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_quat"/>
-  </firmware>
-
-  <firmware name="lisa_test_progs">
-    <target name="test_led"   board="lisa_l_1.1"/>
-    <target name="test_uart"   board="lisa_l_1.1"/>
-    <target name="test_servos"   board="lisa_l_1.1"/>
-    <target name="test_telemetry"   board="lisa_l_1.1"/>
-    <target name="test_baro"        board="lisa_l_1.1"/>
-    <target name="test_imu_b2"      board="lisa_l_1.1"/>
-    <target name="test_imu_b2_2"    board="lisa_l_1.1"/>
-    <target name="test_imu_aspirin" board="lisa_l_1.1"/>
-    <target name="test_rc_spektrum" board="lisa_l_1.1"/>
-    <target name="test_rc_ppm"      board="lisa_l_1.1"/>
-    <target name="test_adc"         board="lisa_l_1.1"/>
-    <target name="test_hmc5843"     board="lisa_l_1.1"/>
-    <target name="test_itg3200"     board="lisa_l_1.1"/>
-    <target name="test_adxl345"             board="lisa_l_1.1"/>
-    <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
-    <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
-  </firmware>
-
-  <firmware name="lisa_passthrough">
-    <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <configure name="HOST"          value="A7"/>
-      <configure name="USER"          value=""/>
-      <configure name="TARGET_DIR"    value="~"/>
-      <configure name="PERIODIC_FREQ" value="512"/>
-    </target>
-    <target name="stm_passthrough" board="lisa_l_1.1">
-      <subsystem name="radio_control" type="spektrum"/>
-      <subsystem name="imu" type="b2_v1.1"/>
-    </target>
- </firmware>
-
-
-</airframe>