From dffecbd67050340566233063615de794b596fa9c Mon Sep 17 00:00:00 2001
From: dewagter <dewagter@gmail.com>
Date: Mon, 27 Oct 2014 08:38:38 +0100
Subject: [PATCH] [conf] outback airframes

---
 conf/OpenUAS/conf_openuas_obc2014.xml         |  43 +
 .../OpenUAS/openuas_control_panel_obc2014.xml | 177 ++++
 conf/airframes/OpenUAS/openuas_vivify_mk1.xml | 825 ++++++++++++++++++
 .../OpenUAS/include_obc2014_mission.xml       | 585 +++++++++++++
 .../OpenUAS/include_obc2014_safety.xml        | 116 +++
 .../OpenUAS/include_obc2014_testing.xml       |  33 +
 .../OpenUAS/openuas_obc2014_kingaroy.xml      |  66 ++
 7 files changed, 1845 insertions(+)
 create mode 100644 conf/OpenUAS/conf_openuas_obc2014.xml
 create mode 100644 conf/OpenUAS/openuas_control_panel_obc2014.xml
 create mode 100644 conf/airframes/OpenUAS/openuas_vivify_mk1.xml
 create mode 100644 conf/flight_plans/OpenUAS/include_obc2014_mission.xml
 create mode 100644 conf/flight_plans/OpenUAS/include_obc2014_safety.xml
 create mode 100644 conf/flight_plans/OpenUAS/include_obc2014_testing.xml
 create mode 100644 conf/flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml

diff --git a/conf/OpenUAS/conf_openuas_obc2014.xml b/conf/OpenUAS/conf_openuas_obc2014.xml
new file mode 100644
index 00000000000..b863c1dbbe6
--- /dev/null
+++ b/conf/OpenUAS/conf_openuas_obc2014.xml
@@ -0,0 +1,43 @@
+<conf>
+  <aircraft
+   name="Tester"
+   ac_id="1"
+   airframe="airframes/examples/microjet.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/default_fixedwing.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules=""
+   gui_color="blue"
+  />
+  <aircraft
+   name="VivifyMK1"
+   ac_id="217"
+   airframe="airframes/OpenUAS/openuas_vivify_mk1.xml"
+   radio="radios/spektrum.xml"
+   telemetry="telemetry/default_fixedwing_imu_9k6.xml"
+   flight_plan="flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml"
+   settings=" settings/control/ctl_energy.xml settings/estimation/ins_neutrals.xml settings/estimation/ac_char.xml settings/fixedwing_basic.xml"
+   gui_color="#fffffac7c07a"
+  />
+  <aircraft
+   name="VivifyMK2"
+   ac_id="218"
+   airframe="airframes/OpenUAS/openuas_vivify_mk1.xml"
+   radio="radios/spektrum_intermcu.xml"
+   telemetry="telemetry/xtend9k6.xml"
+   flight_plan="flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml"
+   settings=" settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ins_neutrals.xml settings/estimation/ac_char.xml settings/modules/dc.xml settings/modules/ticket.xml settings/modules/landing.xml settings/modules/qnh.xml"
+   gui_color="#ffffe5ec67d1"
+  />
+  <aircraft
+   name="VivifyMK3"
+   ac_id="219"
+   airframe="airframes/OpenUAS/openuas_vivify_mk1.xml"
+   radio="radios/spektrum.xml"
+   telemetry="telemetry/default_fixedwing_imu_9k6.xml"
+   flight_plan="flight_plans/OpenUAS/openuas_simplesquare_airspeed_mbg.xml"
+   settings=" settings/fixedwing_basic.xml settings/control/ctl_energy.xml settings/estimation/ins_neutrals.xml settings/estimation/ac_char.xml"
+   gui_color="#ffffe5ec67d1"
+  />
+</conf>
diff --git a/conf/OpenUAS/openuas_control_panel_obc2014.xml b/conf/OpenUAS/openuas_control_panel_obc2014.xml
new file mode 100644
index 00000000000..d1eab888ca6
--- /dev/null
+++ b/conf/OpenUAS/openuas_control_panel_obc2014.xml
@@ -0,0 +1,177 @@
+<control_panel name="paparazzi control panel">
+  <section name="variables">
+    <variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
+    <variable name="fbw_serial_port" value="/dev/ttyS1"/>
+    <variable name="ap_serial_port" value="/dev/ttyS0"/>
+    <variable name="ivy_bus" value="127:2010"/>
+    <variable name="map" value="muret_UTM.xml"/>
+    <variable name="flight_plan" value="flight_plans/muret1.xml"/>
+  </section>
+  <section name="programs">
+    <program name="Server" command="sw/ground_segment/tmtc/server">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Data Link" command="sw/ground_segment/tmtc/link">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>
+    <program name="Vision Results" command="sw/ext/ardrone2_vision/modules/ObstacleAvoidSkySegmentation/visionresult/visionresult"/>
+    <program name="GCS" command="sw/ground_segment/cockpit/gcs">
+      <arg flag="-speech"/>
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs -edit"/>
+    <program name="Messages" command="sw/ground_segment/tmtc/messages">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>
+    <program name="Settings" command="sw/ground_segment/tmtc/settings">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>
+    <program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>
+    <program name="Log Plotter" command="sw/logalizer/plot"/>
+    <program name="Real-time Plotter" command="sw/logalizer/plotter"/>
+    <program name="Log File Player" command="sw/logalizer/play">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Simulator" command="sw/simulator/pprzsim-launch">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Hardware in the Loop" command="sw/simulator/simhitl">
+      <arg flag="-fbw" variable="fbw_serial_port"/>
+      <arg flag="-ap" variable="ap_serial_port"/>
+    </program>
+    <program name="Environment Simulator" command="sw/simulator/gaia">
+      <arg flag="-b" variable="ivy_bus"/>
+    </program>
+    <program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
+    <program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>
+    <program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
+      <arg flag="-b" variable="ivy_bus"/>
+      <arg flag="-d" constant="/dev/ttyUSB1"/>
+    </program>
+    <program name="IvySerialBridge" command="sw/ground_segment/tmtc/ivy_serial_bridge"/>
+    <program name="Photolist" command="sw/tools/photolist/build/photolist | tee photolist.log -a"/>
+    <program name="Ivy2NMEAout" command="sw/ground_segment/misc/ivy2nmeaout">
+      <arg flag="-b" variable="ivy_bus"/>
+      <arg flag="-d" constant="/dev/ttyUSB1"/>
+      <arg flag="-s" constant="9600"/>
+    </program>
+  </section>
+  <section name="sessions">
+    <session name="OBC2014 Simulation FG">
+      <program name="GCS">
+        <arg flag="-layout" constant="./OpenUAS/openuas_obc2014_kingaroy.xml"/>
+        <arg flag="-maps_fill"/>
+        <arg flag="-zoom" constant=".5"/>
+        <arg flag="-track_size" constant="200"/>
+        <arg flag="-speech"/>
+        <arg flag="-maps_no_http"/>
+      </program>
+      <program name="Server">
+        <arg flag="-n"/>
+      </program>
+      <program name="Simulator">
+        <arg flag="-a" constant="VivifyMK1"/>
+        <arg flag="-t" constant="sim"/>
+        <arg flag="--boot"/>
+        <arg flag="--norc"/>
+        <arg flag="--fg_host" constant="127.0.0.1"/>
+        <arg flag="--fg_time_offset" constant="21600"/>
+      </program>
+      <program name="Environment Simulator"/>
+    </session>
+    <session name="OpenUAS Fieldtest">
+      <program name="Data Link">
+        <arg flag="-d" constant="/dev/ttyUSB0"/>
+        <arg flag="-uplink"/>
+        <arg flag="-s" constant="9600"/>
+      </program>
+      <program name="Server"/>
+      <program name="GCS">
+        <arg flag="-speech"/>
+        <arg flag="-maps_fill"/>
+        <arg flag="-mercator"/>
+        <arg flag="-maps_no_http"/>
+        <arg flag="-track_size" constant="300"/>
+        <arg flag="-zoom" constant="0.5"/>
+      </program>
+      <program name="Messages"/>
+    </session>
+    <session name="OpenUAS OBC2014">
+      <program name="Data Link">
+        <arg flag="-d" constant="/dev/ttyUSB0"/>
+        <arg flag="-uplink"/>
+        <arg flag="-s" constant="9600"/>
+      </program>
+      <program name="Server"/>
+      <program name="GCS">
+        <arg flag="-speech"/>
+        <arg flag="-mercator"/>
+        <arg flag="-maps_no_http"/>
+        <arg flag="-track_size" constant="300"/>
+        <arg flag="-zoom" constant="0.5"/>
+      </program>
+      <program name="Messages"/>
+    </session>
+    <session name="HITL">
+      <program name="Hardware in the Loop">
+        <arg flag="-a" constant="HITL"/>
+        <arg flag="-noground"/>
+        <arg flag="-boot"/>
+      </program>
+      <program name="GCS"/>
+      <program name="Data Link">
+        <arg flag="-s" constant="57600"/>
+      </program>
+      <program name="Server"/>
+    </session>
+
+    <session name="OpenUAS Simulation with OBC 2014 GUI">
+      <program name="GCS">
+        <arg flag="-speech"/>
+        <arg flag="-layout" constant="./OpenUAS/openuas_searchandrescue2014.xml"/>
+        <arg flag="-center" constant="'WGS84"/>
+        <arg flag="51.990" constant="4.378'"/>
+        <arg flag="-ref" constant="'WGS84"/>
+        <arg flag="51.990" constant="4.378'"/>
+      </program>
+      <program name="Server">
+        <arg flag="-n"/>
+      </program>
+      <program name="Simulator">
+        <arg flag="-a" constant="VivfifyMK1"/>
+        <arg flag="-boot"/>
+        <arg flag="-norc"/>
+      </program>
+      <program name="Environment Simulator"/>
+    </session>
+    <session name="OpenUAS Forward AC via UDP">
+      <program name="Ivy2Udp">
+        <arg flag="-b" constant="127:2010"/>
+        <arg flag="-h" constant="192.168.78.1"/>
+        <arg flag="-p" constant="4242"/>
+        <arg flag="-dp" constant="4243"/>
+        <arg flag="-id" constant="16"/>
+      </program>
+    </session>
+    <session name="OpenUAS USB0: Xtend Transparent @9600 with HW flowcontrol">
+      <program name="Data Link">
+        <arg flag="-d" constant="/dev/ttyUSB0"/>
+        <arg flag="-uplink"/>
+        <arg flag="-s" constant="9600"/>
+        <arg flag="-hfc"/>
+      </program>
+      <program name="Server"/>
+      <program name="GCS">
+        <arg flag="-speech"/>
+        <arg flag="-layout" constant="./OpenUAS/gcsHeering.xml"/>
+      </program>
+      <program name="Messages"/>
+    </session>
+  </section>
+</control_panel>
diff --git a/conf/airframes/OpenUAS/openuas_vivify_mk1.xml b/conf/airframes/OpenUAS/openuas_vivify_mk1.xml
new file mode 100644
index 00000000000..3c8fe4b2159
--- /dev/null
+++ b/conf/airframes/OpenUAS/openuas_vivify_mk1.xml
@@ -0,0 +1,825 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!--
+     * Vivify MK1 codename Vidya (http://www.openuas.org/)
+     Lisa M v2.0 (http://paparazzi.enac.fr/wiki/index.php/)
+     With modified power routing by setting Jumper J1
+     + Aspirin v2.2 inclusive MS5611
+     + XBee XSC 900Mhz or XBP868 depending on location flown
+     + uBlox LEA5H and Sarantel helix GPS antenna
+     + Spektrum RX DSMX clone - optional mission demanding a R16Scan40MHZ RX
+     + Eagletree Airspeed sensor via I2C
+
+     NOTES:
+     + Using Total Energy control as control loop
+     + LisaM with servo pins to the front of plane !
+     + AP battery voltage measurement via pin o I2C1CAN V_BAT
+        (Will maybe be change measuring the Main Power Battery)
+     + Flat yawing possible via Elevon UP Flapperon DOWN Mixing
+     + Make sure v5.1x master or higher of PPRZ sourcecode is used
+     + Used mac06a.xml airframe as starting point for payload release settings
+
+     + OBC2014: Make sure that in link.ml
+
+     link.ml - Paparazzi/sw/ground_segment/tmtc
+
+     let ping_msg_period = 750 (** ms  CHANGED FOR OUTBACK CHALLENGE *)
+
+     + OBC2014 TELEMETRY
+     Add to "Link" the param  "-hfc" for hardware handshaking
+
+    Modules to activate:
+     + Current sensor on battery wires going to motor
+     + geo_mag module if fixed for fixedwing
+     + Catapult launch
+     + GLS landing
+
+     Near Future
+     + MK2 Second LisaM as FTD, plus additional power measurement for this board
+     ++ Lisa M v2.0 board ID: ? (http://paparazzi.enac.fr/wiki/index.php/)
+     ++ Modified power routing by closing Jumper J1
+     ++ No IMU response action
+     + MBP085 baro on board the AP
+     + Separate Baro(Height) sensor via I2C
+     + MS4525DO Airspeed sensor via I2C to replace ETS airspeed
+
+     + Engine battery voltage level separate sensor
+     + FTD voltage level separate sensor
+
+     + RPM sensor for brushless
+     + ACL lights
+     + A new scanline command, on straight scanning line no roll and direction ony by yawing (maybe via thrustvector)
+     + APPD Accidental Power-on Prevention Device
+-->
+
+<airframe name="Vivify">
+  <!-- ************************* FIRMWARE ************************* -->
+  <firmware name="fixedwing">
+    <target name="ap" board="lisa_m_2.0">
+      <define name="LINK_MCU_LED" value="5"/>
+      <configure name="AHRS_ALIGNER_LED" value="2"/>
+      <configure name="CPU_LED" value="1"/>
+      <configure name="FLASH_MODE" value="SWD"/>
+      <define name="RADIO_MODE" value="RADIO_GEAR"/>
+      <define name="RADIO_BRAKE" value="RADIO_AUX1"/>
+      <define name="RADIO_HATCH" value="RADIO_AUX2"/>
+      <configure name="SEPARATE_FBW" value="1"/>
+      <!-- <define name="ADC_CHANNEL_VSUPPLY" value="4"/> -->
+      <define name="autopilot_motors_on" value="FALSE"/> <!-- temp fix for geomag, normally only used for rotorcraft -->
+      <define name="SENSOR_SYNC_SEND"/>
+      <!-- PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY -->
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
+      <!--
+      <define name="ASPIRIN_2_LOWPASS_FILTER"/>
+      define name="ASPIRIN_2_SMPLRT_DIV"/>-->
+      <!--
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="256"/>
+      <configure name="AHRS_CORRECT_FREQUENCY" value="256"/>
+      -->
+      <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+      <!--define name="USE_I2C2"/-->
+      <define name="USE_AHRS_GPS_ACCELERATIONS"/>
+      <!--<define name="USE_BARO_ETS"/>-->
+      <!-- obsolete with ABI ?-->
+      <configure name="USE_BARO_BOARD" value="FALSE"/>
+      <define name="BAT_CHECKER_DELAY" value="80"/><!-- amount of time it take for the bat to check --><!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
+      <!-- <define name="LOW_BATTERY_KILL_DELAY" value="80"/>-->
+      <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80"/><!-- in seconds-->
+      <!--  <subsystem name="current_sensor">-->
+      <!-- <define name="USE_ADC_1"/>??-->
+      <!--  <configure name="ADC_CURRENT_SENSOR" value="ADC_1"/>-->
+      <!--</subsystem>-->
+
+    <!--   <define name="DC_IMAGE_BUFFER" value="65000"/> -->
+    <!-- set USE_AIRSPEED to use ets_airspeed in control loop -->
+    <define name="USE_AIRSPEED"/>
+    <!-- To get raw data for calibration of sensor -->
+    <!-- define name="AIRSPEED_ETS_SYNC_SEND"/-->
+    <define name="AGR_CLIMB"/>
+    <!-- <define name="ALT_KALMAN"/>-->
+    <define name="TUNE_AGRESSIVE_CLIMB"/>
+    <define name="STRONG_WIND"/>
+    <define name="WIND_INFO"/>
+    <define name="WIND_INFO_RET"/>
+    <!-- * For MK2 with FTD, risk during if need a switch form auto0 to auto2, auto1 not allowed THIS -->
+    <subsystem name="imu" type="aspirin_v2.2"/>
+    <subsystem name="ahrs" type="int_cmpl_quat">
+    <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN"/>
+    <!-- * no need? since already set by default * -->
+    <define name="USE_MAGNETOMETER" value="FALSE"/>
+    <!-- TRUE by default but better set it to be sure if you want to use it -->
+    <!-- * Apply a low pass filter on rotational velocity * -->
+    <!-- <define name="AHRS_PROPAGATE_LOW_PASS_RATES"/> -->
+    <!-- * not used, determin benefit and test *-->
+    <!-- * Use mag to also update roll/pitch and not only yaw (not recommended in most cases?) * -->
+    <!-- <define name="AHRS_MAG_UPDATE_ALL_AXES"/>-->
+    <!-- not used, determin benefit and test -->
+    </subsystem>
+
+    <subsystem name="actuators" type="dummy"/>
+    <subsystem name="intermcu" type="can"/>
+
+    <!-- * Communication * -->
+    <subsystem name="telemetry" type="transparent">
+      <!-- or use type="xbee_api"> -->
+      <configure name="MODEM_BAUD" value="B9600"/>
+      <!--  <configure name="MODEM_BAUD" value="B57600"/>--> <!-- Good to switch on high baud while raw sensor calibaration and testing -->
+      <configure name="MODEM_PORT" value="UART2"/>
+    </subsystem>
+
+    <!-- If an Digi Xtend is connected and we also want to use it  than enable this
+    <subsystem name="telemetry" type="xbee_api">
+      <configure name="MODEM_PORT" value="UART0"/>
+      <configure name="MODEM_BAUD" value="B9600"/>
+    </subsystem>
+-->
+
+    <subsystem name="control" type="energy"/>
+
+    <!-- * Sensors * -->
+    <subsystem name="gps" type="ublox">
+      <configure name="GPS_PORT" value="UART3"/>
+      <configure name="GPS_BAUD" value="B38400"/>
+    </subsystem>
+
+    <!-- * Add Navigation routines -->
+    <subsystem name="navigation"/>
+    <subsystem name="ins" type="alt_float"/>
+
+    </target>
+
+    <target name="fbw" board="lisa_m_2.0">
+      <configure name="FLASH_MODE" value="SWD"/>
+
+      <configure name="SYS_TIME_LED" value="2"/>
+      <define name="LINK_MCU_LED" value="3"/>
+      <configure name="RADIO_CONTROL_LED" value="5"/>
+
+      <configure name="PERIODIC_FREQUENCY" value="120"/>
+
+      <subsystem name="fbw_datalink">
+        <configure name="AUTOPILOT_PORT" value="UART2"/>
+        <configure name="MODEM_PORT" value="UART3"/>
+        <configure name="MODEM_BAUD" value="B9600"/>
+        </subsystem>
+      <subsystem name="radio_control" type="spektrum">
+      <!-- note that the radio xml is needed for intermcu but MUST contain the same channels as the spektrum defines in the code:
+The spektrum models have fixed names for the channels/functions: https://github.com/paparazzi/paparazzi/blob/v4.0/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.h
+-->
+
+<!--
+Also fixed index values by default
+
+RADIO_THROTTLE   0
+RADIO_ROLL       1
+RADIO_PITCH      2
+RADIO_YAW        3
+RADIO_GEAR       4
+RADIO_FLAP       5
+RADIO_AUX1       5
+RADIO_AUX2       6
+RADIO_AUX3       7
+RADIO_AUX4       8
+RADIO_AUX5       9
+RADIO_AUX6     jtag  10
+RADIO_AUX7       11
+-->
+      <!-- ... but if you want to make an "alias" for one of the names, e.g. use AUX2 as a kill switch, define it-->
+      <!-- a three way switch -->
+      <define name="RADIO_MODE" value="RADIO_GEAR"/>
+      <define name="RADIO_BRAKE" value="RADIO_AUX1"/>
+      <define name="RADIO_HATCH" value="RADIO_AUX2"/>
+      <!-- TODO: diable the kill switch value altogether, a kill switch is surely not wanted on a electric RC plane -->
+      <!-- <define name="RADIO_KILL_SWITCH" value="RADIO_FLAP"/> -->
+      <!-- <define name=<define name="RADIO_BRAKE" value="RADIO_AUX2"/>"RADIO_CONTROL_NB_CHANNEL" value="7"/> -->
+      <!--  <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER"/> -->
+      <!--
+Marek wrote:
+I had the same thing and while I haven't fixed it,
+I identified the issue in my case as the satellite sending a transmitter info byte of 0xA2.
+This is DSMX even though my transmitter is set to DSM2.
+
+Since the decoder code treats the 2 to extect two frames, but receives only one,
+ the second one is initialize<define name="RADIO_MODE" value="RADIO_GEAR"/>d to all 0s and so the 0 channel is overwritten
+
+I am as of yet not sure if the weird info byte is because of a failed bind procedure
+ or something changed in the actuall hardware
+  (I don't know how old my transmitter is (DX6i) bc I got it from my lab, but the receivers I just ordered from HobbyKing)-->
+      <!-- If you want to reverse a channel change the sign of the channel you want to reverse -->
+      <!--<define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,-1,-1,-1,1,-1,1,1,1,1,1,1\}"/>-->
+      </subsystem>
+
+      <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="TRUE"/>
+      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="TRUE"/>
+      <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_NO_AP_MUST_FAILSAFE" value="TRUE"/>
+
+      <subsystem name="actuators" type="pwm"/>
+      <subsystem name="intermcu" type="can"/>
+      <!--subsystem name="intermcu" type="uart">
+        <configure name="INTERMCU_PORT" value="UART2" />
+        <configure name="INTERMCU_BAUD" value="B57600"/>
+      </subsystem-->
+    </target>
+
+    <!-- ****************************** SIM *********************************-->
+    <target name="sim" board="pc">
+
+      <!--  * To be able to compile make sure to set to PPM even in real life a spektrum receiver is used * -->
+      <subsystem name="radio_control" type="ppm">
+        <define name="RADIO_KILL" value="0"/>
+        <define name="RADIO_AUX4" value="0"/>
+        <define name="RADIO_MODE" value="0"/>
+        <define name="RADIO_BRAKE" value="0"/>
+        <define name="RADIO_HATCH" value="0"/>
+        <define name="BAT_CHECKER_DELAY" value="900"/>
+        <!-- -->
+        <define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="900"/>
+        <!-- -->
+      </subsystem>
+      <define name="INS_BARO_ID" value="BARO_SIM_SENDER_ID"/>
+    </target>
+
+    <!-- **************************** set for all *******************************-->
+    <define name="RADIO_CONTROL_AUTO1"/>
+
+  </firmware>
+
+  <firmware name="test_progs">
+    <target name="test_can" board="lisa_m_2.0"/>
+  </firmware>
+
+  <!-- ************************* MODULES ************************* -->
+  <modules>
+    <load name="baro_ms5611_spi.xml" >
+      <define name="MS5611_SPI_DEV" value="spi2"/>
+      <define name="MS5611_SLAVE_IDX" value="SPI_SLAVE3"/>
+    </load>
+    <load name="qnh.xml"/>
+    <load name="obc2014.xml"/>
+
+    <!-- Disable uCenter in the future, setup the hardware itself -->
+    <load name="gps_ubx_ucenter.xml"/><!-- TODO: add parameter to disable SBAS CAREFUL about SBAS, disable it for Australia -->
+    <!-- to test, analyze performance etc.-->
+    <!-- load name="sys_mon.xml"/> -->
+    <!--
+   <load name="flight_benchmark.xml">
+     <define name="BENCHMARK_TOLERANCE_AIRSPEED" value="2" unit="m/s"/>
+     <define name="BENCHMARK_TOLERANCE_ALTITUDE" value="4" unit="m"/>
+     <define name="BENCHMARK_TOLERANCE_POSITION" value="6" unit="m"/>
+   </load>
+   -->
+    <!-- ADD module to test the IMU health -->
+
+    <!-- Airspeed sensor -->
+    <load name="airspeed_adc.xml">
+      <configure name="ADC_AIRSPEED" value="ADC_1"/>
+      <define name="ADC_CHANNEL_AIRSPEED_NB_SAMPLES" value="16"/>
+      <define name="AIRSPEED_QUADRATIC_SCALE" value="0.355"/>
+      <define name="AIRSPEED_BIAS" value="413"/>
+    </load>
+
+    <load name="adc_generic.xml">
+    <!-- If we want to read the voltage of battery voltage main engine over AP board via V_BATT -->
+    <!-- To display the value,e.g. make a papget scale to 0.0048? and set 8.7 min 12.6max for a 3cell -->
+    <configure name="ADC_CHANNEL_GENERIC1" value="ADC_5"/><!-- Airspeed -->
+    <!-- Or if you like test. -->
+    <!-- <configure name="ADC_CHANNEL_GENERIC1" value="BOARD_ADC_CHANNEL_4" /> -->
+    <!-- On V_BAT_MEAS  on STM  Pin 24 PC4 adc14-->
+    <!--
+      <configure name="ADC_CHANNEL_GENERIC1" value="BOARD_ADC_CHANNEL_4"/>
+      <configure name="ADC_CHANNEL_GENERIC2" value="13"/>
+-->
+    <!-- If an External analog Voltage and Amps sensor is connected use this -->
+    <!--  <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>-->
+    <!--   <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/>-->
+    </load>
+    <load name="photogrammetry_calculator.xml"/>
+    <!--  <load name="nav_catapult.xml"/> -->
+    <!-- <load name="geo_mag.xml"/> --> <!-- simplify the setup of magneto in various part of the world TODO needs fixing now aircarft in flight (strange)rule-->
+
+    <load name="TICKET.xml">
+      <define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="22" unit="quarter_second"/>
+      <configure name="CAMERA_PORT" value="UART5"/>
+    </load>
+
+    <load name="baro_sim.xml"/>
+    <!-- Navigation modules-->
+    <load name="nav_line.xml"/>
+
+    <!-- **************************** DROP STORE ******************************* -->
+    <!-- TODO set fastest possible loop rate-->
+    <load name="nav_drop.xml">
+      <define name="TRIGGER_DELAY" value="3.0" unit="s"/> <!--TODO get correct value;  time it take from shoot command till actual release of payload -->
+      <define name="VELOCITY_AT_RELEASE" value="14" unit="m/s"/><!-- TODO not implemented - to set to min airspeed-->
+      <!-- TODO: These values are for a OBJEXT X not the real on yet  -->
+      <define name="ALPHA" value="44.18e-4"/><!-- TODO: adjust it for the 500ML bottle -->
+      <define name="MASS" value="5.00e-3" unit="KG"/><!-- TODO: -->
+      <define name="SAFE_CLIMB" value="10" unit="m"/><!-- TODO: define  what?-->
+      <define name="CLIMB_TIME" value="3" unit="s"/><!-- TODO: define what?-->
+    </load>
+
+<!-- needed to be able to survey an aerea -->
+     <load name="nav_survey_polygon.xml"/>
+     <load name="nav_survey_poly_osam.xml"/>
+
+<!-- addedto test various nav routines-->
+      <load name="nav_smooth.xml"/>
+      <load name="nav_vertical_raster.xml"/>
+      <load name="nav_line_border.xml"/>
+      <load name="nav_line_osam.xml"/>
+      <load name="nav_line_border.xml"/>
+      <load name="nav_flower.xml"/>
+      <load name="nav_bungee_takeoff.xml"/>
+  </modules>
+
+  <servos>
+  <!-- ***************************** ACTUATORS ***************************** -->
+    <servo name="MOTOR" no="0" min="1100" neutral="1110" max="1900"/>
+    <servo name="ELEVON_LEFT" no="1" min="1100" neutral="1475" max="1900"/>
+    <servo name="ELEVON_RIGHT" no="2" min="1100" neutral="1450" max="1900"/>
+    <servo name="FLAPPERON_LEFT" no="3" min="1150" neutral="1508" max="1900"/>
+    <servo name="FLAPPERON_RIGHT" no="4" min="1150" neutral="1495" max="1900"/>
+    <servo name="HATCH" no="5" min="1950" neutral="1900" max="1100"/>
+    <servo name="LIGHTS" no="6" min="1100" neutral="1500" max="1900"/>
+  </servos>
+
+  <section name="ServoPositions">
+    <define name="SERVO_BRAKE_FULL" value="-MAX_PPRZ" />
+    <define name="SERVO_HATCH_OPEN" value="0" />
+    <define name="SERVO_HATCH_CLOSED" value="-9600" />
+    <define name="AGR_CLIMB_PITCH" value="35" unit="deg" />
+
+    <define name="AirbrakesOff()" value="(ap_state->commands[COMMAND_BRAKE]=0)" />
+    <define name="AirbrakesOn()" value="(ap_state->commands[COMMAND_BRAKE]=SERVO_BRAKE_FULL)" />
+    <define name="Fly()" value="(ap_state->commands[COMMAND_FORCECRASH]=0)" />
+    <define name="ForceCrash()" value="(ap_state->commands[COMMAND_FORCECRASH]=9600)" />
+    </section>
+
+  <commands>
+
+<!-- OBC2014 Rules for FTD
+
+The flight termination rules for contol flap positions for fixed-wing aircraft are:
+# Throttle closed
+# Full up elevator
+# Full right rudder
+# Full down on the right aileron
+# Full up on the left aileron
+# Full flaps down
+
+For a blended wing this will translate best to
+# Throttle closed
+# Full up in inner elevons
+# Full down on the right aileron
+# Full up on the left aileron -->
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="9600"/>
+    <axis name="PITCH" failsafe_value="9600"/>
+    <!-- * Yaw, since we have and option via ELEVON UP FLAPPERON DOWN MIX * -->
+    <axis name="YAW" failsafe_value="9600"/>
+    <!-- * Maybe set to open position, to be able to simply insert the payload * -->
+    <axis name="HATCH" failsafe_value="-9600"/>
+    <axis name="BRAKE" failsafe_value="0"/>
+    <axis name="FORCECRASH" failsafe_value="0"/>
+    <!-- maybe set to 9600 -->
+  </commands>
+
+  <rc_commands>
+<!-- ************************** RC COMMANDS ****************************** -->
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="YAW" value="@YAW"/>
+    <set command="BRAKE" value="@BRAKE"/>
+    <set command="HATCH" value="@HATCH"/>
+    <!-- <set command="LIGHT" value="@AUX4"/> -->
+    <!--@AUX4 -->
+    <!-- DANGER -->
+    <!-- <set command="FORCECRASH" value="@MANUALRELEASE"/> -->
+    <!-- DANGER DISABLE THIS before flight, ONLY for BENCH TEST not flyng, DANGER! -->
+  </rc_commands>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="85." unit="deg"/>
+    <define name="MAX_PITCH" value="60." unit="deg"/>
+  </section>
+
+  <section name="MIXER">
+<!-- ********************** SERVO MIXER GAINS **************************** -->
+    <define name="ELEVON_ROLL_FACTOR" value="0.7f"/>
+    <define name="ELEVON_PITCH_FACTOR" value="0.6f"/>
+    <define name="ELEVON_YAW_FACTOR" value="0.9f"/>
+    <define name="FLAPERON_YAW_FACTOR" value="0.9f"/>
+    <!-- not used yet, same for elevon as flaperon at the moment-->
+    <!-- If brakes extended could change pitch, compensate here, Future separate flaperon elevon brake scaling, needs testing -->
+    <define name="BRAKE_PITCH_COMPENSATION" value="0.1f"/>
+    <!-- not used yet -->
+    <!-- Full speed brake extending could overload servos and unfavorable sudden pitch change possible, so a slowed extending of brake is performed-->
+    <define name="BRAKE_ENABLED_SLOWDOWN_FACTOR_EXTEND" value="80"/>
+    <!-- no unit yet, be warned test with var frequencies -->
+    <define name="BRAKE_ENABLED_SLOWDOWN_FACTOR_RETRACT" value="420"/>
+    <!-- no unit yet, be warned test with var frequencies -->
+    <!-- If we would set to much brake pct then the elevons and flaperons have not enought authoity to make the AC roll n pitch, not so handy in landing phase -->
+    <define name="BRAKE_MAX_PCT" value="0.75f"/>
+    <define name="BRAKE_PITCH_COMPENSATION" value="0.1f"/>
+    <!-- Set up/down deflection differences, needs many in flight tests to find acceptable values-->
+    <define name="AILERON_DIFF" value="0.3f"/>
+    <!-- not used yet-->
+  </section>
+
+
+  <command_laws>
+<!-- ************************** COMMAND-LAWS ******************************* -->
+    <!-- Brake Slowdown -->
+    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-BRAKE_ENABLED_SLOWDOWN_FACTOR_RETRACT" rate_max="BRAKE_ENABLED_SLOWDOWN_FACTOR_EXTEND"/>
+    <let var="aileron" value="@ROLL  * ELEVON_ROLL_FACTOR"/>
+    <let var="elevator" value="@PITCH * ELEVON_PITCH_FACTOR"/>
+    <let var="crowbrake" value="$brake_value * BRAKE_MAX_PCT"/>
+    <let var="leftyaw" value="(@YAW >= 0? 0 : 1)"/>
+    <let var="rightyaw" value="(1 - $leftyaw)"/>
+    <!-- opposite of left -->
+    <let var="rudderleft" value="(@YAW * $leftyaw) * ELEVON_YAW_FACTOR"/>
+    <let var="rudderright" value="(@YAW * $rightyaw) * ELEVON_YAW_FACTOR"/>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="ELEVON_LEFT" value="-$elevator + $aileron - $crowbrake + $rudderleft"/>
+    <set servo="ELEVON_RIGHT" value="$elevator + $aileron + $crowbrake + $rudderright"/>
+    <set servo="FLAPPERON_LEFT" value="-$elevator + $aileron + $crowbrake - $rudderleft"/>
+    <set servo="FLAPPERON_RIGHT" value="$elevator + $aileron - $crowbrake - $rudderright"/>
+    <set servo="HATCH" value="@HATCH"/>
+  </command_laws>
+
+  <section name="TRIM" prefix="COMMAND_">
+<!-- ******************************* TRIM ********************************** -->
+    <define name="ROLL_TRIM" value="0"/>
+    <define name="PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+<!-- ***************************** FAILSAFE ******************************** -->
+    <define name="DEFAULT_THROTTLE" value="0.0" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.2" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.05" unit="rad"/>
+    <define name="HOME_RADIUS" value="DEFAULT_CIRCLE_RADIUS" unit="m"/>
+    <define name="KILL_MODE_DISTANCE" value="(MAX_DIST_FROM_HOME*1.5)"/>
+    <define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
+  </section>
+
+
+  <section name="IMU" prefix="IMU_">
+<!-- ****************************IMU SENSOR ******************************** -->
+    <!-- Calibration Neutral -->
+    <!-- ***************** ACCELO *****************-->
+    <!--
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+-->
+    <!-- SENS = 2048 LSB/g / 9.81 ms2/g = 208.766564729 LSB/ms2 / 10bit FRAC: 1024 / 208.7665 -->
+    <!-- For newer MPU6000 set to 9.81 -->
+    <!--    <define name="ACCEL_X_SENS" value="4.905" integer="16"/> -->
+    <!-- For newer MPU6000 set to 9.81 -->
+    <!--    <define name="ACCEL_Y_SENS" value="4.905" integer="16"/> -->
+    <!-- For newer MPU6000 set to 9.81 -->
+    <!--    <define name="ACCEL_Z_SENS" value="4.905" integer="16"/> -->
+    <!--
+<define name="ACCEL_X_SENS" value="4.905" integer="16"/>
+<define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
+<define name="ACCEL_Z_SENS" value="4.905" integer="16"/>-->
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="1"/>
+    <define name="ACCEL_Z_SIGN" value="1"/>
+    <!-- ***************** GYRO *****************-->
+    <!--
+    <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="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="1"/>
+    <define name="GYRO_R_SIGN" value="1"/>
+    <!-- ***************** MAGNETO *****************-->
+    <!-- TODO: Calibrate, AND RE-CALIBRATE after aircraft changes !-->
+    <define name="MAG_X_NEUTRAL" value="-136"/>
+    <define name="MAG_Y_NEUTRAL" value="-130"/>
+    <define name="MAG_Z_NEUTRAL" value="141"/>
+    <define name="MAG_X_SENS" value="3.51854936936" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.48065294671" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.08548845489" integer="16"/>
+    <define name="MAG_X_SIGN" value="1"/>
+    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_Z_SIGN" value="1"/>
+    <!-- Set body to IMU here -->
+    <!--
+Phi -1.6
+Theta -2.2
+Psi -109
+-->
+    <!--Switched -90deg axis, thus ** set Phi = Theta!! and Theta = Phi!! **-->
+    <define name="BODY_TO_IMU_PHI" value="-0.0" unit="rad"/>
+    <!-- e.g. -0.085 rad from messages -->
+    <define name="BODY_TO_IMU_THETA" value="0.0" unit="rad"/>
+    <!-- e.g. 0.09 rad from messages -->
+    <define name="BODY_TO_IMU_PSI" value="-90.0" unit="deg"/>
+    <!-- -90. is pins to tail of airfame -->
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+<!-- ****************************** AHRS *********************************** -->
+    <!--TODO: start using geo_mag module, else replace the values with your local magnetic field -->
+    <!-- Local Magnetic field NL Testfield-->
+    <!--
+     <define name="H_X" value="0.382478"/>
+     <define name="H_Y" value="0.00563406"/>
+     <define name="H_Z" value="0.923948"/>
+   -->
+    <!-- Local Magnetic field DE Testfield -->
+    <define name="H_X" value="0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value="0.85490967783446"/>
+    <!-- Local magnetic field AU (Kingaroy) -->
+    <!--
+     <define name="H_X" value="?"/>
+     <define name="H_Y" value="?"/>
+     <define name="H_Z" value="?"/>
+   -->
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-0.300000701874" unit="deg"/>
+    <!-- from messages, PFD and graphs -->
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
+    <!-- from messages, PFD and graphs -->
+  </section>
+
+
+<!-- ******************************** GAINS ******************************** -->
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+<!-- ******************* HORIZONTAL CONTROL ******************************** -->
+    <define name="COURSE_PGAIN" value="0.8"/>
+    <define name="COURSE_DGAIN" value="0.08"/>
+    <!-- The prebank is an adjustment to the roll setting which is done when the aircraft is trying to do a circle and when it is close to the circumference of the circle. This way it does not fly straight into the circumference but instead it starts to make a roll as the one needed to fly in circles.
+There is a value in the airframe file COURSE_PRE_BANK_CORRECTION which can be used to increase o decrease the effect. If set to 1 then the normal prebank is done. If set to 0.5 then half of the additional roll is done. This causes the aircraft to not roll enough in order to fly the intended circle and it ends up flying in a larger circle.  A value > 1 makes it fly a smaller circle.
+
+https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/nav.c#L132
+-->
+    <define name="COURSE_PRE_BANK_CORRECTION" value="1.0"/>
+    <!-- TODO: Tune value -->
+    <define name="ROLL_MAX_SETPOINT" value="46.4095814586" unit="deg"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11000"/>
+    <define name="ROLL_RATE_GAIN" value="1500"/>
+    <define name="ROLL_IGAIN" value="30"/>
+    <define name="ROLL_KFFA" value="0"/>
+    <define name="ROLL_KFFD" value="0"/>
+    <!-- PITCH -->
+    <define name="PITCH_MAX_SETPOINT" value="60" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-60" unit="deg"/>
+    <define name="PITCH_PGAIN" value="10000."/>
+    <define name="PITCH_DGAIN" value="5"/>
+    <define name="PITCH_KFFA" value="0."/>
+    <define name="PITCH_KFFD" value="0."/>
+    <define name="ELEVATOR_OF_ROLL" value="837"/>
+    <!-- TODO: Make testflight with log of radical manual flight-->
+    <!--   <define name="PITCH_OF_ROLL" value="RadOfDeg(1.0)"/>-->
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <!-- DON'T USE unnless you know what you are doing-->
+    <define name="ROLL_SLEW" value="0.2"/>
+    <!--TODO: Describe why we would need it-->
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+<!-- ******************* VERTICAL CONTROL ********************************** -->
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="0.15"/>
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/>
+    <!--  <define name="ALTITUDE_PRE_CLIMB_CORRECTION" value="0.1"/> -->
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.6"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/>
+    <!-- default 0 -->
+    <!-- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>-->
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="1.0"/>
+    <!-- TODO add limit for airspeed based on 13m/s max wind + cameaaspeed max 0.25hz max ans lens  o max GS 21m/s>
+    <define name="AIRSPEED_MAX" value="31" unit=""m/s"/> -->
+    <!--21+13 -->
+    <!-- TODO add limit
+    <define name="AIRSPEED_MIN" value="10" unit=""m/s"/> -->
+    <!-- Only set to a value in initial flight until airspeed is proven to work well, else set to 0 -->
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0." unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
+    <define name="AIRSPEED_PGAIN" value="0.15"/>
+    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.0"/>
+    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.0"/>
+    <!--UNKN-->
+    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.0"/>
+    <!--
+    <define name="AUTO_GROUNDSPEED_SETPOINT" value="16." unit="m/s"/>
+    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.7"/>
+    <define name="AUTO_GROUNDSPEED_IGAIN" value="0."/>
+-->
+
+  <!-- Never set THROTTLE_SLEW_LIMITER to 0 (Zero) ! -->
+    <define name="THROTTLE_SLEW_LIMITER" value="0.4" unit="m/s/s"/>
+
+    <define name="GLIDE_RATIO" value="15."/>
+    <!-- TODO: testfly with AOW full weight to get value, now unknown -->
+    <!-- ENERGY_TOT="" unknown -->
+    <define name="ENERGY_TOT_PGAIN" value="0.35"/>
+    <define name="ENERGY_TOT_IGAIN" value="0.30"/>
+    <define name="ENERGY_DIFF_PGAIN" value="0.40"/>
+    <define name="ENERGY_DIFF_IGAIN" value="0.35"/>
+  </section>
+
+<!-- ************************ AUTO RC COMMANDS ***************************** -->
+  <auto_rc_commands>
+    <!-- To still be able to use virtual rudder, which is handy with sidewind landing in auto1 stabilization mode only YAW
+     Handy if in auto1 for sidewind stabilized crabbing landing, also for steering if someting not OK with course gains in Autonomous flight-->
+    <set command="YAW" value="@YAW"/>
+  </auto_rc_commands>
+
+<!-- ************************* MISC ************************* -->
+<!-- ******************************* MODULES ******************************* -->
+
+
+<!-- ******************************* IMU *********************************** -->
+  <!-- nice n dirty for initial tuning test flights -->
+
+<!-- ****************************** BAT ************************************ -->
+  <!-- Is the BAT of FTD connected to separate battery  -->
+
+  <!-- Lisa/M 2.0 powering issue. Exactly following the wiring schema in http://paparazzi.enac.fr/wiki/File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png
+ * set JP1.
+ * connected the BEC power out of ESC to the Servo bus, the voltage level is 5V on the servo bus
+ * Connected the battery plus one red wire output directly to V_BAT in (the CANSPI bus molex) and measured ~12.2V on V_BAT using an almost full 3 cell LiPo
+  ISSUE The GCS (and messages) show a battery level of 0V.
+  Forcing a value, just to check it, via  <define name="VoltageOfAdc(adc)"      value="12.2"/> in BAT section of airframe, works
+  Measuring the voltage at V_BAT_MEAS results in x V which should be OK.
+   What did I do wrong, which define to use (BOARD_ADC_CHANNEL_4 ?) ... in the end my board just seemed broken-->
+
+  <section name="BAT">
+    <!--  If we still measure the bat level of the engine to and for AP react, it sometimes sags to < LOW_BAT_LEVEL, but this is normal if stron acceleration is made, should react less panicy-->
+    <!-- if separate A nV sensor is used then this line belo also -->
+    <!--  <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>-->
+    <!--and use-->
+    <!-- If an External analog Voltage and Amps sensor is connected use this -->
+    <!--  <configure name="ADC_CHANNEL_GENERIC1" value="ADC_3"/>-->
+    <!--   <configure name="ADC_CHANNEL_GENERIC2" value="ADC_4"/>-->
+    <!-- Make a wire from V+ straight from AC batt to the voltage read pin (2) on 7 pin molex CANSPI -->
+    <!-- <define name="MilliAmpereOfAdc(adc)" value="((adc) - 205) * 124.0f"/>-->
+    <!--     <define name="VoltageOfAdc(adc)"      value="(adc*0.004545)"/>-->
+    <!-- resistors 10k/2.2k i 10240/2252.8 ~ -->
+    <!-- V value forced, if there is no solution today with a broken board -->
+    <!--  <define name="VoltageOfAdc(adc)"      value="11.5"/> -->
+    <!-- <define name="VoltageOfAdc(adc)" value="(ADC13"/>-->
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="20000" unit="mA"/>
+    <!-- <define name="VoltageOfAdc(adc)"      value="(adc)"/>-->
+    <!--    <define name="MilliAmpereOfAdc(adc)" value="((adc) - 505) * 124.0f"/>-->
+    <!--
+   <define name="VOLTAGE_ADC_A" value="0.004469"/>
+   <define name="VOLTAGE_ADC_B" value="0.1"/>
+   <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
+-->
+    <define name="MAX_BAT_LEVEL" value="12.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="10.0" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.0" unit="V"/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
+  </section>
+
+  <section name="MISC">
+<!-- ****************************** MISC *********************************** -->
+    <!-- Values here are only referred to by the flightplan m*_s*_airspeed.xml -->
+    <define name="TRACKING_AIRSPEED" value="20." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
+    <define name="GLIDE_AIRSPEED" value="15." unit="m/s"/>
+    <define name="STALL_AIRSPEED" value="10." unit="m/s"/> <!-- measue limit of plane in testflight and set 80% from this -->
+    <define name="TAKEOFF_PITCH_ANGLE" value="50" unit="deg" />
+    <define name="FLARE_PITCH_ANGLE" value="55" unit="deg" />
+    <!-- to high now, H stall to test with full weight-->
+    <define name="AIRSPEED_SETPOINT_SLEW" value="0.4" unit="m/s/s"/>
+
+    <define name="NAV_GLIDE_PITCH_TRIM" value="-1.0" unit="deg"/>
+    <define name="CARROT" value="7." unit="s"/>
+    <define name="CONTROL_FREQUENCY" value="100." unit="Hz"/>
+    <!--<define name="ALT_KALMAN_ENABLED" value="TRUE"/>-->
+    <define name="DEFAULT_CIRCLE_RADIUS" value="110."/>
+    <define name="LANDING_CIRCLE_RADIUS" value="80."/>
+    <define name="MIN_CIRCLE_RADIUS" value="70."/>
+    <!-- Needed for spiral navigation function-->
+    <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
+If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
+    <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
+     or  fly a long range mission you define the wanted mode behaviour here.
+     If you do not define it, it defaults to flying to the flightplan HOME -->
+    <define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/>
+  </section>
+
+<!-- ********************* HAND AND CATAPULT LAUNCH ************************ -->
+
+<!-- value setup according to values derived from a manual flight and it belonig log with values -->
+<!-- the "CATAPULT" in some cases is a Human throwing the plane, and to protect the hands agains a prop strike
+we had an option to use glovs, or start up spinning the prop after a throw. If this works out well, lets use it
+ Makes the life of autotakeoff much more safe and simple -->
+<!--
+   <section name="CATAPULT" prefix="NAV_CATAPULT_">
+      <define name="MOTOR_DELAY" value=".1" unit="seconds"/> -->
+  <!-- TODO:  determine best value, first set to very small or 0 so engine start immidiatlely -->
+  <!-- make sre you ESC has no startup delay -->
+  <!-- 120 or 512 should be repalced by the PERIODIC_FREQUENCY -->
+  <!--   <define name="HEADING_DELAY" value="(120*3)" unit="seconds"/> <!-- 3 seconds, thus -->
+  <!-- 3 seconds, thus -->
+  <!--  <define name="ACCELERATION_THRESHOLD" value="1.3" unit="g"/>-->
+  <!--TODO: unit and tune this with final weight in airframe! not to high otherwise engine will never run, must after all go over the threshold-->
+  <!--        <define name="INITIAL_PITCH" value="0.52" unit="rad"/><!-- 30 deg -->
+  <!--TODO: tune this, look at graphs from manual flights-->
+  <!--   <define name="INITIAL_THROTTLE" value=".99"/>-->
+  <!-- PCT from 0 to 1, where 1 is 100% -->
+
+   <!-- <define name="HEADING_DELAY" value="3.0" unit="seconds"/>--> <!--TODO why n how much -->
+
+   <!--</section>-->
+
+<!-- ************************ GCS SPECIFICS ******************************** -->
+  <section name="GCS">
+    <define name="SPEECH_NAME" value="Vivify"/>
+    <!--TODO:  rather see this in <airframe name="Vivify" spokenname="sayitnow"> as optional parameter-->
+    <define name="AC_ICON" value="flyingwing"/>
+  </section>
+
+<!-- ****************** FAKE MORA DIGITAL_CAMERA *************************** -->
+  <!-- Temporary solution if you have no complete MORA -->
+  <!-- <section name="DIGITAL_CAMERA" prefix="DC_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="12" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>-->
+
+  <!-- LISAM ON / OFF should be swapped if using a TWOG board -->
+  <!-- <define name="PUSH" value="LED_ON"/> -->
+  <!--  <define name="RELEASE" value="LED_OFF"/> -->
+  <!--Set the maximum image number to expect, otherwise only the first 255 images get a number on the mapdot -->
+  <!-- </section> -->
+
+<!-- ********* NEW AP_COMPUTERPHOTOCAM(MORA)_INTERFACE TRIGGER ************* -->
+  <!-- TODO: CREATE MODULE See -->
+  <!-- <section name="TICKET" prefix="TICKET_">
+    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="12" unit="quarter_second"/>
+    <define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>-->
+  <!-- LISAM ON / OFF should be swapped if using a TWOG board -->
+  <!-- <define name="PUSH" value="LED_ON"/> -->
+  <!-- <define name="RELEASE" value="LED_OFF"/> -->
+  <!--Set the maximum image number to expect, otherwise only the first 255 images get a number on the map dots -->
+  <!-- </section> -->
+
+<!-- ************************* PHOTOGRAMMETRY ****************************** -->
+  <section name="PHOTOGRAMMETRY" prefix="PHOTOGRAMMETRY_">
+  <!-- Camera Parameters -->
+  <!-- TODO: Feature get them from the MORA device at init or polling if not yet available -->
+     <define name="FOCAL_LENGTH" value="24.0" unit="mm"/>
+     <define name="SENSOR_WIDTH" value="6.66" unit="mm"/>
+  <!-- In direction of the plane's wings -->
+     <define name="SENSOR_HEIGHT" value="5.32" unit="mm"/>
+  <!-- In direction of the plane's nose -->
+      <define name="PIXELS_WIDTH" value="4000"/>
+  <!-- Photogrammetry Parameters. Can also be defined in a flightplan instead
+     <define name="OVERLAP" value="0.3" unit="%"/>
+     <define name="SIDELAP" value="0.2" unit="%"/>
+     <define name="RESOLUTION" value="50" unit="mm pixel projection"/>-->
+  <!-- Flight Safety Parameters -->
+     <define name="HEIGHT_MIN" value="50" unit="m"/>
+     <define name="HEIGHT_MAX" value="220" unit="m"/>
+     <define name="RADIUS_MIN" value="80" unit="m"/>
+  </section>
+
+<!-- ************************** GLS LANDING ******************************** -->
+  <section name="GLS_APPROACH" prefix="APP_">
+    <define name="ANGLE" value="7" unit="deg"/><!-- TODO: test and determine best value -->
+    <define name="INTERCEPT_AF_SD" value="80" unit="m"/><!--watch it after landing airspeed = 0 thus aircraft throttles up again, not good!-->
+    <define name="TARGET_SPEED" value="13" unit="m/s"/>
+  </section>
+
+<!-- *
+To be able to Flash e.g. the u-Blox gps with the using u-center
+You can use the jtag serial port to directly connect to the GPS device,
+or if you don't want to make cables connect to the uart on lisa/m
+while having the GPS on the other uart.
+Then you can flash the tunnel to the lisa (bridges uart1 and uart2).
+Handy for in the filed if you do not want to change Airframe cables, but still
+need to set somting manually in the uBlox GPS device
+* -->
+<!--
+  <firmware name="Tunnel">
+    <target name="Serial_tunnel" board="lisa_m_2.0"/>
+  </firmware>
+-->
+</airframe>
diff --git a/conf/flight_plans/OpenUAS/include_obc2014_mission.xml b/conf/flight_plans/OpenUAS/include_obc2014_mission.xml
new file mode 100644
index 00000000000..ddb7b9ccfdf
--- /dev/null
+++ b/conf/flight_plans/OpenUAS/include_obc2014_mission.xml
@@ -0,0 +1,585 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<!-- This is the Flightplan of Team OpenUAS from the Netherlands for use in the
+     Australian UAV Outback Challenge of 2014.
+
+     Read about this challenge here:
+     http://www.uavoutbackchallenge.com.au/
+
+     Thanks to all involved, specifically all the help from CdW, DD, BR, GdC, AvdL
+     * TU Delft University of Technology, L&R http://www.tudelft.nl
+     * MAVLab - http://mavlab.info
+     * 1 bit squared http://1bitsquesred.com
+     * everyone else who helped out
+
+TYPE 1 OPERATION Flightplan, fully autonomous in-air joe detection integration
+
+Now with integrated TYPE2 operations option (soon...)
+TYPE 2 OPERATION Flightplan, fully autonomous search, but on ground joe detection integration
+
+STRATEGY:
+
+# Have one flightplan which does it all, no need to upload anything!
+
+USAGE:
+
+NOTES:
+
+# This flightplan contains both the SR, as default mission and the Scruteneering flight.
+# Mission boundary coodinates are for both Scrutineering and SnR the same
+# Alert boundaries are different for Scrutineering and SnR Missions
+
+TODO:
+# Latest coordinates of KMZ of 20131017, a 100% validationcheck.
+# TODO:
+# add times to blocks to prevent to early forcedcrash. e.g after 2 second from tkeof border cannot be crossed in reality, so if triggered do a softcircledown or so
+# or mabye calculate distance and look at airframe REAL max ground speed(with wind in backeve) and deduct time it would take, if within < margin it cannot be missionborder
+# but if scrutineering day, than it can be since we test it closeby mission boundary
+
+TESTS:
+#If we set the air crowbrake make sure it is retracted again when contining normal ops (maybe or above a certain airspeed?)
+
+-->
+
+<!-- Test via command xmlwf yourfligtplanname.xml for welformedness of the xml document -->
+<!-- The base lat lon of the flightplan is the AIRFIELDHOME point -->
+<!-- The ground_alt will be set later on also with real testflight, mind the ground height profile please -->
+<procedure>
+<!-- ******************************** HEADERS ****************************** -->
+<header>
+
+#ifndef FLIGHTPLAN_HEADER_DEFINES
+#define FLIGHTPLAN_HEADER_DEFINES
+
+//Set Generic options
+    #include "autopilot.h"
+//Enable AHRS Health test functions
+    #include "subsystems/ahrs.h"
+//Enable advanced electrical power functions
+    #include "subsystems/electrical.h"
+//Enable datalink tests
+    #include "subsystems/datalink/datalink.h"
+//For interaction with the Flight termination Device (FTD)
+    #define RCChannel(_x) ((*fbw_state).channels[_x])
+
+//DANGER WARNING
+// define ACTIVATED_FTD 0
+
+
+// PHOTOGRAMMETRY settings
+    #define PHOTOGRAMMETRY_OVERLAP 30		// 1-99 Procent
+    #define PHOTOGRAMMETRY_SIDELAP 20		// 1-99 Procent
+    #define PHOTOGRAMMETRY_RESOLUTION 50		// mm pixel projection size
+
+// Incluse airframe.h To be able to use specific variables
+    #include "generated/airframe.h"
+
+// Completly replace with onboard recon copmpter interface
+    #ifdef DC_AUTOSHOOT_QUARTERSEC_PERIOD
+    //TODO make shooting distance not periodic
+    #define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_PERIODIC;
+    #define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
+    #endif
+
+//Enable energy control commands from within flightplan
+    #include "firmwares/fixedwing/guidance/energy_ctrl.h"
+
+// States
+    #define AircraftIsBooting()  LessThan(nav_block,4)  // LessThan(nav_block,IndexOfBlock('Mission.ReadyForDeparture'))
+
+
+#endif
+
+  </header>
+<!-- ******************************* WAYPOINTS ***************************** -->
+  <waypoints>
+
+<!-- Scrutineering Course -->
+<!-- South * East
+TST-1 = -26° 34' 58.9" * 151° 50' 16.2"
+TST-2 = -26° 35' 04.1" * 151° 50' 44.5"
+TST-3 = -26° 35' 23.2" * 151° 50' 45.9"
+-->
+<!-- extra boundary maybe add it -->
+<!-- ABS = Alert Boundary scrutineering flight -->
+<!-- TODO real positions and better naming-->
+<!--
+    <waypoint name="_ABS1" lat="" lon="" height="400."/>
+    <waypoint name="_ABS2" lat="" lon="" height="400."/>
+    <waypoint name="_ABS3" lat="" lon="" height="400."/>
+-->
+
+    <waypoint name="FLARE" x="-100." y="400." height="-40."/>
+
+<!-- Additional VIA_EL2 Waypoint since we must go *via* EL2, and to have a little
+    more meters optimal for our scan strips entry, otherwhise we could miss one
+    photo and not spot Joe. -->
+
+<!-- Position where Outback Joe would be located. If this waypoint is situated
+     outside search area(The default situation), by this way the flightplane
+     -knows if it should start a search phase. If it is moved inside the area it
+      will start a rescue phase, a.k.a bottledrop.  -->
+
+ <!-- The START from here towards target(Joe), wile dynamically calculating the RELEASE point to target the OUTBACKJOE -->
+    <waypoint name="START" x="-100" y="300"/>
+    <waypoint name="OUTBACKJOE" x="222." y="333."/>
+    <!-- Note that 70m is the release height, we are not allowed to go below
+    60 meters and need at least some GPS height fluctuation into account
+    Also if we steeply move UP from START to RELEASE the release will maybe a
+    little more accurate, hmmmm theoretically -->
+    <waypoint name="RELEASE" x="-100." y="400." height="61."/>
+
+<!-- For autonomous landing and drop -->
+    <waypoint name="_BASELEG" x="100" y="300"/>
+    <waypoint name="_CLIMB" x="100" y="300"/>
+    </waypoints>
+
+<!-- ******************************** SECTORS ****************************** -->
+<!-- Sectors are good for displaying an overlay -->
+  <sectors>
+    <sector name="SurveyArea" color="green">
+      <corner name="SA1"/>
+      <corner name="SA2"/>
+      <corner name="SA3"/>
+      <corner name="SA4"/>
+      <corner name="SA5"/>
+    </sector>
+  </sectors>
+
+<!-- ****************************** EXCEPTIONS ***************************** -->
+  <exceptions>
+<!-- WARNING these are Global Exeption, bettersome to stuff in a flightplan block-->
+    <!-- If datalink is lost for more than 10 seconds and we are in launched state -->
+
+    <!-- below for the real SnR --> <!--  TODO: if datalinkloss but still closeby move to commhold? strange better airfiledhome loiter IMHO -->
+    <exception cond="And((datalink_time/2) > 9, launch > 0) && (!AircraftIsBooting())" deroute="CommsHoldLoiter"/> <!-- deroute="AirfieldHomeLoiter"/> -->
+
+ <!--   <exception cond="if Joefoundandretunvalformticket deroute="Waitforjudges"/>-->
+
+    <!-- Optional check, if at seconds of launch GPS is lost -->
+    <!-- <exception cond="And(launch, gps_lost)" deroute="killengine" or test for heighht 40M or so/> -->
+    <!-- see if we can get correct AP voltage -->
+
+    <!-- not used yet maybe switch it on <exception cond="10.0 > PowerVoltage()" deroute="Standby"/> -->
+    <!-- not used yet maybe switch it on <exception cond="11.0 > vsupply" deroute="Standby"/> -->
+ <!--  is less safe and has less chance of AC recovery. It states battery LOW, not battery critical -->
+<!--  <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Setting_home_location')) && !(nav_block == IndexOfBlock('Holding_point') && !(nav_block == IndexOfBlock('Land')))" deroute="Land"/>-->
+<!--<TODO: Add somethin like pre_call="if (!InsideRed(GetPosX(), GetPosY())) NavKillThrottle();-->
+  </exceptions>
+
+
+
+
+
+
+
+
+
+<!-- *********************************************************************** -->
+<!-- ********************** FLIGHTPLAN STARTINGPOINT *********************** -->
+<!-- *********************************************************************** -->
+
+<!-- *********** Wait for GPS fix, 3D by default *********** -->
+  <blocks>
+    <block name="WaitForGPS" pre_call="NavKillThrottle()" >
+      <!-- Do Not Kill -->
+      <handler fun="Fly()"/>
+      <!-- IDEA Close the hatch so not able to insert payload before there is a 3D fix , however maybe not so handy anyhow since we need to wat be fre we can insert-->
+      <!--  <set value="NavDropCloseHatch" var="unit"/> -->
+      <!-- if no valid fix or gps accuracy> 15m or no AHRS , it a no-go wait-->
+      <while cond="!GpsFixValid() || gps.pacc > 1500 || !(ahrs.status == AHRS_RUNNING)"/>
+    </block>
+
+<!-- *********** Set the ground reference height and the home position *********** -->
+<!-- a second init will follow since the plane thrower will still walk to launchpoint -->
+
+    <block name="Geo Init">
+      <while cond="LessThan(NavBlockTime(), 3)"/>
+<!--
+      <while cond="LessThan(nav_block,IndexOfBlock('Mission.ReadyForDeparture'))"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+      <call fun="NavSetWaypointHere(WP_HOME)"/>
+-->
+      <!--  TODO Set QNH here based on GPS height if allowed from commitee -->
+      <call fun="NavSetAltitudeReferenceHere()" />
+      <handler fun="compute_qnh()"/>
+    </block>
+
+    <!-- *********** Set the ground reference height and the home position *********** -->
+
+<!-- a second init will follow since the plane thrower will still walk to launchpoint-->
+
+    <block name="Wait for RC">
+      <!-- We must have RC at least once switched on just to test, this check can be deleted if everything works 100% in Auto2 -->
+      <while cond="RCLost()"/> <!-- to make sure we do not hop to AUTO2 and engine starts running , at least switch on then maybe off if you wantto -->
+      <!-- TODO maybe switch on ACL blick as soon as we are ready to go  -->
+    </block>
+
+    <block name="Set Landing Position" pre_call="NavKillThrottle()">
+      <set value="AirbrakesOff()" var="unit"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/><!-- maybe not moving the plane would still make a test of defelction possible -->
+    </block>
+
+    <block name="Landing Position Stored" pre_call="NavKillThrottle()" strip_button="Store" strip_icon="recenter.png">
+      <call fun="NavSetWaypointPosAndAltHere(WP_TD)"/>
+      <set value="DownlinkSendWpNr(WP_TD)" var="unit"/>
+      <set value="SetAltitudeForFinalFromTo(WP_TD,WP_AF)" var="unit"/>
+      <call fun="nav_compute_final_from_glide(WP_AF, WP_TD, V_CTL_GLIDE_RATIO)"/>
+      <call fun="nav_compute_flare_from_aftd(WP_AF, WP_TD, WP_FLARE)"/>
+      <set value="DownlinkSendWpNr(WP_AF)" var="unit"/>
+      <set value="DownlinkSendWpNr(WP_FLARE)" var="unit"/>
+      <deroute block="HoldingPoint"/>
+    </block>
+
+<!-- *********** Throttle off holdingpoint *********** -->
+    <block name="HoldingPoint" pre_call="NavKillThrottle()" >
+      <!--  TODO: make some movements on all defelctros as a sign we are in holding and to see if all works Maybe a separate testblock-->
+      <!-- <set var="waypoints[WP_START].x" value="WaypointX(WP_EL2) + 50"/> -->
+      <!-- <set var="waypoints[WP_START].y" value="WaypointY(WP_EL2) + 50"/> -->
+      <!-- <set value="0" var="ap_state->commands[COMMAND_CAMBER]"/> -->
+      <!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
+      <set value="AirbrakesOff()" var="unit"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/><!-- maybe not moving the plane would still make a test of defelction possible -->
+    </block>
+
+<!-- *********************************************************
+     *********** Search Area Entry Procedure Start ***********
+     ***************************************************** -->
+    <block name="Start Scruteneering Flight" strip_button="Scrut" group="TO">
+      <set value="SCRUTENEERING_FLIGHT" var="obc_flight_mode" />
+      <deroute block="ReadyForDeparture"/>
+    </block>
+
+    <block name="Start Search Flight" strip_button="Search" group="TO">
+      <set value="SEARCH_FLIGHT" var="obc_flight_mode" />
+      <deroute block="ReadyForDeparture"/>
+    </block>
+
+    <block name="Start Drop Flight" strip_button="Drop" group="TO">
+      <set value="DROP_FLIGHT" var="obc_flight_mode" />
+      <deroute block="ReadyForDeparture"/>
+    </block>
+
+    <block name="ReadyForDeparture" >
+      <exception cond="ThrottleHigh()" deroute="Takeoff"/>
+      <attitude pitch="DegOfRad(set_takeoff_pitch)" roll="0" throttle="0.0" until="FALSE" vmode="throttle"/>
+    </block>
+
+    <block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <!-- <set value="3000" var="ap_state->commands[COMMAND_CAMBER]"/> -->
+      <set value="0" var="kill_throttle"/>
+      <set value="1" var="launch"/>
+      <set value="0" var="autopilot_flight_time"/>
+      <set var="unit" value="AirbrakesOff()"/>
+      <set value="set_airspeed_nominal" var="v_ctl_auto_airspeed_setpoint"/>
+      <attitude pitch="DegOfRad(set_takeoff_pitch)" roll="0" throttle="1.0" until="MoreThan(NavBlockTime(), 2)" vmode="throttle"/>
+    </block>
+
+    <block name="Climb-Out">
+      <!--<exception cond="rc_status==RC_REALLY_LOST" after 3 seconds and no IMU deroute="softlydown">if using RC stil on with a Auto2 mode switch-->
+      <attitude pitch="DegOfRad(set_takeoff_pitch)" roll="0" throttle="1.0" until="GetPosAlt() > ground_alt+40" vmode="throttle"/>
+      <set var="v_ctl_auto_throttle_nominal_cruise_throttle" value="1.0" />
+      <set var="v_ctl_auto_throttle_nominal_cruise_pitch" value="set_takeoff_pitch" />
+    </block>
+
+    <block name="determineflighttype">
+      <exception cond="(obc_flight_mode == SCRUTENEERING_FLIGHT)" deroute="ScrutineeringAutonomyTriangle"/>
+      <!-- otherwise goto search area via entry lane -->
+      <deroute block="EntryLane1"/>
+    </block>
+
+<!-- *********************************************************
+     **************** Scrutineering Flight *******************
+     ***************************************************** -->
+
+<!--
+As part of the scrutineering the Search and Rescue entrants of the UAV Challenge
+Outback Rescue will be required to take off, track TST-1, TST-2, TST-3, TST-1... Until
+requested to land.
+
+All emergency and failure requirements of the Challenge must be met,
+
+with the exception that for Loss of Data Link the procedure will be track direct
+to “Airfield Home” and orbit for either a landing or regain of Data Link.
+-->
+
+    <block name="ScrutineeringAutonomyTriangle" strip_button="Triangle" strip_icon="path.png" group="Mission">
+      <!-- TODO: while we are up there take some pictures anyhow :) -->
+      <for var="i" from="1" to="3">
+        <go from="TST-3" hmode="route" wp="TST-1"/>
+        <go from="TST-1" hmode="route" wp="TST-2"/>
+        <go from="TST-2" hmode="route" wp="TST-3"/>
+      </for>
+      <deroute block="ComputeLandingApproach" />
+    </block>
+
+<!-- *********************************************************
+     *********** Search Area Entry Procedure Start ***********
+     ***************************************************** -->
+
+<!-- maybe a HelperWaypoint to gettart n return from a mission Tracking to EL1
+      <set value="0" var="ap_state->commands[COMMAND_CAMBER]"/>
+
+<!-- *********** Track to EL-1 *********** -->
+    <block name="EntryLane1" strip_button="Joe" strip_icon="lookdown.png" group="Mission">
+      <set value="set_airspeed_tracking" var="v_ctl_auto_airspeed_setpoint"/>
+      <go from="AIRFIELDHOME" wp="EL1" hmode="route"/>
+    </block>
+    <!--  maybe add other waypoint to enterarea in a better way -->
+
+<!-- *********** Track Direct to EL-2, Entry to Search Area only via EL-2 *********** -->
+    <block name="EntryLane2">
+      <set value="set_airspeed_tracking" var="v_ctl_auto_airspeed_setpoint"/>
+      <go from="EL1" wp="EL2" hmode="route" approaching_time="10" />
+    </block>
+
+    <block name="determinerescuetype">
+      <exception cond="(obc_flight_mode == DROP_FLIGHT)" deroute="RescueJoe"/>
+      <deroute block="SearchForJoe" />
+    </block>
+
+<!-- "Type 1" operation:
+     an areascan with taking pictures of ground realtime anyyse and if joe found an accknolege signal given , autonomous drop and return.
+
+     "Type 2"
+     * There is a search phase and a rescue phase.
+     ** Search means areascan gathering the imagery needed to pinpoint the location of lost Joe ("Type 1" operation)
+     ** Rescue means the payload dropping phase. ("Type 1" operation)
+     -->
+     <!-- TODO: if defined TYPE2 then -->
+<!--
+    <block name="determine_search_or_rescue_phase">
+      <exception cond="InsideSurveyArea(WaypointX(WP_OUTBACKJOE), WaypointY(WP_OUTBACKJOE))" deroute="RescueJoe"/>
+    </block>-->
+
+<!-- ***********
+See for calculations of camera values used
+http://www.openuas.org/intranet/webapps/pmwiki/pmwiki.php?n=UAS.Targetcalc
+Max Scanwidh at 120m is 180m
+Mission scanwidh is 144m thus with a 20% overlap. Overlap depends on lots of factors,
+best to perform many real life tests with the CAM
+*********** -->
+
+    <block name="SearchForJoeLateral">
+      <call fun="nav_survey_poly_osam_setup(WP_SA1, 5, 158, CourseFromToEnuDeg(WP_SA1, WP_SA2))"/> <!-- TODO correct angle of how we want to search -->
+      <deroute block="Searching" />
+    </block>
+
+    <block name="SearchForJoeDiagonal1">
+      <call fun="nav_survey_poly_osam_setup(WP_SA1, 5, 158, 30)"/> <!-- TODO correct angle of how we want to search -->
+      <deroute block="Searching" />
+    </block>
+
+    <block name="SearchForJoeDiagonal2">
+      <call fun="nav_survey_poly_osam_setup(WP_SA1, 5, 158, 55)"/> <!-- TODO correct angle of how we want to search -->
+      <deroute block="Searching" />
+    </block>
+
+    <block name="SearchForJoe">
+      <!-- <exception cond="FoundJoe" deroute="WaitForJugesDropApprovale"/> -->
+      <!-- Parameters
+      The orientation of the sweeps can ranges from north south to east west and
+       any where in between (-90 <-> 90 degrees respectively).
+       The side of the polygon the aircraft starts on (ex. north or south) is
+       determined by the side of the polygon the entry point is located.
+       call fun="InitializePolygonSurvey(WP_S1, NumOfCorners, SweepWidth, Orientation)"/> -->
+
+       <!-- SweepWidth  max photo with at height - 20 pct overlap 180- etc-->
+      <call fun="nav_survey_poly_osam_setup(WP_SA1, 5, 158, CourseFromToEnuDeg(WP_SA1, WP_SA5))"/> <!-- TODO correct angle of how we want to search -->
+    </block>
+
+    <block name="Searching">
+      <exception cond="PolySurveySweepBackNum >= 1" deroute="ReturnToBase"/> <!-- ? TODO decide to search in reverse again on until battery < volts needed to return home? if nothing found, go back?-->
+      <set value="set_airspeed_nominal" var="v_ctl_auto_airspeed_setpoint"/>
+      <call fun="nav_survey_poly_osam_run()"/>
+    </block>
+
+<!--WaitForJugesDropApproval if we do a Type 1 search otherwise it would be approved already Warning then never enter this block -->
+<block name="WaitForJugesDropApproval">
+<!-- circle with circle border already alligend with Drop align route, or maybe some better ideas... -->
+<!-- TODO: if blocktime approval takes to long do what? -->
+</block>
+
+<!-- *********************************************************
+     *********** Search Area Departure Procedure *************
+     ***************************************************** -->
+
+<!-- *********** Exit Search Area only via EL-3 *********** -->
+    <block name="ReturnToBase">
+      <set value="set_airspeed_tracking" var="v_ctl_auto_airspeed_setpoint"/>
+      <go wp="EL3"/>
+    </block>
+
+<!-- *********** Track Direct to EL-4 *********** -->
+    <block name="ExitLane3">
+      <set value="set_airspeed_tracking" var="v_ctl_auto_airspeed_setpoint"/>
+      <go from="EL3" wp="EL4" hmode="route"/>
+    </block>
+
+<!-- ************ Track to Kingaroy Airport *********** -->
+    <block name="ExitLane4">
+      <set value="set_airspeed_tracking" var="v_ctl_auto_airspeed_setpoint"/>
+      <go from="EL4" wp="AIRFIELDHOME" hmode="route"/>
+      <deroute block="ComputeLandingApproach"/>
+    </block>
+
+<!-- *********************************************************
+     **************** Deliver the Payload ********************
+     ***************************************************** -->
+
+    <block name="RescueJoe" strip_button="Drop" strip_icon="parachute.png" group="Mission">
+      <!-- <go wp="VIAEL2" hmode="route"/>--> <!-- TODO maybe not needed -->
+      <deroute block="drop"/>
+    </block>
+
+ <!--  AS REMINDER
+ extern unit_t nav_drop_compute_approach( uint8_t wp_target, uint8_t wp_start, float radius );
+extern unit_t nav_drop_update_release( uint8_t wp_target );
+extern unit_t nav_drop_shoot( void );
+extern float nav_drop_trigger_delay, nav_drop_start_qdr;
+extern bool_t compute_alignment(uint8_t w1, uint8_t w2, uint8_t start, uint8_t end, float d_before, float d_after);
+
+#define NavDropComputeApproach(_target, _start, _radius) nav_drop_compute_approach(_target, _start, _radius)
+#define NavDropUpdateRelease(_wp) nav_drop_update_release(_wp)
+#define NavDropShoot() nav_drop_shoot()
+#define NavDropCloseHatch() ({ ap_state->commands[COMMAND_HATCH] = MIN_PPRZ; })
+#define NavDropAligned() Qdr(DegOfRad(nav_drop_qdr_aligned)) -->
+
+
+<!-- *********** Drop Compute Approach *********** -->
+    <block name="drop">
+ <!-- TODO set Height to minimum height AGL allowed by commitee ?60M -->
+ <!-- TODO determine what still is success and is fastest value for this 100  -->
+      <!--set var="waypoints[WP_START].x" value="WaypointX(WP_OUTBACKJOE) + 100"/-->
+      <!--set var="waypoints[WP_START].y" value="WaypointY(WP_OUTBACKJOE) + 100"/-->
+
+      <set value="nav_drop_compute_approach(WP_OUTBACKJOE, WP_START, WP__BASELEG, WP__CLIMB, nav_radius)" var="unit"/>
+      <set value="DownlinkSendWpNr(WP_RELEASE)" var="unit"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(nav_drop_start_qdr)-15)" wp="_BASELEG"/>
+    </block>
+
+<!-- *********** Align on release path *********** -->
+    <block name="align">
+      <!-- TODO set AIRSPEED_AT_RELEASE-->
+      <!--TODO set HEIGHT to 60m -->
+      <exception cond="nav_drop_update_release(WP_OUTBACKJOE)" deroute="ReturnToBase"/>
+      <go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
+    </block>
+
+<!-- *********** Release Payload *********** -->
+    <block name="shoot">
+      <!-- TODO maybe extend crowbreak 80%? for slowes possible speed? -->
+      <!-- <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
+      <!-- TODO is electrcal plane and almost there maybe stop proppelor from spinning for a few seconds -->
+      <set value="NavDropShoot()" var="unit"/>
+      <!-- TODO add maxspeed again -->
+      <go from="RELEASE" hmode="route" wp="EL3"/>
+      <!-- Maybe better not to close, more chance of delivery, TODO maybe even add a sensor to detect release if not try again -->
+      <!-- <set value="NavDropCloseHatch" var="unit"/> -->
+
+      <deroute block="ReturnToBase"/><!-- Just To Make Sure -->
+    </block>
+
+<!-- *********************************************************
+     ********************* Autolanding ***********************
+     ***************************************************** -->
+
+<!-- *********** Initiate landing *********** -->
+<!--TODO better routing in combination with calced wind direction-->
+
+<!-- *********** Land *********** -->
+
+    <block key="r" name="ConstantSlopeLandRightAFTD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png"  group="Land">
+      <set value="LANDING_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="ComputeLandingApproach"/>
+    </block>
+
+    <block key="l" name="ConstantSlopeLandLeftAFTD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png"  group="Land">
+      <set value="-LANDING_CIRCLE_RADIUS" var="nav_radius"/>
+      <deroute block="ComputeLandingApproach"/>
+    </block>
+
+    <block name="ComputeLandingApproach" >
+      <call fun="nav_compute_final_from_glide(WP_AF, WP_TD, V_CTL_GLIDE_RATIO)"/>
+      <call fun="nav_compute_flare_from_aftd(WP_AF, WP_TD, WP_FLARE)"/>
+      <set value="DownlinkSendWpNr(WP_AF)" var="unit"/>
+      <set value="DownlinkSendWpNr(WP_FLARE)" var="unit"/>
+      </block>
+
+    <block name="Land">
+      <set value="set_airspeed_nominal" var="v_ctl_auto_airspeed_setpoint"/>
+      <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
+      <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
+      <set value="set_airspeed_glide" var="v_ctl_auto_airspeed_setpoint"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+    </block>
+
+    <block name="Final">
+      <set value="AirbrakesOn()" var="unit"/>
+      <go approaching_time="8" from="AF" hmode="route" wp="TD"/>
+    </block>
+
+    <block name="Flare">
+      <handler fun="NavKillThrottle()" />
+      <set value="set_airspeed_glide*0.8" var="v_ctl_auto_airspeed_setpoint"/>
+      <go approaching_time="0" from="TD" hmode="route" wp="FLARE"/>
+      <attitude roll="0.0" pitch="DegOfRad(set_flare_pitch)" throttle="0.0" until="FALSE" vmode="throttle"/>
+      <!-- TODO: retract brake after landed is true (with +3seconds margin) better a sensor(witch) that detects IsAircraftOnSolidGround -->
+    </block>
+
+
+<!-- *********************************************************
+     ********** Loss of Data Link – Rally Point **************
+     ***************************************************** -->
+<!--
+TODO: get OBC2014Rules in 5.5.2.1 Loss of Data Link – Rally Point
+
+* This flight mode must be activated if the data link is lost for 10 seconds.
+
+* This flight mode, once activated, must return the aircraft directly to the
+waypoint “Comms Hold” (Figure 1, Table 1) (no time limit for transit, but it
+must be direct to the waypoint)
+
+* and enter a loiter centred on that waypoint.
+* After 2 minutes of loitering,
+
+* if the data link has not been re-established, the aircraft must be programmed to return directly to
+waypoint “Airfield Home” (Figure 1, Table 1), where the RC link
+maybe re-established for a manual recovery. There is no time limit for
+the transit, but it must be direct to the waypoint.
+
+* On arriving at “Airfield Home”, the aircraft must enter a loiter centred
+on that waypoint.
+
+* If after 2 minutes, RC contact has not been re-established, an autopilot initiated and controlled flight termination
+mode must be activated. A controlled flight termination mode may be
+(but not limited to) an autonomous landing or entering the flight
+termination mode (Section 5.6).
+-->
+
+    <block name="CommsHoldLoiter" strip_button="CommsHold" strip_icon="recenter.png" group="Link" >  <!-- TODO other ICON -->
+      <!-- stop streaming thumbnails -->
+      <set value="0" var="ticket_thumbnails"/>
+      <!-- TODO: maybe set a little lower speed ? max endurence speed? -->
+      <set value="set_airspeed_nominal" var="v_ctl_auto_airspeed_setpoint"/>
+      <!-- Rules 2014 state a loiter of maximum 2 minutes = 120seconds is allowed -->
+      <exception cond="(stage_time > 120)" deroute="AirfieldHomeLoiter"/>
+      <!-- resume if datalink is regained-->
+      <!--TODO If the data link is regained prior to the conclusion of 2 minutes of loiter at
+      Comms Hold the mission maybe continued otherwise any subsequent  TODO -->
+      <!--exception cond="LessThan(datalink_time0, 10)" deroute="EntryLane2"/-->      <!-- As soon as we have a link again Go EL2 and continue mission> -->
+      <!-- TODO: better continue where we had our last telemerty still OK point if possible -->
+      <!-- Since it arrived we must raise a counter by one. it's not alowed by rules to occur  more than twice, then we must move to airfieldhome -->
+      <!-- TODO: set only after aircraft **arrived!** in the loiter not before the ETA < 1sec -->
+      <!-- <while no link then -->
+       <circle wp="COMMSHOLD" radius="nav_radius"/> <!-- TODO maybe bigger than default radius -->
+    </block>
+
+    <block name="AirfieldHomeLoiter" strip_button="AirfieldHome" strip_icon="home.png" group="Link">
+      <exception cond="stage_time > 120" deroute="ConstantSlopeLandRightAFTD"/>
+      <circle wp="AIRFIELDHOME" radius="nav_radius*1.5"/><!-- 1.5 x  mean it will be a bit bigger circle -->
+    </block>
+
+
+  </blocks>
+</procedure>
+
diff --git a/conf/flight_plans/OpenUAS/include_obc2014_safety.xml b/conf/flight_plans/OpenUAS/include_obc2014_safety.xml
new file mode 100644
index 00000000000..8147ad77f18
--- /dev/null
+++ b/conf/flight_plans/OpenUAS/include_obc2014_safety.xml
@@ -0,0 +1,116 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+
+<procedure>
+
+  <sectors>
+    <sector name="MissionBoundary" color="yellow">
+      <corner name="_MB1"/>
+      <corner name="_MB2"/>
+      <corner name="_MB7"/>
+      <corner name="_MB8"/>
+      <corner name="_MB9"/>
+      <corner name="_MB10"/>
+      <corner name="_MB11"/>
+      <corner name="_MB12"/>
+      <corner name="_MB13"/>
+    </sector>
+    <sector name="MissionBoundaryA" color="yellow">
+      <corner name="_MB1"/>
+      <corner name="_MB2"/>
+      <corner name="_MB7"/>
+      <corner name="_MB6"/>
+      <corner name="_MB13"/>
+    </sector>
+    <sector name="MissionBoundaryB" color="yellow">
+      <corner name="_MB6"/>
+      <corner name="_MB7"/>
+      <corner name="_MB8"/>
+      <corner name="_MB9"/>
+      <corner name="_MB10"/>
+      <corner name="_MB11"/>
+      <corner name="_MB12"/>
+      <corner name="_MB13"/>
+    </sector>
+    <sector name="AirportForbidden" color="red">
+      <corner name="_MB7"/>
+      <corner name="_MB6"/>
+      <corner name="_MB5"/>
+      <corner name="_MB4"/>
+      <corner name="_MB3"/>
+    </sector>
+    <sector name="AirportForbidden2" color="red">
+      <corner name="_MB3"/>
+      <corner name="_MB2"/>
+      <corner name="_MB7"/>
+    </sector>
+  </sectors>
+
+<!-- ****************************** EXCEPTIONS ***************************** -->
+  <exceptions>
+    <!-- RC-Loss -->
+    <!-- Handled by FTD-Radio-Control -->
+
+    <!-- Datalink-Loss: -->
+    <!-- Handled in Mission Navigation -->
+
+    <!-- GPS-Failure: -->
+    <!-- Handled in Mission Navigation -->
+
+    <!-- Baro-Failure: -->
+    <!-- Inform Operator, Fly lower, keep flying on GPS -->
+
+    <!-- Hard GeoFence -->
+    <!-- TODO Maybe ADD aditional exception with 2 sec timer here just to be sure to avoid position GPS spikes or some other jitter issues -->
+    <exception cond="((!InsideMissionBoundary(GetPosX(), GetPosY())) || (InsideAirportForbidden(GetPosX(), GetPosY())) || (InsideAirportForbidden2(GetPosX(), GetPosY()))) && gps_has_been_good()" deroute="GeoFence"/>
+
+    <!-- Failure of Autopilot -->
+    <!-- FTD will failsafe if no commands arrive during 100ms -->
+
+    <!-- Failure of Geofence detection processor -->
+    <!-- FTD will failsafe if no heartbeat arrives from AP (with GPS) during 100ms -->
+
+    <!-- Soft Altitude GeoFence 2800ft MSL-->
+    <exception cond="MoreThan(GetAmsl(), 2800) && gps_has_been_good()" deroute="AlmostHeightViolation" />
+
+    <!-- Hard Altitude GeoFence 3000ft MSL
+    Removed: because: theoretically impossible to climb 200ft without engine.
+    - Kill is as safe as Forcecrash, but happens lower.
+    - Only option to reach hard geofence = sensor failure: then the plane IS NOT TOO high, but the engine will be killed.
+    <exception cond="MoreThan(GetAmsl(), 3000) && gps_has_been_good()" deroute="HeightViolation" />
+    -->
+
+    <!-- Case of loss of GPS AND loss of datalink -->
+    <exception cond="And(datalink_time > 10, !GpsFixValid())" deroute="DatalinkAndGpsFailure"/>
+  </exceptions>
+
+  <blocks>
+    <!-- ******* Activate the irreversible Forced Crash Command to the Flight Termination Device ******** -->
+
+    <block name="GeoFence">
+      <handler fun="ForceCrash()"/>
+      <circle radius="nav_radius" wp="STDBY"/> <!-- todo add a dynamic TDFORCEDCRASH point so to notify and have it in the log  -->
+    </block>
+
+    <block name="AlmostHeightViolation">
+      <handler fun="NavKillThrottle()"/>
+      <circle radius="nav_radius" wp="STDBY"/> <!-- todo add a dynamic TDFORCEDCRASH point so to notify and have it in the log  -->
+    </block>
+
+    <block name="HeightViolation">
+      <handler fun="ForceCrash()"/>
+      <circle radius="nav_radius" wp="STDBY"/> <!-- todo add a dynamic TDFORCEDCRASH point so to notify and have it in the log  -->
+    </block>
+
+    <block name="DatalinkAndGpsFailure">
+      <handler fun="ForceCrash()"/>
+      <circle radius="nav_radius" wp="STDBY"/> <!-- todo add a dynamic TDFORCEDCRASH point so to notify and have it in the log  -->
+    </block>
+
+    <block name="ManualTerminateRequest" strip_button="FlightTermination" strip_icon="downdownend.png">
+      <handler fun="ForceCrash()"/>
+      <circle radius="nav_radius" wp="STDBY"/> <!-- todo add a dynamic TDFORCEDCRASH point so to notify and have it in the log  -->
+    </block>
+
+    </blocks>
+</procedure>
+
diff --git a/conf/flight_plans/OpenUAS/include_obc2014_testing.xml b/conf/flight_plans/OpenUAS/include_obc2014_testing.xml
new file mode 100644
index 00000000000..1a832cd20e9
--- /dev/null
+++ b/conf/flight_plans/OpenUAS/include_obc2014_testing.xml
@@ -0,0 +1,33 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<procedure>
+
+  <waypoints>
+    <waypoint name="STDBY" x="0." y="-130." height="95."/>
+    <!-- DANGER, DEBUG ONLY Disable later on, used for FDT Debugging only -->
+    <waypoint name="TESTTOOFAR" x="800." y="-100." height="115."/><!-- DANGER, DEBUG ONLY Disable later on, used for FDT Debugging only -->
+  </waypoints>
+
+  <blocks>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <handler fun="Fly()"/>
+        <!--   <set value="0" var="ap_state->commands[COMMAND_BRAKE]"/> -->
+      <circle alt="WaypointAlt(WP_STDBY)" radius="nav_radius" wp="STDBY"/>
+    </block>
+<!--Below routes that are handy for testing only when in the field and performing several tests -->
+<!--
+    <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
+      <oval p1="1" p2="2" radius="60"/>
+    </block>
+-->
+
+<!-- WARNING: LOSS OF AIRFRAME if FTD is fully operational and tested in real life-->
+<!--
+    <block name="go too far">
+      <go wp="TOOFAR"/>
+      <circle wp="TOOFAR" radius="50"/>
+     TODO: extra comman in case exeption does not trigger? like  <GO STDBY>
+    </block>
+-->
+  </blocks>
+
+</procedure>
diff --git a/conf/flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml b/conf/flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml
new file mode 100644
index 00000000000..ea957e65a75
--- /dev/null
+++ b/conf/flight_plans/OpenUAS/openuas_obc2014_kingaroy.xml
@@ -0,0 +1,66 @@
+<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
+<!-- This is the Flightplan of Team OpenUAS from the Netherlands for use in the
+     Australian UAV Outback Challenge of 2014.
+
+     Read about this challenge here:
+     http://www.uavoutbackchallenge.com.au/
+-->
+
+<flight_plan alt="660" ground_alt="444" home_mode_height="120" lat0="-26.584781" lon0="151.842325" max_dist_from_home="10000" name="OpenUAS OBC2014" qfu="170" security_height="70">
+<!-- ******************************* WAYPOINTS ***************************** -->
+  <waypoints>
+    <waypoint name="HOME" x="0" y="0"/>
+    <waypoint alt="478.0" lat="-26.589403" lon="151.841710" name="AF"/>
+    <waypoint alt="448.0" lat="-26.586158" lon="151.841054" name="TD"/>
+
+    <waypoint lat="-26.585196" lon="151.843425" name="AIRFIELDHOME"/>
+    <waypoint lat="-26.6072120000" lon="151.8453890000" name="COMMSHOLD"/>
+
+<!-- MB = Mission Boundary -->
+    <waypoint lat="-26.5695640000" lon="151.8373730000" name="_MB1"/>
+    <waypoint lat="-26.5699560000" lon="151.8394050000" name="_MB2"/>
+    <waypoint lat="-26.5768230000" lon="151.8411420000" name="_MB3"/>
+    <waypoint lat="-26.5769900000" lon="151.8400450000" name="_MB4"/>
+    <waypoint lat="-26.5812271666" lon="151.8410624807" name="_MB5"/>
+    <waypoint lat="-26.5820599087" lon="151.8425026348" name="_MB6"/>
+    <waypoint lat="-26.5791790000" lon="151.8493290000" name="_MB7"/>
+    <waypoint lat="-26.580969444"  lon="151.845194444"  name="_MB7B"/><!-- 26°34'51.49"Z = 26.580969444 //  151°50'42.70"O -->
+    <waypoint lat="-26.5900093277" lon="151.8509739535" name="_MB8"/>
+    <waypoint lat="-26.6095740000" lon="151.8631000000" name="_MB9"/>
+    <waypoint lat="-26.5854833333" lon="151.8347500000" name="_MB9B"/><!--  26°35'7.74"Z // 151°50'5.10"O -->
+    <waypoint lat="-26.6389580000" lon="151.8588390000" name="_MB10"/>
+    <waypoint lat="-26.6449723895" lon="151.8472241047" name="_MB11"/>
+    <waypoint lat="-26.6435720000" lon="151.8303500000" name="_MB12"/>
+    <waypoint lat="-26.5851387500" lon="151.8348293889" name="_MB13"/>
+
+<!-- SA = Search Area -->
+    <waypoint lat="-26.6174450000" lon="151.8431840000" name="SA1"/>
+    <waypoint lat="-26.6191710000" lon="151.8555730000" name="SA2"/>
+    <waypoint lat="-26.6378430000" lon="151.8515970000" name="SA3"/>
+    <waypoint lat="-26.6388280000" lon="151.8491210000" name="SA4"/>
+    <waypoint lat="-26.6373930000" lon="151.8393860000" name="SA5"/>
+
+<!-- Scrutineering Course -->
+    <waypoint lat="-26.5902280387" lon="151.8400929439" name="TST-1"/>
+    <waypoint lat="-26.5837620409" lon="151.8379376113" name="TST-2"/>
+    <waypoint lat="-26.5859618185" lon="151.8451373142" name="TST-3"/>
+
+<!-- EL = Entry and Exit Lanes -->
+    <waypoint lat="-26.6072120000" lon="151.8453890000" name="EL1"/>
+    <waypoint lat="-26.6174980000" lon="151.8435670000" name="EL2"/>
+    <waypoint lat="-26.6183650000" lon="151.8497880000" name="EL3"/>
+    <waypoint lat="-26.6080920000" lon="151.8516460000" name="EL4"/>
+
+    <waypoint lat="-26.5940360000" lon="151.8427090000" name="AMAZED"/>
+  </waypoints>
+
+  <includes>
+    <include name="Mission" procedure="include_obc2014_mission.xml"/>
+    <include name="Safety" procedure="include_obc2014_safety.xml"/>
+    <include name="Testing" procedure="include_obc2014_testing.xml"/>
+  </includes>
+
+  <blocks>
+    <block name="Boot"/>
+  </blocks>
+</flight_plan>