diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index a3c11c3f182..52d34e84601 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -43,17 +43,6 @@
    settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/filter_1euro_imu.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
    gui_color="#fdd12f992f99"
   />
-  <aircraft
-   name="ULYSSE"
-   ac_id="218"
-   airframe="airframes/ENAC/quadrotor/ulysse_indi.xml"
-   radio="radios/FrSky_X-Lite.xml"
-   telemetry="telemetry/default_rotorcraft.xml"
-   flight_plan="flight_plans/competitions/IMAV2022_drop.xml"
-   settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
-   gui_color="#c6d33e3ef958"
-  />
   <aircraft
    name="CobraV2"
    ac_id="11"
diff --git a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
index ca77dbd390a..e5e6278fef7 100644
--- a/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
+++ b/conf/airframes/ENAC/quadrotor/anton_indi_aruco.xml
@@ -11,6 +11,8 @@
   </description>
 
   <firmware name="rotorcraft">
+    <!--autopilot name="rotorcraft_autopilot"/-->
+
     <configure name="PERIODIC_FREQUENCY" value="1000"/>
     <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
 
@@ -28,18 +30,12 @@
 
     <module name="telemetry" type="xbee_api"/>
 
-    <module name="motor_mixing"/>
-
-    <module name="actuators" type="dshot">
-      <!--define name="DSHOT_SPEED" value="300"/-->
-    </module>
+    <module name="actuators" type="dshot"/>
 
     <module name="board" type="tawaki">
       <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
       <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
       <define name="IMU_MPU_SMPLRT_DIV" value="0"/>
-      <!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
-      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
     </module>
     <module name="gps" type="ublox">
       <configure name="GPS_BAUD" value="B115200"/>
@@ -50,23 +46,20 @@
       <define name="WLS_N_U" value="4" />
       <define name="WLS_N_V" value="4" />
     </module>
-    <module name="guidance" type="indi">
-      <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
-      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
-    </module>
+    <module name="guidance" type="indi"/>
 
-    <module name="ins"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
+    <module name="ins" type="ekf2"/>
+    <!--module name="ins"/>
+    <module name="ahrs" type="int_cmpl_quat"/-->
     <module name="air_data"/>
 
     <module name="actuators" type="pwm"/>
     <module name="switch" type="servo"/>
 
-    <module name="filter" type="1euro_imu">
+    <!--module name="filter" type="1euro_imu">
       <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
-    </module>
+    </module-->
 
     <!--module name="sonar_adc">
       <configure name="ADC_SONAR" value="ADC_1"/>
@@ -100,13 +93,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -129,15 +115,15 @@
     <define name="ACCEL_Y_SENS" value="2.450207588413862" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.4560049628471914" integer="16"/>
 
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_X_SIGN" value="-1"/>
+    <define name="MAG_Y_SIGN" value="-1"/>
     <define name="MAG_Z_SIGN" value="1"/>
-    <define name="MAG_X_NEUTRAL" value="-3868"/>
-    <define name="MAG_Y_NEUTRAL" value="2013"/>
-    <define name="MAG_Z_NEUTRAL" value="-101"/>
-    <define name="MAG_X_SENS" value="0.6497766229092939" integer="16"/>
-    <define name="MAG_Y_SENS" value="0.6352026516080006" integer="16"/>
-    <define name="MAG_Z_SENS" value="0.6627284899394246" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="415"/>
+    <define name="MAG_Y_NEUTRAL" value="-2365"/>
+    <define name="MAG_Z_NEUTRAL" value="1626"/>
+    <define name="MAG_X_SENS" value="0.6639205812316621" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.6470134039115051" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.6456573321937272" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -147,10 +133,10 @@
   <section name="MAG">
     <define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
     <define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="LIS3MDL_MAG_TO_IMU_PSI" value="90." unit="deg"/>
+    <define name="LIS3MDL_MAG_TO_IMU_PSI" value="0." unit="deg"/>
   </section>
 
-  <include href="conf/mag/delft_valkenburg.xml"/>
+  <include href="conf/mag/toulouse_muret.xml"/>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
     <!-- setpoints -->
@@ -198,37 +184,29 @@
     <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
   </section>
 
+  <section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
+    <define name="THRUST_DYNAMICS_FREQ" value="30.5"/>
+    <define name="RC_DEBUG" value="FALSE"/>
+  </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
     <define name="REF_MIN_ZDD" value="-0.4*9.81"/>
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-1.5"/>
     <define name="REF_MAX_ZD" value=" 1."/>
-    <define name="HOVER_KP" value="87"/>
-    <define name="HOVER_KD" value="120"/>
-    <define name="HOVER_KI" value="11"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.30"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.25"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="PGAIN" value="40"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-      <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="2.5"/>
     <define name="REF_MAX_ACCEL" value="2.5"/>
   </section>
 
   <section name="NAV">
     <define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
-    <define name="NAV_CLIMB_VSPEED" value="1.0"/>
-    <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
+    <define name="NAV_CLIMB_VSPEED" value="1.5"/>
+    <define name="NAV_DESCEND_VSPEED" value="-0.8"/>
     <define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
   </section>
 
@@ -267,9 +245,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="COMMANDS_NB" value="4"/>
+    <define name="JSBSIM_MODEL" value="anton" type="string"/>
     <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/cobra.xml b/conf/airframes/ENAC/quadrotor/cobra.xml
index 2052af42ea0..f208865dfbb 100644
--- a/conf/airframes/ENAC/quadrotor/cobra.xml
+++ b/conf/airframes/ENAC/quadrotor/cobra.xml
@@ -19,6 +19,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -52,9 +53,7 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <module name="preflight_checks"/>
 
     <!--module name="filter" type="1euro_imu">
@@ -62,8 +61,6 @@
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -89,11 +86,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -172,23 +164,11 @@
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-2."/>
     <define name="REF_MAX_ZD" value=" 2."/>
-    <define name="HOVER_KP" value="90"/>
-    <define name="HOVER_KD" value="110"/>
-    <define name="HOVER_KI" value="10"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-    <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="0.5"/>
     <define name="REF_MAX_ACCEL" value="2."/>
   </section>
@@ -231,8 +211,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/cobraV2.xml b/conf/airframes/ENAC/quadrotor/cobraV2.xml
index edefd63c612..30c8bbfc301 100644
--- a/conf/airframes/ENAC/quadrotor/cobraV2.xml
+++ b/conf/airframes/ENAC/quadrotor/cobraV2.xml
@@ -19,6 +19,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -48,9 +49,7 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <module name="preflight_checks"/>
 
     <!--module name="filter" type="1euro_imu">
@@ -58,8 +57,6 @@
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -85,11 +82,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -252,9 +244,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
     <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/maya_indoor.xml b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
index 5c07f24898d..34d07b164c4 100644
--- a/conf/airframes/ENAC/quadrotor/maya_indoor.xml
+++ b/conf/airframes/ENAC/quadrotor/maya_indoor.xml
@@ -18,6 +18,7 @@
       <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
     </target>
     <target name="nps" board="pc">
       <module name="fdm" type="jsbsim"/>
@@ -43,9 +44,7 @@
     <module name="stabilization" type="indi"/>
     <module name="guidance" type="indi"/>
 
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="TRUE"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     <!-- <module name="preflight_checks"/> -->
 
     <!--module name="filter" type="1euro_imu">
@@ -53,8 +52,6 @@
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -73,7 +70,6 @@
     <servo name="FL" no="4" min="0" neutral="100" max="2000"/>
   </servos>
 
-
   <commands>
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
@@ -81,11 +77,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -167,23 +158,11 @@
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-2."/>
     <define name="REF_MAX_ZD" value=" 2."/>
-    <define name="HOVER_KP" value="90"/>
-    <define name="HOVER_KD" value="110"/>
-    <define name="HOVER_KI" value="10"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-    <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="0.5"/>
     <define name="REF_MAX_ACCEL" value="2."/>
   </section>
@@ -225,9 +204,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
     <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/maya_outdoor.xml b/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
index 03a83ecfd7a..43c7caf6f83 100644
--- a/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
+++ b/conf/airframes/ENAC/quadrotor/maya_outdoor.xml
@@ -63,8 +63,6 @@
       <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
     </module-->
 
-    <module name="motor_mixing"/>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART3"/>
     </module>
@@ -90,11 +88,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -185,23 +178,11 @@
     <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
     <define name="REF_MIN_ZD" value="-2."/>
     <define name="REF_MAX_ZD" value=" 2."/>
-    <define name="HOVER_KP" value="90"/>
-    <define name="HOVER_KD" value="110"/>
-    <define name="HOVER_KI" value="10"/>
     <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-    <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
     <define name="REF_MAX_SPEED" value="4."/>
     <define name="REF_MAX_ACCEL" value="2."/>
   </section>
@@ -243,9 +224,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="anton" type="string"/>
     <define name="COMMANDS_NB" value="4"/>
+    <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/niquad_wind.xml b/conf/airframes/ENAC/quadrotor/niquad_wind.xml
index 7155a7dbe1e..e92017a3cc3 100644
--- a/conf/airframes/ENAC/quadrotor/niquad_wind.xml
+++ b/conf/airframes/ENAC/quadrotor/niquad_wind.xml
@@ -258,6 +258,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="front_motor, right_motor, back_motor, left_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_quad_wind" type="string"/>
+    <define name="COMMANDS_NB" value="4"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/robobee.xml b/conf/airframes/ENAC/quadrotor/robobee.xml
index 6a4e79f02b6..a4c6e9347f9 100644
--- a/conf/airframes/ENAC/quadrotor/robobee.xml
+++ b/conf/airframes/ENAC/quadrotor/robobee.xml
@@ -11,13 +11,17 @@
   </description>
 
   <firmware name="rotorcraft">
-    <configure name="PERIODIC_FREQUENCY" value="512"/>
+    <configure name="PERIODIC_FREQUENCY" value="500"/>
     <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
 
     <target name="ap" board="tawaki_1.1">
-    <module name="radio_control" type="sbus"/>
+      <module name="radio_control" type="sbus"/>
       <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
-    <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
+      <module name="filter" type="1euro_imu">
+        <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
+        <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
+      </module>
     </target>
 
     <target name="nps" board="pc">
@@ -32,9 +36,7 @@
 
     <module name="telemetry" type="xbee_api"/>
 
-    <module name="actuators" type="dshot">
-      <!--define name="DSHOT_SPEED" value="300"/-->
-    </module>
+    <module name="actuators" type="dshot"/>
     <module name="board" type="tawaki">
       <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/>
       <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/>
@@ -48,12 +50,7 @@
       <define name="WLS_N_U" value="4" />
       <define name="WLS_N_V" value="4" />
     </module>
-    <module name="guidance" type="indi">
-      <define name="GUIDANCE_INDI_SPEED_GAIN" value="3.0"/>
-      <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="15.6"/>
-      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
-    </module>
+    <module name="guidance" type="indi"/>
 
     <module name="ins"/>
     <module name="ahrs" type="int_cmpl_quat">
@@ -62,11 +59,6 @@
     </module>
     <module name="air_data"/>
 
-    <module name="filter" type="1euro_imu">
-      <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
-      <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
-    </module>
-
     <module name="tag_tracking">
       <configure name="JEVOIS_UART" value="UART4" description="dummy uart in this config"/>
     </module>
@@ -75,8 +67,6 @@
       <configure name="EXTRA_DL_BAUD" value="B115200"/>
     </module>
 
-    <module name="motor_mixing"/>
-
     <module name="flight_recorder"/>
     <!--module name="logger" type="tune_indi"/-->
   </firmware>
@@ -95,18 +85,6 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-    <define name="REVERSE" value="TRUE"/>
-  </section>
-
-  <!--command_laws>
-    <call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
-    <set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
-    <set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
-    <set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
-    <set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
-  </command_laws-->
   <command_laws>
     <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
     <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
@@ -114,7 +92,6 @@
     <set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
   </command_laws>
 
-
   <section name="IMU" prefix="IMU_">
     <define name="GYRO_P_SIGN" value="-1"/>
     <define name="GYRO_Q_SIGN" value="-1"/>
@@ -148,7 +125,7 @@
     <define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
   </section>
 
-  <include href="conf/mag/delft_valkenburg.xml"/>
+  <include href="conf/mag/toulouse_muret.xml"/>
 
   <section name="INS" prefix="INS_">
     <define name="INV_NXZ" value="0.25"/>
@@ -192,7 +169,6 @@
     <define name="USE_ADAPTIVE" value="FALSE"/>
     <define name="ADAPTIVE_MU" value="0.0001"/>
 
-
     <!-- Full INDI -->
     <!-- control effectiveness -->
     <define name="G1" type="matrix">
@@ -216,28 +192,22 @@
    <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
    <define name="REF_MIN_ZD" value="-1.5"/>
    <define name="REF_MAX_ZD" value=" 1."/>
-   <define name="HOVER_KP" value="90"/>
-   <define name="HOVER_KD" value="110"/>
-   <define name="HOVER_KI" value="10"/>
    <define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
-   <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-   <define name="ADAPT_NOISE_FACTOR" value="1."/>
-   <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.3"/>
   </section>
 
-
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="MAX_BANK" value="20" unit="deg"/>
-   <define name="PGAIN" value="41"/>
-   <define name="DGAIN" value="108"/>
-   <define name="IGAIN" value="20"/>
-   <define name="NGAIN" value="0"/>
-   <!-- feedforward -->
-   <define name="AGAIN" value="0"/>
    <define name="REF_MAX_SPEED" value="4."/>
    <define name="REF_MAX_ACCEL" value="2."/>
   </section>
 
+  <section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
+    <define name="SPEED_GAIN" value="3.0"/>
+    <define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
+    <define name="THRUST_DYNAMICS_FREQ" value="15.6"/>
+    <define name="RC_DEBUG" value="FALSE"/>
+  </section>
+
   <section name="NAV">
     <define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
     <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
@@ -271,10 +241,9 @@
     <define name="ACTUATORS_ORDER" value="{3, 2, 1, 0}"/>
     <define name="PYBULLET_MODULE" value="simple_quad_sim" type="string"/>
     <define name="PYBULLET_URDF" value="robobee.urdf" type="string"/>
-    <!--define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <!--define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/-->
-    
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
+    <define name="COMMANDS_NB" value="4"/>
     <define name="NO_MOTOR_MIXING" value="TRUE"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/ulysse_indi.xml b/conf/airframes/ENAC/quadrotor/ulysse_indi.xml
deleted file mode 100644
index ac17bfc707c..00000000000
--- a/conf/airframes/ENAC/quadrotor/ulysse_indi.xml
+++ /dev/null
@@ -1,266 +0,0 @@
-<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
-
-<airframe name="Quadricopter ULYSSE Tawaki">
-
-  <description>
-    * Autopilot:   Tawaki
-    * Actuators:   4 in 4 Holybro BLHELI ESC
-    * Telemetry:   XBee
-    * GPS:         ublox
-    * RC:          FrSky XM+
-  </description>
-
-  <firmware name="rotorcraft">
-    <!--configure name="RTOS_DEBUG" value="TRUE"/-->
-    <configure name="PERIODIC_FREQUENCY" value="1000"/>
-    <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/>
-
-    <target name="ap" board="tawaki_1.0">
-      <configure name="BARO_PERIODIC_FREQUENCY" value="50"/>
-      <module name="radio_control" type="sbus"/>
-      <define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
-    </target>
-
-    <target name="nps" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="ppm"/>
-    </target>
-
-    <module name="telemetry" type="xbee_api"/>
-
-    <module name="motor_mixing"/>
-
-    <module name="actuators" type="dshot">
-      <!--define name="DSHOT_SPEED" value="300"/-->
-    </module>
-
-    <module name="board" type="tawaki">
-      <!--define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_256HZ"/-->
-      <!--define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_218HZ"/-->
-      <define name="IMU_MPU_LOWPASS_FILTER" value="MPU60X0_DLPF_98HZ"/>
-      <define name="IMU_MPU_ACCEL_LOWPASS_FILTER" value="MPU60X0_DLPF_ACC_99HZ"/>
-      <define name="IMU_MPU_SMPLRT_DIV" value="0"/>
-      <!--configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/-->
-      <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c2"/>
-    </module>
-    <module name="gps" type="ublox">
-      <configure name="GPS_BAUD" value="B115200"/>
-      <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
-    </module>
-
-    <module name="stabilization" type="indi">
-      <define name="WLS_N_U" value="4" />
-      <define name="WLS_N_V" value="4" />
-    </module>
-    <module name="guidance" type="indi">
-      <define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-500.0"/>
-      <define name="GUIDANCE_INDI_THRUST_DYNAMICS_FREQ" value="30.5"/>
-      <define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
-    </module>
-
-    <module name="ins"/>
-    <module name="ahrs" type="int_cmpl_quat"/>
-    <module name="air_data"/>
-
-    <module name="actuators" type="pwm"/>
-    <module name="switch" type="servo"/>
-
-    <!--module name="filter" type="1euro_imu">
-      <define name="AHRS_ICQ_IMU_ID" value="IMU_F1E_ID"/>
-      <define name="AHRS_ALIGNER_IMU_ID" value="IMU_F1E_ID"/>
-    </module-->
-
-    <module name="tag_tracking">
-      <configure name="JEVOIS_UART" value="UART3" description="UART on which Jevois camera is connected"/>
-    </module>
-
-    <module name="flight_recorder"/>
-    <!--module name="logger" type="tune_indi"/-->
-  </firmware>
-
-  <servos driver="DShot">
-    <servo name="FR" no="4" min="0" neutral="100" max="2000"/>
-    <servo name="BR" no="2" min="0" neutral="100" max="2000"/>
-    <servo name="BL" no="1" min="0" neutral="100" max="2000"/>
-    <servo name="FL" no="3" min="0" neutral="100" max="2000"/>
-  </servos>
-
-  <servos driver="Pwm">
-    <servo name="SWITCH" no="4" min="1000" neutral="1000" max="2000"/>
-  </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>
-
-  <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TYPE" value="QUAD_X"/>
-  </section>
-
-  <command_laws>
-    <set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
-    <set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
-    <set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
-    <set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
-  </command_laws>
-
-  <section name="IMU" prefix="IMU_">
-    <define name="GYRO_P_SIGN" value="1"/>
-    <define name="GYRO_Q_SIGN" value="1"/>
-    <define name="GYRO_R_SIGN" value="1"/>
-
-    <define name="ACCEL_X_SIGN" value="1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
-    <define name="ACCEL_X_NEUTRAL" value="-27"/>
-    <define name="ACCEL_Y_NEUTRAL" value="75"/>
-    <define name="ACCEL_Z_NEUTRAL" value="-109"/>
-    <define name="ACCEL_X_SENS" value="2.27584739975" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.45270163528" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.44302118661" integer="16"/>
-
-    <define name="MAG_X_SIGN" value="1"/>
-    <define name="MAG_Y_SIGN" value="1"/>
-    <define name="MAG_Z_SIGN" value="1"/>
-    <define name="MAG_X_NEUTRAL" value="-525"/>
-    <define name="MAG_Y_NEUTRAL" value="3252"/>
-    <define name="MAG_Z_NEUTRAL" value="1029"/>
-    <define name="MAG_X_SENS" value="0.6621839327083922" integer="16"/>
-    <define name="MAG_Y_SENS" value="0.635352946158572" integer="16"/>
-    <define name="MAG_Z_SENS" value="0.6546061419369537" 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="0." unit="deg"/>
-  </section>
-
-  <section name="MAG">
-    <define name="LIS3MDL_MAG_TO_IMU_PHI" value="0." unit="deg"/>
-    <define name="LIS3MDL_MAG_TO_IMU_THETA" value="0." unit="deg"/>
-    <define name="LIS3MDL_MAG_TO_IMU_PSI" value="135." unit="deg"/>
-  </section>
-
-  <include href="conf/mag/delft_valkenburg.xml"/>
-
-  <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="60." unit="deg/s"/>
-    <define name="DEADBAND_R" value="250"/>
-  </section>
-
-  <section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
-
-    <!-- reference acceleration for attitude control -->
-    <define name="REF_ERR_P" value="101"/>
-    <define name="REF_ERR_Q" value="101"/>
-    <define name="REF_ERR_R" value="124"/>
-    <define name="REF_RATE_P" value="18.0"/>
-    <define name="REF_RATE_Q" value="18.0"/>
-    <define name="REF_RATE_R" value="14.0"/>
-
-    <define name="MAX_R" value="60" unit="deg/s"/>
-
-    <!-- second order filter parameters -->
-    <define name="FILT_CUTOFF" value="4.0"/>
-    <define name="FILT_CUTOFF_R" value="4.0"/>
-
-    <!-- Adaptive Learning Rate -->
-    <define name="USE_ADAPTIVE" value="FALSE"/>
-    <define name="ADAPTIVE_MU" value="0.0001"/>
-
-
-    <!-- Full INDI -->
-    <!-- control effectiveness -->
-    <define name="G1" type="matrix">
-      <field value="{-40 , -40, 40 , 40 }"/>
-      <field value="{40 , -40, -40 , 40 }"/>
-      <field value="{5, -5, 5, -5}"/>
-      <field value="{-1.5, -1.5, -1.5, -1.5}"/>
-    </define>
-    <!--Counter torque effect of spinning up a rotor-->
-    <define name="G2" value="{150.0,   -150.0,  150.0,   -150.0 }"/>
-    <!-- first order actuator dynamics -->
-    <define name="ACT_FREQ" value="{30.5, 30.5, 30.5, 30.5}"/>
-    <define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
-
-    <!--Priority for each axis (roll, pitch, yaw and thrust)-->
-    <define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
-  </section>
-
-
-  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
-    <define name="REF_MIN_ZDD" value="-0.4*9.81"/>
-    <define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
-    <define name="REF_MIN_ZD" value="-1.5"/>
-    <define name="REF_MAX_ZD" value=" 1."/>
-    <define name="HOVER_KP" value="48"/>
-    <define name="HOVER_KD" value="46"/>
-    <define name="HOVER_KI" value="11"/>
-    <define name="NOMINAL_HOVER_THROTTLE" value="0.48"/>
-    <define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
-    <define name="ADAPT_NOISE_FACTOR" value="1."/>
-    <define name="ADAPT_INITIAL_HOVER_THROTTLE" value="0.4"/>
-  </section>
-
-  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-    <define name="MAX_BANK" value="20" unit="deg"/>
-    <define name="PGAIN" value="41"/>
-    <define name="DGAIN" value="108"/>
-    <define name="IGAIN" value="20"/>
-    <define name="NGAIN" value="0"/>
-      <!-- feedforward -->
-    <define name="AGAIN" value="0"/>
-    <define name="REF_MAX_SPEED" value="2.5"/>
-    <define name="REF_MAX_ACCEL" value="2.5"/>
-  </section>
-
-  <section name="NAV">
-    <define name="ARRIVED_AT_WAYPOINT" value="2.0"/>
-    <define name="NAV_CLIMB_VSPEED" value="1.0"/>
-    <define name="NAV_DESCEND_VSPEED" value="-0.5"/>
-    <define name="RECTANGLE_SURVEY_HEADING_NS" value="0."/>
-  </section>
-
-  <section name="BAT">
-    <define name="CRITIC_BAT_LEVEL" value="9.3" unit="V"/>
-  </section>
-
-  <section name="AUTOPILOT">
-    <define name="MODE_STARTUP" value="AP_MODE_NAV"/>
-    <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_NAV"/>
-  </section>
-
-  <section name="AGL" prefix="AGL_DIST_SONAR_">
-    <define name="ID" value="ABI_BROADCAST"/>
-    <define name="MAX_RANGE" value="6." unit="m"/>
-    <define name="MIN_RANGE" value="0.01" unit="m"/>
-    <define name="FILTER" value="0.15"/> <!--Low pass filter time constant-->
-  </section>
-
-  <section name="TAG_TRACKING" prefix="TAG_TRACKING_">
-    <define name="BODY_TO_CAM_PSI" value="180."/>
-    <define name="CAM_POS_Y" value="0.12"/>
-  </section>
-
-  <section name="GCS">
-    <define name="ALT_SHIFT_PLUS_PLUS" value="3"/>
-    <define name="ALT_SHIFT_PLUS" value="1"/>
-    <define name="ALT_SHIFT_MINUS" value="-0.5"/>
-  </section>
-
-  <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
-    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
-    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
-    <define name="NO_MOTOR_MIXING" value="TRUE"/>
-  </section>
-
-</airframe>
-
diff --git a/conf/airframes/examples/bebop2_indi.xml b/conf/airframes/examples/bebop2_indi.xml
index 5d15bd651f7..ba55938e5ce 100644
--- a/conf/airframes/examples/bebop2_indi.xml
+++ b/conf/airframes/examples/bebop2_indi.xml
@@ -22,9 +22,7 @@
     <module name="imu" type="bebop"/>
     <module name="gps" type="ublox"/>
     <module name="stabilization" type="indi_simple"/>
-    <module name="ins" type="ekf2">
-      <define name="INS_EKF2_OPTITRACK" value="true"/>
-    </module>
+    <module name="ins" type="ekf2"/>
     
     <module name="air_data"/>
     <module name="gps" type="ubx_ucenter"/>
diff --git a/conf/simulator/jsbsim/aircraft/Systems/aerodynamics_falcon.xml b/conf/simulator/jsbsim/aircraft/Systems/aerodynamics_falcon.xml
new file mode 100644
index 00000000000..da97813cb39
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/Systems/aerodynamics_falcon.xml
@@ -0,0 +1,109 @@
+ <aerodynamics>
+
+  <axis name="YAW">
+    <function name="elevon_yaw" frame="BODY" unit="FT*LBS">
+      <sum>
+      <product>
+        <property>fcs/ele_left_lag</property>
+        <value> -0.35 </value>
+      </product>
+      <product>
+        <property>fcs/ele_right_lag</property>
+        <value> -.35 </value>
+      </product>
+      </sum>
+    </function>
+  </axis>
+
+  <axis name="PITCH">
+    <function name="elevon_pitch" frame="BODY" unit="FT*LBS">
+      <sum>
+      <product>
+        <property>fcs/ele_left_lag</property>
+        <value> -0.0417 </value>
+      </product>
+      <product>
+        <property>fcs/ele_right_lag</property>
+        <value> .0417 </value>
+      </product>
+      </sum>
+    </function>
+  </axis>
+
+  <axis name="LIFT">
+
+    <function name="aero/force/Lift_alpha">
+      <description>Lift due to alpha</description>
+      <product>
+          <property>aero/qbar-psf</property>
+          <property>metrics/Sw-sqft</property>
+          <table>
+            <independentVar lookup="row">aero/alpha-deg</independentVar>
+            <tableData>
+              -180   0.14
+              -140  -0.80
+              -110  -0.63
+              -102  -0.74
+              -98  -0.64
+              -90  0.0
+              -85  0.15
+              -80  0.25
+              -75  0.42
+               0   0.0
+               45  0.8
+               90  0.0
+               135 -0.8
+               180 0.0
+            </tableData>
+          </table>
+      </product>
+    </function>
+
+  </axis>
+
+  <axis name="DRAG">
+
+    <function name="aero/force/Drag_basic">
+       <description>Drag</description>
+       <product>
+          <property>aero/qbar-psf</property>
+          <property>metrics/Sw-sqft</property>
+          <table>
+            <independentVar lookup="row">aero/alpha-deg</independentVar>
+            <tableData>
+             -180    1.7
+             -160    1.62
+             -100    0.4 
+             -90     0.15
+             -85     0.17
+             -75     0.22
+             -70     0.33
+             -65     0.6128
+             -20     1.36
+             -4      1.45
+             15      1.35
+             30      1.12
+            </tableData>
+          </table>
+          <value>2.0</value> <!-- FIXME why this factor 2 ? -->
+       </product>
+    </function>
+
+  </axis>
+
+  <axis name="SIDE">
+
+    <function name="aero/force/Side_beta">
+       <description>Side force due to beta</description>
+       <product>
+           <property>aero/qbar-psf</property>
+           <property>metrics/Sw-sqft</property>
+           <property>aero/beta-rad</property>
+           <!--value>-4</value-->
+           <value>0.02</value>
+       </product>
+    </function>
+
+  </axis>
+
+ </aerodynamics>
diff --git a/conf/simulator/jsbsim/aircraft/anton.xml b/conf/simulator/jsbsim/aircraft/anton.xml
new file mode 100644
index 00000000000..c5de6cef07e
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/anton.xml
@@ -0,0 +1,442 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config name="QUAD ANTON" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+  <fileheader>
+    <author>Gautier Hattenberger</author>
+    <filecreationdate>05-06-2023</filecreationdate>
+    <version>Version 1.0</version>
+    <description>
+      Model for ANTON quadrotor
+      Simple Quadrotor in X configuration
+      Motor: T-Motor F40 + prop 6045
+      Include rotor dynamic
+      NE/SW turning CCW, NW/SE CW
+
+      Drag model is linear with speed and correspond to the quadrotor used in
+      IMAV2021 paper "Estimating wind using a quadrotor" (Hattenberger, Bronz, Condomines)
+    </description>
+  </fileheader>
+
+  <metrics>
+    <wingarea unit="M2"> 1 </wingarea>
+    <wingspan unit="M"> 1 </wingspan>
+    <chord unit="M"> 1 </chord>
+    <htailarea unit="M2"> 0 </htailarea>
+    <htailarm unit="M"> 0 </htailarm>
+    <vtailarea unit="M2"> 0 </vtailarea>
+    <vtailarm unit="M"> 0 </vtailarm>
+    <location name="AERORP" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="EYEPOINT" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="VRP" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </metrics>
+
+  <mass_balance>
+    <ixx unit="KG*M2"> 0.0068 </ixx>
+    <iyy unit="KG*M2"> 0.0068 </iyy>
+    <izz unit="KG*M2"> 0.0136 </izz>
+    <ixy unit="KG*M2"> 0. </ixy>
+    <ixz unit="KG*M2"> 0. </ixz>
+    <iyz unit="KG*M2"> 0. </iyz>
+    <emptywt unit="KG"> 0.8 </emptywt>
+    <location name="CG" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </mass_balance>
+
+  <ground_reactions>
+    <contact type="STRUCTURE" name="CONTACT_FRONT">
+      <location unit="M">
+        <x>-0.25 </x>
+        <y> 0 </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_BACK">
+      <location unit="M">
+        <x> 0.25</x>
+        <y> 0   </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_RIGHT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y> 0.25</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_LEFT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y>-0.25</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+  </ground_reactions>
+
+  <flight_control name="actuator_dynamics">
+
+    <property value="30.">fcs/motor_lag</property>
+    <property value="50.">fcs/motor_d_filter</property>
+    <property value="1.">fcs/g1_gain</property>
+    <property value="1.">fcs/g2_gain</property>
+
+    <channel name="filtering">
+
+      <!--First order filter represents actuator dynamics-->
+      <lag_filter name="ne_motor_lag">
+        <input> fcs/ne_motor </input>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/ne_motor_lag</output>
+      </lag_filter>
+      <lag_filter name="se_motor_lag">
+        <input> fcs/se_motor </input>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/se_motor_lag</output>
+      </lag_filter>
+      <lag_filter name="sw_motor_lag">
+        <input> fcs/sw_motor </input>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/sw_motor_lag</output>
+      </lag_filter>
+      <lag_filter name="nw_motor_lag">
+        <input> fcs/nw_motor </input>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/nw_motor_lag</output>
+      </lag_filter>
+
+      <!--Derivative of actuator dynamics for spinup torque-->
+      <washout_filter name="ne_motor_d">
+        <input> fcs/ne_motor </input>
+        <c1> fcs/motor_d_filter </c1>
+        <output> fcs/ne_motor_d</output>
+      </washout_filter>
+      <washout_filter name="se_motor_d">
+        <input> fcs/se_motor </input>
+        <c1> fcs/motor_d_filter </c1>
+        <output> fcs/se_motor_d</output>
+      </washout_filter>
+      <washout_filter name="sw_motor_d">
+        <input> fcs/sw_motor </input>
+        <c1> fcs/motor_d_filter </c1>
+        <output> fcs/sw_motor_d</output>
+      </washout_filter>
+      <washout_filter name="nw_motor_d">
+        <input> fcs/nw_motor </input>
+        <c1> fcs/motor_d_filter </c1>
+        <output> fcs/nw_motor_d</output>
+      </washout_filter>
+
+      <pure_gain name="ne_g2timesactd">
+        <input>fcs/ne_motor_d</input>
+        <gain>fcs/g2_gain</gain>
+        <output>fcs/ne_g2timesactd</output>
+      </pure_gain>
+      <pure_gain name="ne_g1timesact">
+        <input>fcs/ne_motor_lag</input>
+        <gain>fcs/g1_gain</gain>
+        <output>fcs/ne_g1timesact</output>
+      </pure_gain>
+      <summer name="ne_summer">
+        <input>fcs/ne_g2timesactd</input>
+        <input>fcs/ne_g1timesact</input>
+        <output>fcs/ne_yawcontrol</output>
+      </summer>
+
+      <pure_gain name="se_g2timesactd">
+        <input>fcs/se_motor_d</input>
+        <gain>fcs/g2_gain</gain>
+        <output>fcs/se_g2timesactd</output>
+      </pure_gain>
+      <pure_gain name="se_g1timesact">
+        <input>fcs/se_motor_lag</input>
+        <gain>fcs/g1_gain</gain>
+        <output>fcs/se_g1timesact</output>
+      </pure_gain>
+      <summer name="se_summer">
+        <input>fcs/se_g2timesactd</input>
+        <input>fcs/se_g1timesact</input>
+        <output>fcs/se_yawcontrol</output>
+      </summer>
+
+      <pure_gain name="sw_g2timesactd">
+        <input>fcs/sw_motor_d</input>
+        <gain>fcs/g2_gain</gain>
+        <output>fcs/sw_g2timesactd</output>
+      </pure_gain>
+      <pure_gain name="sw_g1timesact">
+        <input>fcs/sw_motor_lag</input>
+        <gain>fcs/g1_gain</gain>
+        <output>fcs/sw_g1timesact</output>
+      </pure_gain>
+      <summer name="sw_summer">
+        <input>fcs/sw_g2timesactd</input>
+        <input>fcs/sw_g1timesact</input>
+        <output>fcs/sw_yawcontrol</output>
+      </summer>
+
+      <pure_gain name="nw_g2timesactd">
+        <input>fcs/nw_motor_d</input>
+        <gain>fcs/g2_gain</gain>
+        <output>fcs/nw_g2timesactd</output>
+      </pure_gain>
+      <pure_gain name="nw_g1timesact">
+        <input>fcs/nw_motor_lag</input>
+        <gain>fcs/g1_gain</gain>
+        <output>fcs/nw_g1timesact</output>
+      </pure_gain>
+      <summer name="summer3">
+        <input>fcs/nw_g2timesactd</input>
+        <input>fcs/nw_g1timesact</input>
+        <output>fcs/nw_yawcontrol</output>
+      </summer>
+
+    </channel>
+  </flight_control>
+
+  <external_reactions>
+
+    <property>fcs/ne_motor</property>
+    <property>fcs/se_motor</property>
+    <property>fcs/sw_motor</property>
+    <property>fcs/nw_motor</property>
+    <property>fcs/ne_motor_lag</property>
+    <property>fcs/se_motor_lag</property>
+    <property>fcs/sw_motor_lag</property>
+    <property>fcs/nw_motor_lag</property>
+
+    <!-- First the lift forces produced by each propeller -->
+
+    <force name="ne_motor" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/ne_motor_lag</property>
+          <value> 10. </value>
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.15</x>
+        <y>0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="sw_motor" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/sw_motor_lag</property>
+          <value> 10. </value>
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.15</x>
+        <y>-0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="se_motor" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/se_motor_lag</property>
+          <value> 10. </value>
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.15</x>
+        <y>0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="nw_motor" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/nw_motor_lag</property>
+          <value> 10. </value>
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.15</x>
+        <y>-0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <!-- Then the Moment Couples -->
+
+    <moment name="ne_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/ne_yawcontrol</property>
+          <value> 0.5 </value>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.15</x>
+        <y>0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>1</z>
+      </direction>
+    </moment>
+
+    <moment name="sw_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/sw_yawcontrol</property>
+          <value> 0.5 </value>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.15</x>
+        <y>-0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>1</z>
+      </direction>
+    </moment>
+
+    <moment name="se_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/se_yawcontrol</property>
+          <value> 0.5 </value>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.15</x>
+        <y>0.15</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </moment>
+
+    <moment name="nw_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/nw_yawcontrol</property>
+          <value> 0.5 </value>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0</x>
+        <y>-0.25</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </moment>
+
+  </external_reactions>
+
+  <propulsion/>
+
+  <flight_control name="FGFCS"/>
+
+  <aerodynamics>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD">
+        <description>Drag</description>
+        <product>
+          <property>velocities/vtrue-fps</property>
+          <value>0.3048</value> <!-- conversion in m/s -->
+          <value>0.230292</value> <!-- drag coef -->
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+    </axis>
+  </aerodynamics>
+
+</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/falcon.xml b/conf/simulator/jsbsim/aircraft/falcon.xml
new file mode 100644
index 00000000000..e865354cb52
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/falcon.xml
@@ -0,0 +1,394 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+  <fileheader>
+    <author>ENAC</author>
+    <filecreationdate>09-06-2022</filecreationdate>
+    <version>Version 0.92 - beta</version>
+    <description>Falcon</description>
+  </fileheader>
+
+  <metrics>
+    <wingarea unit="M2"> 0.075 </wingarea>
+    <wingspan unit="M"> 0.9 </wingspan>
+    <chord unit="M"> 0.12 </chord>
+    <htailarea unit="M2"> 0 </htailarea>
+    <htailarm unit="M"> 0 </htailarm>
+    <vtailarea unit="M2"> 0 </vtailarea>
+    <vtailarm unit="M"> 0 </vtailarm>
+    <wing_incidence unit="DEG"> 90 </wing_incidence>
+    <location name="AERORP" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="EYEPOINT" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="VRP" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </metrics>
+
+  <mass_balance>
+    <ixx unit="KG*M2"> 0.005 </ixx>
+    <iyy unit="KG*M2"> 0.005  </iyy>
+    <izz unit="KG*M2"> 0.015 </izz>
+    <ixy unit="KG*M2"> 0. </ixy>
+    <ixz unit="KG*M2"> 0. </ixz>
+    <iyz unit="KG*M2"> 0. </iyz>
+    <emptywt unit="KG"> 0.72 </emptywt>
+    <location name="CG" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </mass_balance>
+
+  <ground_reactions>
+    <contact type="STRUCTURE" name="CONTACT_FRONT">
+      <location unit="M">
+        <x> -0.12 </x>
+        <y> 0.0 </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_BACK">
+      <location unit="M">
+        <x>  0.12</x>
+        <y>  0.0</y>
+        <z> -0.1</z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_RIGHT">
+      <location unit="M">
+        <x> 0.0  </x>
+        <y> 0.12</y>
+        <z> -0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_LEFT">
+      <location unit="M">
+        <x> 0.0  </x>
+        <y>-0.12</y>
+        <z> -0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+  </ground_reactions>
+
+  <flight_control name="actuator_dynamics">
+    <property value="30.">fcs/motor_lag</property>
+    <property value="54.">fcs/elevon_lag</property>
+
+    <channel name="filtering">
+
+      <!--First order filter represents actuator dynamics-->
+      <lag_filter name="UR_lag">
+        <input> fcs/UR </input>
+        <clipto>
+            <min>0</min>
+            <max>1</max>
+        </clipto>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/UR_lag</output>
+      </lag_filter>
+      <lag_filter name="BR_lag">
+        <input> fcs/BR </input>
+        <clipto>
+            <min>0</min>
+            <max>1</max>
+        </clipto>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/BR_lag</output>
+      </lag_filter>
+      <lag_filter name="BL_lag">
+        <input> fcs/BL </input>
+        <clipto>
+            <min>0</min>
+            <max>1</max>
+        </clipto>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/BL_lag</output>
+      </lag_filter>
+      <lag_filter name="UL_lag">
+        <input> fcs/UL </input>
+        <clipto>
+            <min>0</min>
+            <max>1</max>
+        </clipto>
+        <c1> fcs/motor_lag </c1>
+        <output> fcs/UL_lag</output>
+      </lag_filter>
+
+      <lag_filter name="ele_left_lag">
+        <input> fcs/ele_left </input>
+        <c1> fcs/elevon_lag </c1>
+        <output> fcs/ele_left_lag</output>
+      </lag_filter>
+      <lag_filter name="ele_right_lag">
+        <input> fcs/ele_right </input>
+        <c1> fcs/elevon_lag </c1>
+        <output> fcs/ele_right_lag</output>
+      </lag_filter>
+    </channel>
+  </flight_control>
+
+  <external_reactions>
+
+    <property>fcs/UR</property>
+    <property>fcs/BR</property>
+    <property>fcs/BL</property>
+    <property>fcs/UL</property>
+    <property>fcs/UR_lag</property>
+    <property>fcs/BR_lag</property>
+    <property>fcs/BL_lag</property>
+    <property>fcs/UL_lag</property>
+    <property>fcs/ele_left</property>
+    <property>fcs/ele_left_lag</property>
+    <property>fcs/ele_right</property>
+    <property>fcs/ele_right_lag</property>
+
+    <property value="6.">fcs/motor_max_thrust</property> <!-- FIXME should be 4. from flight data -->
+    <property value="0.00001">fcs/motor_max_torque</property>
+
+    <!-- First the lift forces produced by each propeller -->
+
+    <force name="UR" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/UR_lag</property>
+          <property>fcs/motor_max_thrust</property>
+          <value>0.224808943</value> <!-- N to LBS -->
+          <table>
+            <independentVar lookup="row">aero/qbar-psf</independentVar>
+            <tableData> <!-- 1 psf = 47.88 Pa , 18m/s : 200Pa, 5m/s :15Pa  3m/s:5.5Pa-->
+              0.       1.
+              0.1148   1.
+              4.17     0.7 <!-- 18m/s -->
+            </tableData>
+          </table>
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.105</x>
+        <y>0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.342</x>
+        <y>0</y>
+        <z>-0.94</z>
+      </direction>
+    </force>
+    <force name="BR" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/BR_lag</property>
+          <property>fcs/motor_max_thrust</property>
+          <value>0.224808943</value> <!-- N to LBS -->
+          <table>
+            <independentVar lookup="row">aero/qbar-psf</independentVar>
+            <tableData> <!-- 1 psf = 47.88 Pa , 18m/s : 200Pa, 5m/s :15Pa  3m/s:5.5Pa-->
+              0.       1.
+              0.1148   1.
+              4.17     0.7 <!-- 18m/s -->
+            </tableData>
+          </table>
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.105</x>
+        <y>0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.342</x>
+        <y>0</y>
+        <z>-0.94</z>
+      </direction>
+    </force>
+    <force name="BL" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/BL_lag</property>
+          <property>fcs/motor_max_thrust</property>
+          <value>0.224808943</value> <!-- N to LBS -->
+          <table>
+            <independentVar lookup="row">aero/qbar-psf</independentVar>
+            <tableData> <!-- 1 psf = 47.88 Pa , 18m/s : 200Pa, 5m/s :15Pa  3m/s:5.5Pa-->
+              0.       1.
+              0.1148   1.
+              4.17     0.7 <!-- 18m/s -->
+            </tableData>
+          </table>
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.105</x>
+        <y>-0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.342</x>
+        <y>0</y>
+        <z>-0.94</z>
+      </direction>
+    </force>
+    <force name="UL" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/UL_lag</property>
+          <property>fcs/motor_max_thrust</property>
+          <value>0.224808943</value> <!-- N to LBS -->
+          <table>
+            <independentVar lookup="row">aero/qbar-psf</independentVar>
+            <tableData> <!-- 1 psf = 47.88 Pa , 18m/s : 200Pa, 5m/s :15Pa  3m/s:5.5Pa-->
+              0.       1.
+              0.1148   1.
+              4.17     0.7 <!-- 18m/s -->
+            </tableData>
+          </table>
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.105</x>
+        <y>-0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.342</x>
+        <y>0</y>
+        <z>-0.94</z>
+      </direction>
+    </force>
+    
+    <!-- Then the Moment Couples -->
+
+    <moment name="UR_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/UR_lag</property>
+          <property>fcs/motor_max_torque</property>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.105</x>
+        <y>0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </moment>
+
+    <moment name="BR_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/BR_lag</property>
+          <property>fcs/motor_max_torque</property>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.105</x>
+        <y>0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>1</z>
+      </direction>
+    </moment>
+
+    <moment name="BL_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/BL_lag</property>
+          <property>fcs/motor_max_torque</property>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>-0.105</x>
+        <y>-0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </moment>
+
+    <moment name="UL_couple" frame="BODY">
+      <function>
+        <product>
+          <property>fcs/UL_lag</property>
+          <property>fcs/motor_max_torque</property>
+          <value> 0.738 </value> <!-- N.m to FT.LBS -->
+        </product>
+      </function>
+      <location unit="M">
+        <x>0.105</x>
+        <y>-0.12</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>1</z>
+      </direction>
+    </moment>
+
+  </external_reactions>
+
+  <propulsion/>
+
+  <flight_control name="FGFCS"/>
+  <aerodynamics file="Systems/aerodynamics_falcon.xml"/>
+
+</fdm_config>