diff --git a/settings/RadioCalibration.xml b/settings/RadioCalibration.xml
deleted file mode 100644
index e200b0219f0d0370adf63454165bfae57513da1f..0000000000000000000000000000000000000000
--- a/settings/RadioCalibration.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<!-- Values are ordered low center high -->
-<channels>
-  <threeSetpoint name="Aileron" number="1">1000.0, 1500.0, 2000.0</threeSetpoint>
-  <threeSetpoint name="Elevator" number="2">1000.0, 1500.0, 2000.0</threeSetpoint>
-  <threeSetpoint name="Rudder" number="4">1000.0, 1500.0, 2000.0</threeSetpoint>
-  <twoSetpoint name="Gyro" number="5">2000.0, 1000.0</twoSetpoint>
-  <fiveSetpoint name="Pitch" number="6">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
-  <fiveSetpoint name="Throttle" number="3">1000.0, 1250.0, 1500.0, 1750.0, 2000.0</fiveSetpoint>
-</channels>
diff --git a/settings/parameters_alpha.txt b/settings/parameters_alpha.txt
deleted file mode 100644
index 3da7aca554ea0e6aa463f4f3a5edcfa8f00bee2a..0000000000000000000000000000000000000000
--- a/settings/parameters_alpha.txt
+++ /dev/null
@@ -1,99 +0,0 @@
-# Onboard parameters for system MAV 042
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	200	ACC_NAV_OFFS_X	0
-42	200	ACC_NAV_OFFS_Y	0
-42	200	ACC_NAV_OFFS_Z	-1000
-42	200	ATT_KAL_IYAW	1
-42	200	ATT_KAL_KACC	0.0033
-42	200	ATT_OFFSET_X	0
-42	200	ATT_OFFSET_Y	0
-42	200	ATT_OFFSET_Z	-0.08
-42	200	CAL_ACC_X	0
-42	200	CAL_ACC_Y	0
-42	200	CAL_ACC_Z	0
-42	200	CAL_FIT_ACTIVE	0
-42	200	CAL_FIT_GYRO_X	31496.8
-42	200	CAL_FIT_GYRO_Y	29383.4
-42	200	CAL_FIT_GYRO_Z	30151.1
-42	200	CAL_GYRO_X	29826
-42	200	CAL_GYRO_Y	30325
-42	200	CAL_GYRO_Z	29583
-42	200	CAL_MAG_X	0
-42	200	CAL_MAG_Y	0
-42	200	CAL_MAG_Z	0
-42	200	CAL_PRES_DIFF	10000
-42	200	CAL_TEMP	32
-42	200	CAM_EXP	1000
-42	200	CAM_INTERVAL	36000
-42	200	DEBUG_1	0
-42	200	DEBUG_2	0
-42	200	DEBUG_3	0
-42	200	DEBUG_4	0
-42	200	DEBUG_5	0
-42	200	DEBUG_6	0
-42	200	GPS_MODE	0
-42	200	MIX_OFFSET	0
-42	200	MIX_POSITION	0
-42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	0
-42	200	MIX_Z_POSITION	0
-42	200	PID_ATT_AWU	0.3
-42	200	PID_ATT_D	30
-42	200	PID_ATT_I	60
-42	200	PID_ATT_LIM	100
-42	200	PID_ATT_P	90
-42	200	PID_POS_AWU	10
-42	200	PID_POS_D	2
-42	200	PID_POS_I	0.3
-42	200	PID_POS_LIM	0.2
-42	200	PID_POS_P	1.8
-42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.2
-42	200	PID_POS_Z_I	0.3
-42	200	PID_POS_Z_LIM	0.3
-42	200	PID_POS_Z_P	0.5
-42	200	PID_YAWPOS_AWU	1
-42	200	PID_YAWPOS_D	1
-42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	3
-42	200	PID_YAWPOS_P	5
-42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	5
-42	200	PID_YAWSPEED_P	15
-42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	50
-42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.3
-42	200	POS_SP_Y	0.7
-42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	-0.7
-42	200	POS_TIMEOUT	2e+06
-42	200	RC_NICK_CHAN	1
-42	200	RC_ROLL_CHAN	2
-42	200	RC_SAFETY_CHAN	5
-42	200	RC_THRUST_CHAN	3
-42	200	RC_TRIM_CHAN	0
-42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
-42	200	RC_TUNE_CHAN3	6
-42	200	RC_TUNE_CHAN4	8
-42	200	RC_YAW_CHAN	4
-42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	0
-42	200	SLOT_CONTROL	0
-42	200	SLOT_RAW_IMU	0
-42	200	SLOT_RC	0
-42	200	SYS_COMP_ID	200
-42	200	SYS_ID	42
-42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2000
-42	200	SYS_TYPE	2
-42	200	UART_0_BAUD	115200
-42	200	UART_1_BAUD	57600
-42	200	VEL_DAMP	0.95
-42	200	VEL_OFFSET_X	0
-42	200	VEL_OFFSET_Y	0
-42	200	VEL_OFFSET_Z	0
-42	200	VIS_OUTL_TRESH	0.2
-42	200	VIS_YAWCORR	0
diff --git a/settings/parameters_bravo.txt b/settings/parameters_bravo.txt
deleted file mode 100644
index 8ebc8f332257b32d91c5f0289399520d8d4c3bf5..0000000000000000000000000000000000000000
--- a/settings/parameters_bravo.txt
+++ /dev/null
@@ -1,94 +0,0 @@
-# Onboard parameters for system MAV 042
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	200	ACC_NAV_OFFS_X	0
-42	200	ACC_NAV_OFFS_Y	0
-42	200	ACC_NAV_OFFS_Z	-1000
-42	200	ATT_KAL_IYAW	1
-42	200	ATT_KAL_KACC	0.0033
-42	200	ATT_OFFSET_X	0
-42	200	ATT_OFFSET_Y	0
-42	200	ATT_OFFSET_Z	-0.08
-42	200	CAL_ACC_X	0
-42	200	CAL_ACC_Y	0
-42	200	CAL_ACC_Z	0
-42	200	CAL_FIT_ACTIVE	1
-42	200	CAL_FIT_GYRO_X	31500
-42	200	CAL_FIT_GYRO_Y	29370
-42	200	CAL_FIT_GYRO_Z	30230
-42	200	CAL_GYRO_X	29809
-42	200	CAL_GYRO_Y	29959
-42	200	CAL_GYRO_Z	29455
-42	200	CAL_TEMP	51.5
-42	200	CAM_EXP	1000
-42	200	CAM_INTERVAL	36000
-42	200	DEBUG_1	0
-42	200	DEBUG_2	1
-42	200	DEBUG_3	0
-42	200	DEBUG_4	0
-42	200	DEBUG_5	1
-42	200	DEBUG_6	0
-42	200	MIX_OFFSET	0
-42	200	MIX_POSITION	0
-42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	0
-42	200	MIX_Z_POSITION	0
-42	200	PID_ATT_AWU	0.3
-42	200	PID_ATT_D	15
-42	200	PID_ATT_I	20
-42	200	PID_ATT_LIM	30
-42	200	PID_ATT_P	40
-42	200	PID_POS_AWU	10
-42	200	PID_POS_D	1.8
-42	200	PID_POS_I	0.25
-42	200	PID_POS_LIM	0.15
-42	200	PID_POS_P	1.7
-42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.15
-42	200	PID_POS_Z_I	0.2
-42	200	PID_POS_Z_LIM	0.2
-42	200	PID_POS_Z_P	0.35
-42	200	PID_YAWPOS_AWU	1
-42	200	PID_YAWPOS_D	1
-42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	2
-42	200	PID_YAWPOS_P	5
-42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	5
-42	200	PID_YAWSPEED_P	15
-42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	20
-42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.66
-42	200	POS_SP_Y	0.55
-42	200	POS_SP_YAW	1.5708
-42	200	POS_SP_Z	-0.7
-42	200	POS_TIMEOUT	2e+06
-42	200	RC_NICK_CHAN	1
-42	200	RC_ROLL_CHAN	2
-42	200	RC_SAFETY_CHAN	5
-42	200	RC_THRUST_CHAN	3
-42	200	RC_TRIM_CHAN	0
-42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
-42	200	RC_TUNE_CHAN3	6
-42	200	RC_TUNE_CHAN4	8
-42	200	RC_YAW_CHAN	4
-42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	1
-42	200	SLOT_CONTROL	0
-42	200	SLOT_RAW_IMU	0
-42	200	SLOT_RC	0
-42	200	SYS_COMP_ID	200
-42	200	SYS_ID	42
-42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2001
-42	200	SYS_TYPE	2
-42	200	UART_0_BAUD	115200
-42	200	UART_1_BAUD	57600
-42	200	VEL_DAMP	0.95
-42	200	VEL_OFFSET_X	0
-42	200	VEL_OFFSET_Y	0
-42	200	VEL_OFFSET_Z	0
-42	200	VIS_OUTL_TRESH	0.2
-42	200	VIS_YAWCORR	0
diff --git a/settings/parameters_bravo_final.txt b/settings/parameters_bravo_final.txt
deleted file mode 100644
index 2d7de7a6d4d1a20c7602f066f122e234d7a1e4c8..0000000000000000000000000000000000000000
--- a/settings/parameters_bravo_final.txt
+++ /dev/null
@@ -1,111 +0,0 @@
-# Onboard parameters for system MAV 042
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	1	POSFILTER	1
-42	1	PROTOCOLDELAY	40
-42	1	PROTOCOLTIMEOUT	2e+06
-42	1	SETPOINTDELAY	1e+06
-42	1	YAWTOLERANCE	0.1745
-42	100	SYS_ID	42
-42	120	DOWN_PITCH	-0.03
-42	120	DOWN_ROLL	0.05
-42	120	DOWN_X	0
-42	120	DOWN_Y	0
-42	120	DOWN_YAW	3.14159
-42	120	DOWN_Z	-0.088
-42	200	ACC_NAV_OFFS_X	0
-42	200	ACC_NAV_OFFS_Y	0
-42	200	ACC_NAV_OFFS_Z	-1000
-42	200	ATT_KAL_IYAW	1
-42	200	ATT_KAL_KACC	0.0033
-42	200	ATT_OFFSET_X	0
-42	200	ATT_OFFSET_Y	0
-42	200	ATT_OFFSET_Z	-0.08
-42	200	CAL_ACC_X	0
-42	200	CAL_ACC_Y	0
-42	200	CAL_ACC_Z	0
-42	200	CAL_FIT_ACTIVE	0
-42	200	CAL_FIT_GYRO_X	31500
-42	200	CAL_FIT_GYRO_Y	29370
-42	200	CAL_FIT_GYRO_Z	30230
-42	200	CAL_GYRO_X	29812
-42	200	CAL_GYRO_Y	29877
-42	200	CAL_GYRO_Z	29515
-42	200	CAL_MAG_X	0
-42	200	CAL_MAG_Y	0
-42	200	CAL_MAG_Z	0
-42	200	CAL_PRES_DIFF	10000
-42	200	CAM_EXP	1000
-42	200	CAM_INTERVAL	36000
-42	200	DEBUG_1	0
-42	200	DEBUG_2	0
-42	200	DEBUG_3	0
-42	200	DEBUG_4	0
-42	200	DEBUG_5	0
-42	200	DEBUG_6	0
-42	200	GPS_MODE	0
-42	200	MIX_OFFSET	0
-42	200	MIX_POSITION	0
-42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	0
-42	200	MIX_Z_POSITION	0
-42	200	PID_ATT_AWU	0.3
-42	200	PID_ATT_D	30
-42	200	PID_ATT_I	60
-42	200	PID_ATT_LIM	100
-42	200	PID_ATT_P	90
-42	200	PID_POS_AWU	10
-42	200	PID_POS_D	1.8
-42	200	PID_POS_I	0.25
-42	200	PID_POS_LIM	0.15
-42	200	PID_POS_P	1.7
-42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.15
-42	200	PID_POS_Z_I	0.2
-42	200	PID_POS_Z_LIM	0.2
-42	200	PID_POS_Z_P	0.35
-42	200	PID_YAWPOS_AWU	1
-42	200	PID_YAWPOS_D	1
-42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	2
-42	200	PID_YAWPOS_P	5
-42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	5
-42	200	PID_YAWSPEED_P	15
-42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	20
-42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.3
-42	200	POS_SP_Y	0.7
-42	200	POS_SP_YAW	1.5708
-42	200	POS_SP_Z	-0.7
-42	200	POS_TIMEOUT	2e+06
-42	200	POS_YAW_TRACK	1
-42	200	RC_NICK_CHAN	1
-42	200	RC_ROLL_CHAN	2
-42	200	RC_SAFETY_CHAN	5
-42	200	RC_THRUST_CHAN	3
-42	200	RC_TRIM_CHAN	0
-42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
-42	200	RC_TUNE_CHAN3	6
-42	200	RC_TUNE_CHAN4	8
-42	200	RC_YAW_CHAN	4
-42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	0
-42	200	SLOT_CONTROL	0
-42	200	SLOT_RAW_IMU	0
-42	200	SLOT_RC	0
-42	200	SYS_COMP_ID	200
-42	200	SYS_ID	42
-42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2001
-42	200	SYS_TYPE	2
-42	200	UART_0_BAUD	115200
-42	200	UART_1_BAUD	57600
-42	200	VEL_DAMP	0.95
-42	200	VEL_OFFSET_X	0
-42	200	VEL_OFFSET_Y	0
-42	200	VEL_OFFSET_Z	0
-42	200	VIS_OUTL_TRESH	0.2
-42	200	VIS_YAWCORR	0
diff --git a/settings/parameters_charlie.txt b/settings/parameters_charlie.txt
deleted file mode 100644
index 6f54c2712ebb79d2d1c0d923dd6e6cbb5f2c0387..0000000000000000000000000000000000000000
--- a/settings/parameters_charlie.txt
+++ /dev/null
@@ -1,151 +0,0 @@
-# Onboard parameters for system MAV 042
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	1	POSFILTER	1
-42	1	PROTOCOLTIMEOUT¿	2e+06
-42	1	SETPOINTDELAY	1e+06
-42	1	YAWTOLERANCE	0.1745
-42	100	SYS_ID	42
-42	120	DOWN_PITCH	0.02
-42	120	DOWN_ROLL	0.18
-42	120	DOWN_X	0
-42	120	DOWN_Y	0
-42	120	DOWN_YAW	3.14159
-42	120	DOWN_Z	0
-42	200	ACC_NAV_OFFS_X	0
-42	200	ACC_NAV_OFFS_Y	0
-42	200	ACC_NAV_OFFS_Z	-1000
-42	200	ATT_KAL_IYAW	1
-42	200	ATT_KAL_KACC	0.0033
-42	200	ATT_OFFSET_X	0
-42	200	ATT_OFFSET_Y	0
-42	200	ATT_OFFSET_Z	-0.08
-42	200	CAL_ACC_X	0
-42	200	CAL_ACC_Y	0
-42	200	CAL_ACC_Z	0
-42	200	CAL_FIT_ACTIVE	1
-42	200	CAL_FIT_GYRO_X	31495
-42	200	CAL_FIT_GYRO_Y	29400
-42	200	CAL_FIT_GYRO_Z	30180
-42	200	CAL_GYRO_X	29809
-42	200	CAL_GYRO_Y	29959
-42	200	CAL_GYRO_Z	29455
-42	200	CAL_TEMP	51.5
-42	200	CAM_EXP	1000
-42	200	CAM_INTERVAL	36000
-42	200	DEBUG_1	0
-42	200	DEBUG_2	1
-42	200	DEBUG_3	0
-42	200	DEBUG_4	0
-42	200	DEBUG_5	1
-42	200	DEBUG_6	0
-42	200	MIX_OFFSET	0
-42	200	MIX_POSITION	0
-42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	0
-42	200	MIX_Z_POSITION	0
-42	200	PID_ATT_AWU	0.3
-42	200	PID_ATT_D	15
-42	200	PID_ATT_I	20
-42	200	PID_ATT_LIM	30
-42	200	PID_ATT_P	40
-42	200	PID_POS_AWU	10
-42	200	PID_POS_D	1.8
-42	200	PID_POS_I	0.25
-42	200	PID_POS_LIM	0.15
-42	200	PID_POS_P	1.7
-42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.15
-42	200	PID_POS_Z_I	0.2
-42	200	PID_POS_Z_LIM	0.2
-42	200	PID_POS_Z_P	0.35
-42	200	PID_YAWPOS_AWU	1
-42	200	PID_YAWPOS_D	1
-42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_LIM	2
-42	200	PID_YAWPOS_P	5
-42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	5
-42	200	PID_YAWSPEED_P	15
-42	200	PID_YAWSPE_AWU	1
-42	200	PID_YAWSPE_LIM	20
-42	200	POS_SP_ACCEPT	1
-42	200	POS_SP_X	1.66
-42	200	POS_SP_Y	0.55
-42	200	POS_SP_YAW	1.5708
-42	200	POS_SP_Z	-0.7
-42	200	POS_TIMEOUT	2e+06
-42	200	RC_NICK_CHAN	1
-42	200	RC_ROLL_CHAN	2
-42	200	RC_SAFETY_CHAN	5
-42	200	RC_THRUST_CHAN	3
-42	200	RC_TRIM_CHAN	0
-42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
-42	200	RC_TUNE_CHAN3	6
-42	200	RC_TUNE_CHAN4	8
-42	200	RC_YAW_CHAN	4
-42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	1
-42	200	SLOT_CONTROL	0
-42	200	SLOT_RAW_IMU	0
-42	200	SLOT_RC	0
-42	200	SYS_COMP_ID	200
-42	200	SYS_ID	42
-42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2001
-42	200	SYS_TYPE	2
-42	200	UART_0_BAUD	115200
-42	200	UART_1_BAUD	57600
-42	200	VEL_DAMP	0.95
-42	200	VEL_OFFSET_X	0
-42	200	VEL_OFFSET_Y	0
-42	200	VEL_OFFSET_Z	0
-42	200	VIS_OUTL_TRESH	0.2
-42	200	VIS_YAWCORR	0
-42	200	adaThresBlockS	15
-42	200	adaThresMethod	0
-42	200	adaThresParam1	8
-42	200	artkBorderWidt	0.25
-42	200	artkPatternWid	200
-42	200	artkThreshold	175
-42	200	bDContours	1
-42	200	bDRectangles	1
-42	200	bEqualizeHist	0
-42	200	bRectify	1
-42	200	bRefineCorners	1
-42	200	contApproxMeth	2
-42	200	contDeviThresh	50
-42	200	contImageSize	32
-42	200	contImageType	2
-42	200	contOrFactor	0.8
-42	200	contOrHistBins	64
-42	200	contPerimMulti	0.06
-42	200	contourMinArea	250
-42	200	cropBPBegin	0
-42	200	cropBPEnd	9
-42	200	cropBPStep	3
-42	200	cropBPThres	128
-42	200	cropImageSize	64
-42	200	cropInterpolat	1
-42	200	cropWhiteBalan	1
-42	200	detMatchFactoT	1.5
-42	200	findRectMethod	2
-42	200	fps	0
-42	200	histMinSmoothi	11
-42	200	histMinToleran	0.05
-42	200	kittlerWWeight	1
-42	200	kmeansWWeight	1
-42	200	preprocDivisor	1
-42	200	rSExpectdScore	2
-42	200	rSExpectedDiff	0.5
-42	200	rSLearnFactor	0.5
-42	200	rSMaxNarrowing	0.3
-42	200	rSStandardDevi	30
-42	200	rSUnlearnFacto	0.9
-42	200	rectMaxEdgeRat	1.5
-42	200	rectMinArea	1000
-42	200	refCornRadius	3
-42	200	thresHistBins	64
-42	200	thresMethod	5
-42	200	warpImageSize	128
diff --git a/settings/parameters_stereo_cam.txt b/settings/parameters_stereo_cam.txt
deleted file mode 100644
index aedcae535a647b2520256a4f422a62ffef2072bf..0000000000000000000000000000000000000000
--- a/settings/parameters_stereo_cam.txt
+++ /dev/null
@@ -1,86 +0,0 @@
-# Onboard parameters for system MAV 042
-#
-# MAV ID  COMPONENT ID  PARAM NAME  VALUE (FLOAT)
-42	100	SYS_ID	42
-42	200	ACC_NAV_OFFS_X	0
-42	200	ACC_NAV_OFFS_Y	0
-42	200	ACC_NAV_OFFS_Z	-1000
-42	200	ACC_OFFSET_X	0
-42	200	ACC_OFFSET_Y	0
-42	200	ACC_OFFSET_Z	0
-42	200	ATT_KAL_IYAW	1
-42	200	ATT_KAL_KACC	0.0033
-42	200	ATT_OFFSET_X	0
-42	200	ATT_OFFSET_Y	0
-42	200	ATT_OFFSET_Z	-0.08
-42	200	CAM_EXP	100
-42	200	CAM_INTERVAL	36000
-42	200	DEBUG_1	0
-42	200	DEBUG_2	0
-42	200	DEBUG_3	0
-42	200	DEBUG_4	0
-42	200	DEBUG_5	0
-42	200	DEBUG_6	0
-42	200	GYRO_OFFSET_X	29780
-42	200	GYRO_OFFSET_Y	30350
-42	200	GYRO_OFFSET_Z	29847
-42	200	MIX_OFFSET	1
-42	200	MIX_POSITION	0
-42	200	MIX_POS_YAW	0
-42	200	MIX_REMOTE	1
-42	200	MIX_Z_POSITION	0
-42	200	PID_ATT_AWU	0.3
-42	200	PID_ATT_D	30
-42	200	PID_ATT_I	60
-42	200	PID_ATT_P	90
-42	200	PID_POS_AWU	5
-42	200	PID_POS_D	2
-42	200	PID_POS_I	0.4
-42	200	PID_POS_P	1.8
-42	200	PID_POS_Z_AWU	3
-42	200	PID_POS_Z_D	0.2
-42	200	PID_POS_Z_I	0.4
-42	200	PID_POS_Z_LIM	0.3
-42	200	PID_POS_Z_P	0.5
-42	200	PID_YAWPOS_AWU	1
-42	200	PID_YAWPOS_D	1
-42	200	PID_YAWPOS_I	0.1
-42	200	PID_YAWPOS_P	5
-42	200	PID_YAWSPEED_D	0
-42	200	PID_YAWSPEED_I	10
-42	200	PID_YAWSPEED_P	30
-42	200	PID_YAWSPE_AWU	1
-42	200	POS_SP_ACCEPT	0
-42	200	POS_SP_X	1.1
-42	200	POS_SP_Y	1.1
-42	200	POS_SP_YAW	0
-42	200	POS_SP_Z	-0.8
-42	200	POS_TIMEOUT	2e+06
-42	200	RC_NICK_CHAN	1
-42	200	RC_ROLL_CHAN	2
-42	200	RC_SAFETY_CHAN	5
-42	200	RC_THRUST_CHAN	3
-42	200	RC_TRIM_CHAN	0
-42	200	RC_TUNE_CHAN1	7
-42	200	RC_TUNE_CHAN2	5
-42	200	RC_TUNE_CHAN3	6
-42	200	RC_TUNE_CHAN4	8
-42	200	RC_YAW_CHAN	4
-42	200	SEND_DEBUGCHAN	0
-42	200	SLOT_ATTITUDE	1
-42	200	SLOT_CONTROL	0
-42	200	SLOT_RAW_IMU	0
-42	200	SLOT_RC	0
-42	200	SYS_COMP_ID	200
-42	200	SYS_ID	42
-42	200	SYS_IMU_RESET	0
-42	200	SYS_SW_VER	2000
-42	200	SYS_TYPE	2
-42	200	UART_0_BAUD	115200
-42	200	UART_1_BAUD	57600
-42	200	VEL_DAMP	0.95
-42	200	VEL_OFFSET_X	0
-42	200	VEL_OFFSET_Y	0
-42	200	VEL_OFFSET_Z	0
-42	200	VIS_OUTL_TRESH	0.2
-42	200	VIS_YAWCORR	0
diff --git a/settings/plots.m b/settings/plots.m
deleted file mode 100644
index d0d5a37687dc4553c3975870ec50e65ea02ac672..0000000000000000000000000000000000000000
--- a/settings/plots.m
+++ /dev/null
@@ -1,16 +0,0 @@
-% Attitude tuning
-
-clc;
-close all;
-% load 'controller-log3.txt';
-figure; hold on; plot((data(:,1)-data(1,1))/1000,data(:,2),'ob'); plot((data(:,1)-data(1,1))/1000,data(:,5),'og'); plot((data(:,1)-data(1,1))/1000,data(:,12),'or')
-hold on;
-plot((data(:,1)-data(1,1))/1000,data(:,8),'ok')
-% plot(data(:,2),'-b'); plot(data(:,5),'-g'); plot(data(:,9),'-r')
-legend('roll set point','roll rm set point','roll')
-
-figure; hold on; plot(data(:,3),'ob'); plot(data(:,6),'og'); plot(data(:,11),'or')
-legend('pitch set point','pitch rm set point','pitch')
-
-figure; hold on; plot(data(:,4),'ob'); plot(data(:,7),'og'); plot(data(:,13),'or')
-legend('yaw set point','yaw rm set point','yaw')
\ No newline at end of file
diff --git a/settings/waypoints-final-pole-racing.txt b/settings/waypoints-final-pole-racing.txt
deleted file mode 100644
index 6a4b4ba550021b4f5bf796eea555be2d5ef69fe6..0000000000000000000000000000000000000000
--- a/settings/waypoints-final-pole-racing.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-	0	1.60066	0.497923	-0.7	-0.156858	1	1	0.15	2000
-	1	0.973377	0.691139	-0.7	-0.0664193	1	0	0.15	2000
-	2	0.646637	1.57225	-0.7	6.26573	1	0	0.15	2000
-	3	0.659852	2.39951	-0.7	-0.0549587	1	0	0.15	2000
-	4	1.41441	2.8804	-0.7	-0.0258336	1	0	0.15	2000
-	5	2.33563	2.90308	-0.7	-0.0621037	1	0	0.15	2000
-	6	2.76383	2.04368	-0.7	-0.0381553	1	0	0.15	2000
-	7	2.73091	1.05595	-0.7	-0.0520457	1	0	0.15	2000
-	8	1.73409	0.599043	0	6.26573	1	0	0.15	2000
diff --git a/settings/waypoints_8_L1.txt b/settings/waypoints_8_L1.txt
deleted file mode 100644
index e6ef524f33f82a42f94453bc2edafc436c6ca9a4..0000000000000000000000000000000000000000
--- a/settings/waypoints_8_L1.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-	0	3.1	3	-0.7	0	0	1	0.1	5000
-	1	3.1	2	-0.7	0	0	0	0.1	5000
-	2	3.1	0.6	-0.7	0	0	0	0.1	5000
-	3	3.1	0.3	-0.7	0	0	0	0.1	5000
-	4	2	0.3	-0.7	0	0	0	0.1	5000
-	5	1.5	0.3	-0.7	0	0	0	0.1	5000
-	6	1.5	0.3	0	0	0	0	0.1	2000
diff --git a/settings/waypoints_8_circle.txt b/settings/waypoints_8_circle.txt
deleted file mode 100644
index a8b925aca1dcdeb22738fc812866c7c8cbbc9838..0000000000000000000000000000000000000000
--- a/settings/waypoints_8_circle.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-	0	3.7	0.3	-0.8	0	1	1	0.1	2000
-	1	3.1	0.3	-0.8	0	1	0	0.1	2000
-	2	3.1	0.8	-0.8	0	1	0	0.1	2000
-	3	3.1	1.3	-0.8	0	1	0	0.1	2000
-	4	3.1	2	-0.8	0	1	0	0.1	2000
-	5	3.1	2.8	-0.8	0	1	0	0.1	2000
-	6	3.1	3.2	-0.8	0	1	0	0.1	2000
-	7	2.1	3.2	-0.8	0	1	0	0.1	2000
-	8	1.1	3.2	-0.8	0	1	0	0.1	2000
-	9	0.4	3.2	-0.8	0	1	0	0.1	2000
-	10	0.25	3.2	-0.8	0	1	0	0.1	2000
-	11	0.25	2.2	-0.8	0	1	0	0.1	2000
-	12	0.25	1.2	-0.8	0	1	0	0.1	2000
-	13	0.25	0.5	-0.8	0	1	0	0.1	2000
-	14	0.25	0.3	-0.8	0	1	0	0.1	2000
-	15	1.1	0.3	-0.8	0	1	0	0.1	2000
-	16	2.1	0.3	-0.8	0	1	0	0.1	2000
-	17	2.8	0.3	-0.8	0	1	0	0.1	2000
-	18	3.1	0.3	-0.8	0	1	0	0.1	2000
-	19	3.7	0.3	-0.8	0	1	0	0.1	2000
-	20	3.7	0.3	0	0	1	0	0.1	2000
diff --git a/settings/waypoints_8_start_land.txt b/settings/waypoints_8_start_land.txt
deleted file mode 100644
index 3598699f3fb66f4824f996efc70cbb158201f882..0000000000000000000000000000000000000000
--- a/settings/waypoints_8_start_land.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-	0	3.7	0.3	-0.8	0	1	1	0.1	2000
-	1	3.1	0.3	-0.8	0	1	0	0.1	2000
-	2	3.1	0.8	-0.8	0	1	0	0.1	2000
-	3	3.1	1.3	-0.8	0	1	0	0.1	2000
-	4	3.1	1.4	-0.8	0	1	0	0.1	2000
-	5	3.1	1.3	-0.8	0	1	0	0.1	2000
-	6	3.1	0.8	-0.8	0	1	0	0.1	2000
-	7	3.1	0.3	-0.8	0	1	0	0.1	2000
-	8	3.7	0.3	-0.8	0	1	0	0.1	2000
-	9	3.7	0.3	0	0	1	0	0.1	2000
diff --git a/settings/waypoints_A0_circlev13_redesign.txt b/settings/waypoints_A0_circlev13_redesign.txt
deleted file mode 100644
index 979be49d272f0a7bf10e5a185887ab3725210d50..0000000000000000000000000000000000000000
--- a/settings/waypoints_A0_circlev13_redesign.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-	0	1.66	0.55	-0.7	1.5708	1	1	0.2	1500
-	1	0.53	0.55	-0.7	1.5708	1	0	0.3	0
-	2	0.51	1.7	-0.7	1.5708	1	0	0.5	0
-	3	0.686046	2.7	-0.7	1.5708	1	0	0.3	0
-	4	1.66	2.7	-0.7	1.5708	1	0	0.5	0
-	5	2.43282	2.74	-0.7	1.5708	1	0	0.3	0
-	6	2.73	1.58	-0.7	1.5708	1	0	0.5	0
-	7	2.72167	0.57	-0.7	1.5708	1	0	0.3	0
-	8	1.66	0.57	-0.7	1.5708	1	0	0.5	0
diff --git a/settings/waypoints_braunschweig1.txt b/settings/waypoints_braunschweig1.txt
deleted file mode 100644
index cb3093a5626e44b269060cfc47b7e1edd17b2e2e..0000000000000000000000000000000000000000
--- a/settings/waypoints_braunschweig1.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-	0	3.05	1.6	-0.7	1.5708	1	1	0.2	1500
-	1	3	1	-0.7	1.5708	1	0	0.3	0
-	2	2.1	0.3	-0.7	1.5708	1	0	0.5	0
-	3	1	0.23	-0.7	1.5708	1	0	0.3	0
-	4	0.3	1.1	-0.7	1.5708	1	0	0.3	0
-	5	0.3	2.3	-0.7	1.5708	1	0	0.3	0
-	6	1.03	2.98	-0.7	1.58	1	0	0.3	0
-	7	2.15	3.06	-0.7	1.5708	1	0	0.3	0
-	8	2.93	2.25	-0.7	1.5708	1	0	0.3	0
-	9	3.68	1.85	-0.7	1.5708	1	0	0.3	0
-	10	4.84	1.78	-0.7	1.58	1	0	0.3	0
-	11	5.83	1.8	-0.7	1.5708	1	0	0.3	0
-	12	6.87	1.81	-0.7	1.5708	1	0	0.3	0
-	13	7.48	1.83	-0.7	1.5708	1	0	0.3	0
-	14	6.86	1.76	-0.7	1.58	1	0	0.3	0
-	15	5.65	1.71	-0.7	1.5708	1	0	0.3	0
-	16	4.31	1.8	-0.7	1.5708	1	0	0.3	0
diff --git a/settings/waypoints_braunschweig3.txt b/settings/waypoints_braunschweig3.txt
deleted file mode 100644
index 6c302154ddc092354efcdea391237c167983b560..0000000000000000000000000000000000000000
--- a/settings/waypoints_braunschweig3.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-	0	3.05	1.6	-0.7	1.5708	1	1	0.2	1500
-	1	3	1	-0.7	1.5708	1	0	0.3	0
-	2	2.1	0.5	-0.7	1.5708	1	0	0.5	0
-	3	1	0.73	-0.7	1.5708	1	0	0.3	0
-	4	0.55	1.1	-0.7	1.5708	1	0	0.3	0
-	5	0.55	2.3	-0.7	1.5708	1	0	0.3	0
-	6	1.03	2.98	-0.7	1.58	1	0	0.3	0
-	7	2.15	2.86	-0.7	1.5708	1	0	0.3	0
-	8	2.93	2.25	-0.7	1.5708	1	0	0.3	0
-	9	3.68	1.85	-0.7	1.5708	1	0	0.3	0
-	10	4.84	1.78	-0.7	1.58	1	0	0.3	0
-	11	5.83	1.8	-0.7	1.5708	1	0	0.3	0
-	12	6.87	1.81	-0.7	1.5708	1	0	0.3	0
-	13	7.48	1.83	-0.7	1.5708	1	0	0.3	0
-	14	6.86	1.76	-0.7	1.58	1	0	0.3	0
-	15	5.65	1.71	-0.7	1.5708	1	0	0.3	0
-	16	4.31	1.8	-0.7	1.5708	1	0	0.3	0
diff --git a/settings/waypoints_demo.txt b/settings/waypoints_demo.txt
deleted file mode 100644
index 96a64e43b848c6fd1343bd3c0fc72a72b0f09f49..0000000000000000000000000000000000000000
--- a/settings/waypoints_demo.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-Start~0~100~100~200~360~0~1
-WP1~1~100~100~200~360~0~0
-WP2~2~100~100~200~360~0~0