diff --git a/config/mrs_uav_system/agile10in.yaml b/config/mrs_uav_system/agile10in.yaml
new file mode 100644
index 0000000..7e70903
--- /dev/null
+++ b/config/mrs_uav_system/agile10in.yaml
@@ -0,0 +1,29 @@
+motor_params:
+  n_motors: 4
+  a: 0.77522
+  b: -1.2348
+
+mrs_uav_managers:
+
+  constraint_manager:
+
+    # list of allowed constraints per odometry mode
+    allowed_constraints:
+      gps_garmin: ["slow", "medium"]
+      gps_baro: ["slow", "medium"]
+      rtk: ["slow", "medium"]
+      rtk_garmin: ["slow", "medium"]
+      aloam: ["slow"]
+      hector_garmin: ["slow"]
+      vio: ["slow"]
+      optflow: ["slow"]
+      other: ["slow"]
+      ground_truth: ["slow", "medium"]
+      passthrough: ["slow", "medium"]
+
+mrs_uav_managers:
+  estimation_manager:
+    gps_garmin: # namespace of the state estimator
+      alt_garmin: # namespace of the altitude estimator
+        pos_garmin:
+          noise: 10.0 # measurement noise covariance (R)
diff --git a/config/mrs_uav_system/ecodrone.yaml b/config/mrs_uav_system/ecodrone.yaml
deleted file mode 100644
index 11dc9de..0000000
--- a/config/mrs_uav_system/ecodrone.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-# Motor thrust curve parameters
-# a - quadratic term
-# b - constant term
-# n_motors - number of motors on the UAV
-
-motor_params:
-  a: 0.348359
-  b: -0.215603
-  n_motors: 4
diff --git a/config/mrs_uav_system/robofly.yaml b/config/mrs_uav_system/robofly.yaml
new file mode 100644
index 0000000..a25a5d3
--- /dev/null
+++ b/config/mrs_uav_system/robofly.yaml
@@ -0,0 +1,21 @@
+# Motor thrust curve parameters
+# a - quadratic term
+# b - constant term
+# n_motors - number of motors on the UAV
+
+motor_params:
+  a: 0.348
+  b: -0.215
+  n_motors: 4
+
+mrs_uav_managers:
+  
+  estimation_manager:
+
+    state_estimators: [
+      "gps_baro",
+    ]
+
+    initial_state_estimator: "gps_baro"
+
+    agl_height_estimator: ""