diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
index afb09ba9472f04ab69908e6e42d88ecf3d72ce03..ac69b237e4b6a1f445b87814266770a29269ac14 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform.c
@@ -31,86 +31,94 @@
 static const platformConfig_t* active_config = 0;
 
 int platformInit(void) {
-  int nrOfConfigs = 0;
-  const platformConfig_t* configs = platformGetListOfConfigurations(&nrOfConfigs);
-
-  int err = platformInitConfiguration(configs, nrOfConfigs);
-  if (err != 0)
-  {
-    // This firmware is not compatible, abort init
-    return 1;
-  }
-
-  platformInitHardware();
-  return 0;
+  //COMMENTED FIRMWARE
+  // int nrOfConfigs = 0;
+  // const platformConfig_t* configs = platformGetListOfConfigurations(&nrOfConfigs);
+
+  // int err = platformInitConfiguration(configs, nrOfConfigs);
+  // if (err != 0)
+  // {
+  //   // This firmware is not compatible, abort init
+  //   return 1;
+  // }
+
+  // platformInitHardware();
+  // return 0;
 }
 
 int platformParseDeviceTypeString(const char* deviceTypeString, char* deviceType) {
-  if (deviceTypeString[0] != '0' || deviceTypeString[1] != ';') {
-    return 1;
-  }
-
-  const int start = 2;
-  const int last = start + PLATFORM_DEVICE_TYPE_MAX_LEN - 1;
-  int end = 0;
-  for (end = start; end <= last; end++) {
-    if (deviceTypeString[end] == '\0' || deviceTypeString[end] == ';') {
-      break;
-    }
-  }
-
-  if (end > last) {
-    return 1;
-  }
-
-  int length = end - start;
-  memcpy(deviceType, &deviceTypeString[start], length);
-  deviceType[length] = '\0';
-  return 0;
+  //COMMENTED FIRMWARE
+  // if (deviceTypeString[0] != '0' || deviceTypeString[1] != ';') {
+  //   return 1;
+  // }
+
+  // const int start = 2;
+  // const int last = start + PLATFORM_DEVICE_TYPE_MAX_LEN - 1;
+  // int end = 0;
+  // for (end = start; end <= last; end++) {
+  //   if (deviceTypeString[end] == '\0' || deviceTypeString[end] == ';') {
+  //     break;
+  //   }
+  // }
+
+  // if (end > last) {
+  //   return 1;
+  // }
+
+  // int length = end - start;
+  // memcpy(deviceType, &deviceTypeString[start], length);
+  // deviceType[length] = '\0';
+  // return 0;
 }
 
 int platformInitConfiguration(const platformConfig_t* configs, const int nrOfConfigs) {
-#ifndef DEVICE_TYPE_STRING_FORCE
-  char deviceTypeString[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
-  char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
-
-  platformGetDeviceTypeString(deviceTypeString);
-  platformParseDeviceTypeString(deviceTypeString, deviceType);
-#else
-  #define xstr(s) str(s)
-  #define str(s) #s
-
-  char* deviceType = xstr(DEVICE_TYPE_STRING_FORCE);
-#endif
-
-  for (int i = 0; i < nrOfConfigs; i++) {
-    const platformConfig_t* config = &configs[i];
-    if (strcmp(config->deviceType, deviceType) == 0) {
-      active_config = config;
-      return 0;
-    }
-  }
-
-  return 1;
+//COMMENTED FIRMWARE
+// #ifndef DEVICE_TYPE_STRING_FORCE
+//   char deviceTypeString[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+//   char deviceType[PLATFORM_DEVICE_TYPE_MAX_LEN];
+
+//   platformGetDeviceTypeString(deviceTypeString);
+//   platformParseDeviceTypeString(deviceTypeString, deviceType);
+// #else
+//   #define xstr(s) str(s)
+//   #define str(s) #s
+
+//   char* deviceType = xstr(DEVICE_TYPE_STRING_FORCE);
+// #endif
+
+//   for (int i = 0; i < nrOfConfigs; i++) {
+//     const platformConfig_t* config = &configs[i];
+//     if (strcmp(config->deviceType, deviceType) == 0) {
+//       active_config = config;
+//       return 0;
+//     }
+//   }
+
+//   return 1;
 }
 
 const char* platformConfigGetDeviceType() {
-  return active_config->deviceType;
+  //COMMENTED FIRMWARE
+  // return active_config->deviceType;
 }
 
 const char* platformConfigGetDeviceTypeName() {
-  return active_config->deviceTypeName;
+  //COMMENTED FIRMWARE
+  // return active_config->deviceTypeName;
 }
 
 SensorImplementation_t platformConfigGetSensorImplementation() {
-  return active_config->sensorImplementation;
+  //COMMENTED FIRMWARE
+  // return active_config->sensorImplementation;
 }
 
 bool platformConfigPhysicalLayoutAntennasAreClose() {
-  return active_config->physicalLayoutAntennasAreClose;
+  //COMMENTED FIRMWARE
+  // return active_config->physicalLayoutAntennasAreClose;
 }
 
 const MotorPerifDef** platformConfigGetMotorMapping() {
-  return active_config->motorMap;
+  //COMMENTED FIRMWARE
+  // return active_config->motorMap;
 }
 
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
index fb250dad5dfa42f60f2a535598d53bd25505e5e6..76c5299bd8d94196b8b2ebc21e2042abd4c47f86 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_cf2.c
@@ -37,28 +37,28 @@ static platformConfig_t configs[] = {
   {
     .deviceType = "CF20",
     .deviceTypeName = "Crazyflie 2.0",
-    .sensorImplementation = SensorImplementation_mpu9250_lps25h,
+    // .sensorImplementation = SensorImplementation_mpu9250_lps25h,
     .physicalLayoutAntennasAreClose = true,
     .motorMap = motorMapDefaultBrushed,
   },
   {
     .deviceType = "CF21",
     .deviceTypeName = "Crazyflie 2.1",
-    .sensorImplementation = SensorImplementation_bmi088_bmp388,
+    // .sensorImplementation = SensorImplementation_bmi088_bmp388,
     .physicalLayoutAntennasAreClose = false,
     .motorMap = motorMapDefaultBrushed,
   },
   {  // Old ID of Crzyflie Bolt
     .deviceType = "RZ10",
     .deviceTypeName = "Crazyflie Bolt",
-    .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
+    // .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
     .physicalLayoutAntennasAreClose = false,
     .motorMap = motorMapBoltBrushless,
   },
   {
     .deviceType = "CB10",
     .deviceTypeName = "Crazyflie Bolt",
-    .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
+    // .sensorImplementation = SensorImplementation_bmi088_spi_bmp388,
     .physicalLayoutAntennasAreClose = false,
     .motorMap = motorMapBoltBrushless,
   }
@@ -70,11 +70,12 @@ const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
 }
 
 void platformInitHardware() {
-  //Low level init: Clock and Interrupt controller
-  nvicInit();
+  //COMMENTED FIRMWARE
+  // //Low level init: Clock and Interrupt controller
+  // nvicInit();
 
-  //EXTI interrupts
-  extiInit();
+  // //EXTI interrupts
+  // extiInit();
 }
 
 
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
index 77f5072b04ccd8687a91fa0e7ca5a716b22adec6..b4bc0bb04cb632b84260a7ab995d5a07fa84d0b4 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_stm32f4.c
@@ -38,33 +38,35 @@
 #define DEFAULT_PLATFORM_STRING "0;CF20"
 
 
-#ifndef UNIT_TEST_MODE
-static char* getAddressOfOtpMemoryBlock(int blockNr) {
-  return (char*)(0x1fff7800 + blockNr * 0x20);
-}
-#else
-  // This function is replaced by a mock in unit tests
-  char* getAddressOfOtpMemoryBlock(const int blockNr);
-#endif
+//COMMENTED FIRMWARE
+// #ifndef UNIT_TEST_MODE
+// static char* getAddressOfOtpMemoryBlock(int blockNr) {
+//   return (char*)(0x1fff7800 + blockNr * 0x20);
+// }
+// #else
+//   // This function is replaced by a mock in unit tests
+//   char* getAddressOfOtpMemoryBlock(const int blockNr);
+// #endif
 
 
 
 
 void platformGetDeviceTypeString(char* deviceTypeString) {
-  char* block = 0;
+  //COMMENTED FIRMWARE
+  // char* block = 0;
 
-  for (int i = 0; i < PLATFORM_INFO_OTP_NR_OF_BLOCKS; i++) {
-    char* candidateBlock = getAddressOfOtpMemoryBlock(i);
-    if (candidateBlock[0] != 0) {
-      block = candidateBlock;
-      break;
-    }
-  }
+  // for (int i = 0; i < PLATFORM_INFO_OTP_NR_OF_BLOCKS; i++) {
+  //   char* candidateBlock = getAddressOfOtpMemoryBlock(i);
+  //   if (candidateBlock[0] != 0) {
+  //     block = candidateBlock;
+  //     break;
+  //   }
+  // }
 
-  if (!block || ((unsigned char)block[0]) == 0xff) {
-    block = DEFAULT_PLATFORM_STRING;
-  }
+  // if (!block || ((unsigned char)block[0]) == 0xff) {
+  //   block = DEFAULT_PLATFORM_STRING;
+  // }
 
-  strncpy(deviceTypeString, block, PLATFORM_INFO_OTP_BLOCK_LEN);
-  deviceTypeString[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
+  // strncpy(deviceTypeString, block, PLATFORM_INFO_OTP_BLOCK_LEN);
+  // deviceTypeString[PLATFORM_INFO_OTP_BLOCK_LEN] = '\0';
 }
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
index cc15b5445debd624349de898974e008e494d9606..7cb8eaa622895c0672c4528424c42ad118bc0b7b 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_tag.c
@@ -37,29 +37,32 @@ static platformConfig_t configs[] = {
   {
     .deviceType = "RR10",
     .deviceTypeName = "Roadrunner 1.0",
-    .sensorImplementation = SensorImplementation_bmi088_bmp388,
+    // .sensorImplementation = SensorImplementation_bmi088_bmp388,
     .physicalLayoutAntennasAreClose = false,
     .motorMap = motorMapNoMotors,
   },
 };
 
 const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs) {
-  *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
-  return configs;
+  //COMMENTED FIRMWARE
+  // *nrOfConfigs = sizeof(configs) / sizeof(platformConfig_t);
+  // return configs;
 }
 
 void platformInitHardware() {
-  //Low level init: Clock and Interrupt controller
-  nvicInit();
+  //COMMENTED FIRMWARE
+  // //Low level init: Clock and Interrupt controller
+  // nvicInit();
 
-  //EXTI interrupts
-  extiInit();
+  // //EXTI interrupts
+  // extiInit();
 }
 
 
 // Config functions ------------------------
 
 const char* platformConfigGetPlatformName() {
-  return "tag";
+  //COMMENTED FIRMWARE
+  // return "tag";
 }
 
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
index 3f136b00eaf7103a811d1b84e7abdf3f3659fb9e..e2d275fa94d9dec2e369ebc7559d9c0200b508fe 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/platform/platform_utils.c
@@ -38,8 +38,9 @@
 
 
 void platformSetLowInterferenceRadioMode(void) {
- // Decrease the nRF51 Tx power to reduce interference
- radiolinkSetPowerDbm(PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
- DEBUG_PRINT("Low interference mode. NRF51 TX power offset by %ddb.\r\n", PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
+    //COMMENTED FIRMWARE
+//  // Decrease the nRF51 Tx power to reduce interference
+//  radiolinkSetPowerDbm(PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
+//  DEBUG_PRINT("Low interference mode. NRF51 TX power offset by %ddb.\r\n", PLATFORM_NRF51_LOW_INTERFERENCE_TX_POWER_DBM);
 }