From 844e8e9fb8c85f91dc717ea5d6fea13d54d3cc7a Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 18 May 2014 12:37:15 +0200
Subject: [PATCH] [conf] some cleanup

---
 conf/airframes/CDW/asctec_cdw.xml             |  8 +++----
 conf/airframes/CDW/tricopter_cdw.xml          |  8 +++----
 conf/airframes/ENAC/quadrotor/blender.xml     |  8 +++----
 conf/airframes/ENAC/quadrotor/hen1.xml        |  8 +++----
 .../TUDelft/IMAV2013/ardrone2_raw.xml         |  8 +++----
 .../TUDelft/IMAV2013/chouchou_lisa_s.xml      |  6 +----
 .../TUDelft/IMAV2013/quadrotor_lisa_s.xml     |  6 +----
 .../TUDelft/IMAV2013/walkera_V120D02S.xml     |  4 ----
 .../TUDelft/IMAV2013/walkera_genius_v1.xml    |  4 ----
 .../LisaL_v1.1_aspirin_v1.5_rc.xml            |  8 +++----
 .../TestHardware/LisaL_v1.1_b2_v1.2_rc.xml    | 10 ++++-----
 conf/airframes/esden/cocto_lm2a2.xml          | 22 ++++++++-----------
 .../esden/gain_scheduling_example.xml         | 14 +++++-------
 conf/airframes/esden/hexy_ll11a2pwm.xml       | 18 ++++++---------
 conf/airframes/esden/hexy_lm2a2pwm.xml        | 18 ++++++---------
 conf/airframes/esden/lisa2_hex.xml            | 15 ++++++-------
 conf/airframes/esden/qs_asp22.xml             | 10 ++++-----
 conf/airframes/esden/quady_ll11a2pwm.xml      | 14 +++++-------
 conf/airframes/esden/quady_lm1a1pwm.xml       | 14 +++++-------
 conf/airframes/esden/quady_lm2a2pwm.xml       | 14 +++++-------
 conf/airframes/esden/quady_lm2a2pwmppm.xml    | 14 +++++-------
 conf/airframes/esden/quady_ls01pwm.xml        | 14 +++++-------
 conf/airframes/examples/booz2.xml             | 13 ++++-------
 conf/airframes/examples/h_hex.xml             | 17 +++++---------
 .../krooz_sd/krooz_sd_bre_hexa_mkk.xml        | 12 +++++-----
 .../examples/krooz_sd/krooz_sd_hexa_mkk.xml   | 12 +++++-----
 .../examples/krooz_sd/krooz_sd_okto_mkk.xml   | 16 +++++++-------
 .../examples/krooz_sd/krooz_sd_quad_mkk.xml   |  8 +++----
 .../examples/krooz_sd/krooz_sd_quad_pwm.xml   |  8 +++----
 conf/airframes/examples/lisa_asctec.xml       | 14 +++++-------
 .../quadrotor_lisa_m_2_pwm_spektrum.xml       |  8 +++----
 ...uadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml |  8 +++----
 .../examples/quadrotor_lisa_m_mkk.xml         |  8 +++----
 conf/airframes/examples/quadrotor_lisa_s.xml  |  6 +----
 conf/airframes/examples/quadrotor_mlkf.xml    |  8 +++----
 conf/airframes/examples/quadrotor_navgo.xml   |  8 +++----
 conf/airframes/examples/quadrotor_px4fmu.xml  |  8 +++----
 .../examples/quadshot_asp21_spektrum.xml      | 10 ++++-----
 .../examples/stm32f4_discovery_test.xml       |  8 +++----
 conf/airframes/fraser_lisa_m_rotorcraft.xml   |  8 +++----
 40 files changed, 177 insertions(+), 248 deletions(-)

diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index fccab96c048..a5f3c098040 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -77,10 +77,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <!-- ************************* SENSORS ************************* -->
diff --git a/conf/airframes/CDW/tricopter_cdw.xml b/conf/airframes/CDW/tricopter_cdw.xml
index 4cc3dc9bc2b..40aff5429ed 100644
--- a/conf/airframes/CDW/tricopter_cdw.xml
+++ b/conf/airframes/CDW/tricopter_cdw.xml
@@ -102,9 +102,9 @@ LiPo/LiIo-Zellen: 2-3
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONTRIGHT" value="motor_mixing.commands[SERVO_FRONTRIGHT]"/>
-    <set servo="FRONTLEFT" value="motor_mixing.commands[SERVO_FRONTLEFT]"/>
-    <set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
+    <set servo="FRONTRIGHT" value="motor_mixing.commands[0]"/>
+    <set servo="FRONTLEFT" value="motor_mixing.commands[1]"/>
+    <set servo="BACK" value="motor_mixing.commands[2]"/>
     <set servo="TAIL" value="@YAW"/>
   </command_laws>
 
@@ -220,7 +220,7 @@ LiPo/LiIo-Zellen: 2-3
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
   </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index d85b06817be..12e53c8e8a4 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -74,10 +74,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/ENAC/quadrotor/hen1.xml b/conf/airframes/ENAC/quadrotor/hen1.xml
index 2b5fa5b8115..41ac97413a8 100644
--- a/conf/airframes/ENAC/quadrotor/hen1.xml
+++ b/conf/airframes/ENAC/quadrotor/hen1.xml
@@ -77,10 +77,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
index bcd97215994..0db0d60d849 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
@@ -67,10 +67,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[2]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <include href="conf/airframes/TUDelft/IMAV2013/ARDrone/$AC_ID_calib.xml"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
index a6b4da5c519..31c43ac9cc9 100644
--- a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
@@ -171,14 +171,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1" value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
index dcfe0c19873..dd5eaf334d0 100644
--- a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
@@ -173,14 +173,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1" value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
index f301a77da59..d38f4ae8229 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
@@ -155,10 +155,6 @@
    <define name="IGAIN" value="6"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1" value="1024"/>
- </section>
-
  <modules main_freq="512">
    <load name="gps_ubx_ucenter.xml"/>
  </modules>
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
index 225f5762593..7261f6e3722 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
@@ -160,10 +160,6 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1" value="1024"/>
- </section>
-
  <modules main_freq="512">
    <load name="gps_ubx_ucenter.xml"/>
    <load name="send_imu_mag_current.xml"/>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index 1f08ba794be..353ca1de91a 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -83,10 +83,10 @@
 
     <command_laws>
       <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-      <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-      <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-      <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-      <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+      <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+      <set servo="BACK"   value="motor_mixing.commands[1]"/>
+      <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+      <set servo="LEFT"   value="motor_mixing.commands[3]"/>
     </command_laws>
 
     <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 2dec34d39f6..67a30aa6b01 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -81,10 +81,10 @@
 
     <command_laws>
       <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-      <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-      <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-      <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-      <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+      <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+      <set servo="BACK"   value="motor_mixing.commands[1]"/>
+      <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+      <set servo="LEFT"   value="motor_mixing.commands[3]"/>
     </command_laws>
 
     <section name="IMU" prefix="IMU_">
@@ -245,7 +245,7 @@
         <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
         <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
         <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
-        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     </section>
 
 </airframe>
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index 847de665565..da21ab4c2f2 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -66,14 +66,14 @@ B2L -> CW
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="A1U" value="motor_mixing.commands[SERVO_A1U]"/>
-    <set servo="A1L" value="motor_mixing.commands[SERVO_A1L]"/>
-    <set servo="A2U" value="motor_mixing.commands[SERVO_A2U]"/>
-    <set servo="A2L" value="motor_mixing.commands[SERVO_A2L]"/>
-    <set servo="B1U" value="motor_mixing.commands[SERVO_B1U]"/>
-    <set servo="B1L" value="motor_mixing.commands[SERVO_B1L]"/>
-    <set servo="B2U" value="motor_mixing.commands[SERVO_B2U]"/>
-    <set servo="B2L" value="motor_mixing.commands[SERVO_B2L]"/>
+    <set servo="A1U" value="motor_mixing.commands[0]"/>
+    <set servo="A1L" value="motor_mixing.commands[1]"/>
+    <set servo="A2U" value="motor_mixing.commands[2]"/>
+    <set servo="A2L" value="motor_mixing.commands[3]"/>
+    <set servo="B1U" value="motor_mixing.commands[4]"/>
+    <set servo="B1L" value="motor_mixing.commands[5]"/>
+    <set servo="B2U" value="motor_mixing.commands[6]"/>
+    <set servo="B2L" value="motor_mixing.commands[7]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -196,14 +196,10 @@ B2L -> CW
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index 505982aecb6..60221d05e06 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -21,10 +21,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
-    <set servo="A2"  value="motor_mixing.commands[SERVO_A2]"/>
-    <set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
-    <set servo="B2"  value="motor_mixing.commands[SERVO_B2]"/>
+    <set servo="A1" value="motor_mixing.commands[0]"/>
+    <set servo="A2"  value="motor_mixing.commands[1]"/>
+    <set servo="B1" value="motor_mixing.commands[2]"/>
+    <set servo="B2"  value="motor_mixing.commands[3]"/>
 
     <let var="aileron_feedback_left"  value="-@YAW"/>
     <let var="aileron_feedback_right" value="-@YAW"/>
@@ -179,14 +179,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
 <!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index 4c72b011bd1..a8f3156483b 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -29,12 +29,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
-    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
-    <set servo="RIGHT"        value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
-    <set servo="BACK_LEFT"    value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
-    <set servo="LEFT"         value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[0]"/>
+    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"        value="motor_mixing.commands[2]"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[3]"/>
+    <set servo="BACK_LEFT"    value="motor_mixing.commands[4]"/>
+    <set servo="LEFT"         value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -193,14 +193,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 7051ae5acf6..da2700f428e 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -29,12 +29,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
-    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
-    <set servo="RIGHT"        value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
-    <set servo="BACK_LEFT"    value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
-    <set servo="LEFT"         value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[0]"/>
+    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"        value="motor_mixing.commands[2]"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[3]"/>
+    <set servo="BACK_LEFT"    value="motor_mixing.commands[4]"/>
+    <set servo="LEFT"         value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -154,14 +154,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index bf12bcc14ae..19c0c3cee3a 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -29,12 +29,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
-    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
-    <set servo="RIGHT"        value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
-    <set servo="BACK_LEFT"    value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
-    <set servo="LEFT"         value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[0]"/>
+    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"        value="motor_mixing.commands[2]"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[3]"/>
+    <set servo="BACK_LEFT"    value="motor_mixing.commands[4]"/>
+    <set servo="LEFT"         value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -162,7 +162,6 @@
  </section>
 
  <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
    <define name="USE_EARTH_BOUND_RC_SETPOINT" value="FALSE"/>
    <define name="USE_REFERENCE_SYSTEM" value="FALSE"/>
    <define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
@@ -172,7 +171,7 @@
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index 8f2c72587e7..cadea06ccc7 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -21,10 +21,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
-    <set servo="A2"  value="motor_mixing.commands[SERVO_A2]"/>
-    <set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
-    <set servo="B2"  value="motor_mixing.commands[SERVO_B2]"/>
+    <set servo="A1" value="motor_mixing.commands[0]"/>
+    <set servo="A2"  value="motor_mixing.commands[1]"/>
+    <set servo="B1" value="motor_mixing.commands[2]"/>
+    <set servo="B2"  value="motor_mixing.commands[3]"/>
 
     <let var="aileron_feedback_left"  value="-@YAW"/>
     <let var="aileron_feedback_right" value="-@YAW"/>
@@ -197,7 +197,7 @@
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index b8042c2d069..d8e150df7d3 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -27,10 +27,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"  value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -189,14 +189,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 7a02f866f41..3b7d789bf9c 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -27,10 +27,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"  value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -150,14 +150,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index de84a28c0c7..440fa8429d9 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -27,10 +27,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"  value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -153,14 +153,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 8e65b9e33b3..7bfdc452abd 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -27,10 +27,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"  value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -150,14 +150,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/esden/quady_ls01pwm.xml b/conf/airframes/esden/quady_ls01pwm.xml
index dd629b4549c..f21b371a8af 100644
--- a/conf/airframes/esden/quady_ls01pwm.xml
+++ b/conf/airframes/esden/quady_ls01pwm.xml
@@ -27,10 +27,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"  value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"  value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -153,14 +153,10 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index f65884cb52f..84503f78053 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -35,10 +35,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -182,11 +182,6 @@
 
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index de8b44f412a..7ae40f28571 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -38,12 +38,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="BACK_RIGHT"   value="motor_mixing.commands[SERVO_BACK_RIGHT]"/>
-    <set servo="BACK_LEFT"    value="motor_mixing.commands[SERVO_BACK_LEFT]"/>
-    <set servo="CENTER_RIGHT" value="motor_mixing.commands[SERVO_CENTER_RIGHT]"/>
-    <set servo="CENTER_LEFT"  value="motor_mixing.commands[SERVO_CENTER_LEFT]"/>
-    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[SERVO_FRONT_RIGHT]"/>
-    <set servo="FRONT_LEFT"   value="motor_mixing.commands[SERVO_FRONT_LEFT]"/>
+    <set servo="BACK_RIGHT"   value="motor_mixing.commands[0]"/>
+    <set servo="BACK_LEFT"    value="motor_mixing.commands[1]"/>
+    <set servo="CENTER_RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="CENTER_LEFT"  value="motor_mixing.commands[3]"/>
+    <set servo="FRONT_RIGHT"  value="motor_mixing.commands[4]"/>
+    <set servo="FRONT_LEFT"   value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -168,11 +168,6 @@
     <define name="IGAIN" value="0"/>
   </section>
 
-  <section name="MISC">
-    <define name="FACE_REINJ_1"  value="1024"/>
-  </section>
-
-
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.0">
 <!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
index f8c080737db..b371183c447 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
@@ -70,12 +70,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FF"   value="motor_mixing.commands[SERVO_FF]"/>
-    <set servo="FR"   value="motor_mixing.commands[SERVO_FR]"/>
-    <set servo="DR"   value="motor_mixing.commands[SERVO_DR]"/>
-    <set servo="DD"   value="motor_mixing.commands[SERVO_DD]"/>
-    <set servo="DL"   value="motor_mixing.commands[SERVO_DL]"/>
-    <set servo="FL"   value="motor_mixing.commands[SERVO_FL]"/>
+    <set servo="FF"   value="motor_mixing.commands[0]"/>
+    <set servo="FR"   value="motor_mixing.commands[1]"/>
+    <set servo="DR"   value="motor_mixing.commands[2]"/>
+    <set servo="DD"   value="motor_mixing.commands[3]"/>
+    <set servo="DL"   value="motor_mixing.commands[4]"/>
+    <set servo="FL"   value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
index 107bfd079c0..013d5e6ba84 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
@@ -70,12 +70,12 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FF"   value="motor_mixing.commands[SERVO_FF]"/>
-    <set servo="FR"   value="motor_mixing.commands[SERVO_FR]"/>
-    <set servo="DR"   value="motor_mixing.commands[SERVO_DR]"/>
-    <set servo="DD"   value="motor_mixing.commands[SERVO_DD]"/>
-    <set servo="DL"   value="motor_mixing.commands[SERVO_DL]"/>
-    <set servo="FL"   value="motor_mixing.commands[SERVO_FL]"/>
+    <set servo="FF"   value="motor_mixing.commands[0]"/>
+    <set servo="FR"   value="motor_mixing.commands[1]"/>
+    <set servo="DR"   value="motor_mixing.commands[2]"/>
+    <set servo="DD"   value="motor_mixing.commands[3]"/>
+    <set servo="DL"   value="motor_mixing.commands[4]"/>
+    <set servo="FL"   value="motor_mixing.commands[5]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
index 984374b3aae..53ba08a6850 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
@@ -73,14 +73,14 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FF"   value="motor_mixing.commands[SERVO_FF]"/>
-    <set servo="FR"   value="motor_mixing.commands[SERVO_FR]"/>
-    <set servo="RR"   value="motor_mixing.commands[SERVO_RR]"/>
-    <set servo="DR"   value="motor_mixing.commands[SERVO_DR]"/>
-    <set servo="DD"   value="motor_mixing.commands[SERVO_DD]"/>
-    <set servo="DL"   value="motor_mixing.commands[SERVO_DL]"/>
-    <set servo="LL"   value="motor_mixing.commands[SERVO_LL]"/>
-    <set servo="FL"   value="motor_mixing.commands[SERVO_FL]"/>
+    <set servo="FF"   value="motor_mixing.commands[0]"/>
+    <set servo="FR"   value="motor_mixing.commands[1]"/>
+    <set servo="RR"   value="motor_mixing.commands[2]"/>
+    <set servo="DR"   value="motor_mixing.commands[3]"/>
+    <set servo="DD"   value="motor_mixing.commands[4]"/>
+    <set servo="DL"   value="motor_mixing.commands[5]"/>
+    <set servo="LL"   value="motor_mixing.commands[6]"/>
+    <set servo="FL"   value="motor_mixing.commands[7]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
index 983dd9bc16a..af466e7f2f0 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
@@ -61,10 +61,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
index 1aa747c3f6b..cb7b41fd235 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
@@ -52,10 +52,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 0ee10e01c0f..1dadbabf704 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -38,10 +38,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -168,15 +168,11 @@
    <define name="IGAIN" value="0"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1"  value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index c83dca480d2..89834b91ce5 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -71,10 +71,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
index daf4f51d84c..97bfc444a6f 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
@@ -73,10 +73,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 1e8c2dcfb42..5d05a63f102 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -64,10 +64,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index cf646e4828f..e2d208faeca 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -173,15 +173,11 @@
    <define name="IGAIN" value="19"/>
  </section>
 
- <section name="MISC">
-   <define name="FACE_REINJ_1" value="1024"/>
- </section>
-
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index c08e736b0a3..c45371c2fb4 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -63,10 +63,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 84e30601708..666fae1a676 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -78,10 +78,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadrotor_px4fmu.xml b/conf/airframes/examples/quadrotor_px4fmu.xml
index 152217a06ca..30e7bbe9927 100644
--- a/conf/airframes/examples/quadrotor_px4fmu.xml
+++ b/conf/airframes/examples/quadrotor_px4fmu.xml
@@ -67,10 +67,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index 748e6e463c1..93d0fafb490 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -21,10 +21,10 @@ More information on the Quadshot can be found at transition-robotics.com -->
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
-    <set servo="A2"  value="motor_mixing.commands[SERVO_A2]"/>
-    <set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
-    <set servo="B2"  value="motor_mixing.commands[SERVO_B2]"/>
+    <set servo="A1" value="motor_mixing.commands[0]"/>
+    <set servo="A2"  value="motor_mixing.commands[1]"/>
+    <set servo="B1" value="motor_mixing.commands[2]"/>
+    <set servo="B2"  value="motor_mixing.commands[3]"/>
 
  <!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
  <!-- First the correct feedback is stored in variables -->
@@ -229,7 +229,7 @@ More information on the Quadshot can be found at transition-robotics.com -->
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index f57f348c464..101f50ac18d 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -73,10 +73,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT"  value="motor_mixing.commands[0]"/>
+    <set servo="BACK"   value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index bed6350e06c..37ad725137a 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -105,10 +105,10 @@
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
-    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
-    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
-    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    <set servo="FRONT" value="motor_mixing.commands[0]"/>
+    <set servo="BACK"  value="motor_mixing.commands[1]"/>
+    <set servo="RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="LEFT"  value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">