diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile
new file mode 100644
index 00000000000..149d6673a9f
--- /dev/null
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_pwm_supervision.makefile
@@ -0,0 +1,8 @@
+
+# add actuatos arch to include directories
+ap.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
+ap.CFLAGS += -DSERVO_HZ=200
+
+ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
new file mode 100644
index 00000000000..8a3ab4ad960
--- /dev/null
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c
@@ -0,0 +1,74 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "firmwares/rotorcraft/actuators.h"
+#include "actuators_pwm_supervision.h"
+#include "booz/booz2_commands.h"
+#include "subsystems/radio_control.h"
+
+#include "downlink.h"
+#include "messages.h"
+#include "mcu_periph/uart.h"
+
+/* let's start butchery now and use the actuators_pwm arch functions */
+#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
+
+/* get SetActuatorsFromCommands() macro */
+#include "generated/airframe.h"
+
+/* define the glue between control and SetActuatorsFromCommands */
+#define actuators actuators_pwm_values
+#define SERVOS_TICS_OF_USEC(_v) (_v)
+
+#define Actuator(_x)  actuators_pwm_values[_x]
+#define ChopServo(x,a,b) Chop(x, a, b)
+#define ActuatorsCommit  actuators_pwm_commit
+
+int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
+
+void actuators_init(void)
+{
+  supervision_init();
+  actuators_pwm_arch_init();
+}
+
+#define PWM_GAIN_SCALE 5
+#define PWM_OFF 1000
+
+void actuators_set(bool_t motors_on) {
+  booz2_commands[COMMAND_PITCH] = booz2_commands[COMMAND_PITCH] * PWM_GAIN_SCALE;
+  booz2_commands[COMMAND_ROLL] = booz2_commands[COMMAND_ROLL] * PWM_GAIN_SCALE;
+  booz2_commands[COMMAND_YAW] = booz2_commands[COMMAND_YAW] * PWM_GAIN_SCALE;
+  supervision_run(motors_on, FALSE, booz2_commands);
+
+  if (motors_on) {
+    for (int i = 0; i < SUPERVISION_NB_MOTOR; i++)
+      actuators_pwm_values[i] = supervision.commands[i];
+  } else {
+    for (int i = 0; i < ACTUATORS_PWM_NB; i++)
+      actuators_pwm_values[i] = PWM_OFF;
+  }
+  actuators_pwm_commit();
+
+}
+
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h
new file mode 100644
index 00000000000..cf10740cc2f
--- /dev/null
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.h
@@ -0,0 +1,30 @@
+/*
+ * $Id: actuators_pwm_supervision$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef ACTUATORS_PWM_SUPERVISION_H
+#define ACTUATORS_PWM_SUPERVISION_H
+
+#include "firmwares/rotorcraft/actuators/supervision.h"
+
+#endif /* ACTUATORS_PWM_SUPERVISION_H */