diff --git a/conf/airframes/CDW/classix.xml b/conf/airframes/CDW/classix.xml
index 703874ace4..e8bd49ed9b 100644
--- a/conf/airframes/CDW/classix.xml
+++ b/conf/airframes/CDW/classix.xml
@@ -195,12 +195,9 @@
       <define name="USE_AD1" value="1"/>
       <configure name="ACTUATORS" value="actuators_ppm"/>
       <define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
-
-      <subsystem name="radio_control" type="ppm"/>
     </target>
 
     <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
       <subsystem name="control"/>
       <subsystem name="navigation"/>
     </target>
@@ -212,6 +209,7 @@
     <define name="LOITER_TRIM"/>
     <define name="RADIO_CONTROL_AUTO1"/>
 
+    <subsystem name="radio_control" type="ppm"/>
 
     <subsystem name="telemetry" type="xbee_api">
       <configure name="MODEM_PORT" value="UART0"/>
diff --git a/conf/airframes/examples/separate_fbw_ap.xml b/conf/airframes/examples/separate_fbw_ap.xml
index 0fbd5590e5..67fcf963b6 100644
--- a/conf/airframes/examples/separate_fbw_ap.xml
+++ b/conf/airframes/examples/separate_fbw_ap.xml
@@ -253,6 +253,8 @@
     </target>
 
     <target name="fbw" board="lisa_m_2.0">
+      <configure name="SEPARATE_FBW" value="1"/>
+
       <configure name="SYS_TIME_LED" value="2"/>
       <define name="RADIO_CONTROL_LED" value="4"/>
       <define name="LINK_MCU_LED" value="3"/>
@@ -260,8 +262,6 @@
       <define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
       <define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
 
-      <subsystem name="radio_control" type="ppm"/>
-
       <!-- split of ap/fbw specific subsystems for fbw -->
       <subsystem name="actuators" type="pwm"/>
       <subsystem name="intermcu" type="uart">
@@ -270,7 +270,6 @@
     </target>
 
     <target name="sim" board="pc">
-      <subsystem name="radio_control" type="ppm"/>
       <subsystem name="control"/>
       <subsystem name="navigation"/>
     </target>
@@ -285,6 +284,10 @@
     <define name="WIND_INFO_RET"/>
     <define name="RADIO_CONTROL_AUTO1"/>
 
+    <subsystem name="radio_control" type="spektrum">
+      <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
+    </subsystem>
+
     <!-- Communication -->
     <subsystem name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B9600"/>
diff --git a/conf/boards/classix.makefile b/conf/boards/classix.makefile
index a1af2f9b8a..6ad3d6e586 100644
--- a/conf/boards/classix.makefile
+++ b/conf/boards/classix.makefile
@@ -46,3 +46,6 @@ GPS_BAUD ?= B38400
 # e.g. <servo driver="Ppm">
 #
 ACTUATORS ?= actuators_pwm
+
+# always enable SEPARATE_FBW
+SEPARATE_FBW = 1
diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
index f7927f9745..98b09ecad5 100644
--- a/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
@@ -3,10 +3,15 @@
 # InterMCU type CAN
 
 ifneq ($(TARGET),sim)
+
+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via CAN, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif
+
+
 $(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
 $(TARGET).srcs += link_mcu_can.c
 $(TARGET).srcs += mcu_periph/can.c
 $(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
 endif
-
-SEPARATE_FBW=1
diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
index c44b38f0b8..dc3bd353cd 100644
--- a/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
@@ -2,6 +2,11 @@
 
 # InterMCU type SPI
 
+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via SPI, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif
+
 ifeq ($(INTER_MCU_SPI),)
 INTER_MCU_SPI = SPI1
 endif
@@ -15,4 +20,3 @@ fbw.srcs    += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_
 ap_srcs     += $(SRC_FIRMWARE)/fbw_downlink.c
 ap.CFLAGS   += -DMCU_SPI_LINK -DUSE_$(INTER_MCU_SPI) -DSPI_MASTER -DUSE_SPI_$(INTER_MCU_SLAVE) -DUSE_SPI
 ap.srcs     += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
-SEPARATE_FBW    = 1
diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
index 5052b65275..0430a139cb 100644
--- a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
+++ b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
@@ -2,6 +2,10 @@
 
 # InterMCU type UART
 
+# make sure that SEPARATE_FBW is configured
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+$(error Using intermcu via UART, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
+endif
 
 ifeq ($(TARGET),fbw)
   ifeq ($(INTERMCU_PORT),none)
@@ -19,14 +23,3 @@ ifneq ($(TARGET),sim)
 $(TARGET).CFLAGS += -DINTER_MCU -DMCU_UART_LINK
 $(TARGET).srcs += ./link_mcu_usart.c
 endif
-
-
-
-#############################
-# CAN:
-# fbw.srcs += ./link_mcu_can.c ./mcu_periph/can.c ./arch/stm32/mcu_periph/can_arch.c
-# fbw.CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
-# $(TARGET).CFLAGS += -DCAN_SJW_TQ=CAN_SJW_1tq -DCAN_BS1_TQ=CAN_BS1_3tq -DCAN_BS2_TQ=CAN_BS2_4tq -DCAN_PRESCALER=12 -DUSE_CAN -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DCAN_ERR_RESUME=DISABLE
-
-SEPARATE_FBW=1
-
diff --git a/conf/firmwares/subsystems/shared/radio_control_datalink.makefile b/conf/firmwares/subsystems/shared/radio_control_datalink.makefile
index 9a9db15cbd..c8073f26ab 100644
--- a/conf/firmwares/subsystems/shared/radio_control_datalink.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_datalink.makefile
@@ -1,36 +1,38 @@
 # Hey Emacs, this is a -*- makefile -*-
 
 
-NORADIO = False
-
-ifeq ($(BOARD),classix)
-  ifeq ($(TARGET),ap)
-    NORADIO = True
-  endif
-endif
-
 RADIO_CONTROL_DATALINK_LED ?= none
 RADIO_CONTROL_LED ?= none
 
-ifeq ($(NORADIO), False)
-  ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
-    RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
-  endif
-  ifneq ($(RADIO_CONTROL_LED),none)
-    RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-  endif
-  $(TARGET).CFLAGS += -DRADIO_CONTROL
-  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
-  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
-  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
-  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
-# arch only with sim target for compatibility (empty functions)
-  sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
-
-  ap.CFLAGS += $(RC_CFLAGS)
-  ap.srcs   += $(RC_SRCS)
-
-  test_radio_control.CFLAGS += $(RC_CFLAGS)
-  test_radio_control.srcs   += $(RC_SRCS)
+ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
 endif
+
+ifneq ($(RADIO_CONTROL_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
+
+
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
+
+# arch only with sim target for compatibility (empty functions)
+sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
diff --git a/conf/firmwares/subsystems/shared/radio_control_ppm.makefile b/conf/firmwares/subsystems/shared/radio_control_ppm.makefile
index b045831d8e..605e3a2163 100644
--- a/conf/firmwares/subsystems/shared/radio_control_ppm.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_ppm.makefile
@@ -2,37 +2,43 @@
 # Makefile for shared radio_control ppm subsystem
 #
 
-NORADIO = False
 RADIO_CONTROL_LED ?= none
 
-ifeq ($(BOARD),classix)
-  ifeq ($(TARGET),ap)
-    NORADIO = True
+ifneq ($(RADIO_CONTROL_LED),none)
+RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS   += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
+RC_SRCS   += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
+
+ifeq ($(ARCH),stm32)
+  ifdef RADIO_CONTROL_PPM_PIN
+    ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
+      $(TARGET).CFLAGS += -DPPM_CONFIG=1
+    else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
+      $(TARGET).CFLAGS += -DPPM_CONFIG=2
+    endif
   endif
 endif
 
-ifeq ($(NORADIO), False)
-  $(TARGET).CFLAGS	+= -DRADIO_CONTROL
-  ifneq ($(RADIO_CONTROL_LED),none)
-    ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-    test_radio_control.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-  endif
-  $(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-  $(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_PPM
-  $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
-  $(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/ppm.c
-  $(TARGET).srcs 	+= $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
 
-  ifeq ($(ARCH),stm32)
-    ifdef RADIO_CONTROL_PPM_PIN
-      ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
-        $(TARGET).CFLAGS += -DPPM_CONFIG=1
-      else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
-        $(TARGET).CFLAGS += -DPPM_CONFIG=2
-      endif
-    endif
-  endif
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
 endif
 
 # dummy stuff so you don't have to unload superbitrf.xml settings file for simulators
diff --git a/conf/firmwares/subsystems/shared/radio_control_sbus.makefile b/conf/firmwares/subsystems/shared/radio_control_sbus.makefile
index 8d977522eb..a0a5911324 100644
--- a/conf/firmwares/subsystems/shared/radio_control_sbus.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_sbus.makefile
@@ -8,22 +8,31 @@ ifneq ($(RADIO_CONTROL_LED),none)
 	RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
 
-$(TARGET).CFLAGS	+= -DRADIO_CONTROL
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL
 
 # convert SBUS_PORT to upper and lower case strings:
 SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
 SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
 
-RC_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
-RC_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
+RC_FBW_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control.c
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus.c
 RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
 
-ap.CFLAGS += $(RC_CFLAGS)
-ap.srcs   += $(RC_SRCS)
 
-test_radio_control.CFLAGS += $(RC_CFLAGS)
-test_radio_control.srcs   += $(RC_SRCS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
diff --git a/conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile b/conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile
index fadeecd5bf..2a38812ff5 100644
--- a/conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile
@@ -14,8 +14,9 @@ ifneq ($(RADIO_CONTROL_LED),none)
 	ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
 
-$(TARGET).CFLAGS	+= -DRADIO_CONTROL
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
 
+RC_FBW_CFLAGS += -DRADIO_CONTROL
 
 # convert SBUS_PORT to upper and lower case strings:
 SBUS1_PORT_UPPER=$(shell echo $(SBUS1_PORT) | tr a-z A-Z)
@@ -23,13 +24,26 @@ SBUS1_PORT_LOWER=$(shell echo $(SBUS1_PORT) | tr A-Z a-z)
 SBUS2_PORT_UPPER=$(shell echo $(SBUS2_PORT) | tr a-z A-Z)
 SBUS2_PORT_LOWER=$(shell echo $(SBUS2_PORT) | tr A-Z a-z)
 
-$(TARGET).CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
-$(TARGET).CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
-$(TARGET).CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
-$(TARGET).CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
-$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
-$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control.c
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
-$(TARGET).srcs	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
+RC_FBW_CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
+RC_FBW_CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
+RC_FBW_CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
+RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control.c
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
+RC_SRCS	+= $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
 
+
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
diff --git a/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
index e7af64351e..9ae8199429 100644
--- a/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
@@ -4,26 +4,29 @@
 
 RADIO_CONTROL_LED ?= none
 
-ifndef RADIO_CONTROL_SPEKTRUM_MODEL
-RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
-endif
-
-RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-ifeq ($(ARCH), lpc21)
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
-endif
 ifneq ($(RADIO_CONTROL_LED),none)
 RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
+
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+
+ifeq ($(ARCH), lpc21)
+ifndef RADIO_CONTROL_SPEKTRUM_MODEL
+RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
+endif
+RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
+endif
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
+RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
 
 # enable the second spektrum port if so configured
 ifdef USE_SECONDARY_SPEKTRUM_RECEIVER
 ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)
-RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
-RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
+RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
+RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
 endif
 endif
 
@@ -31,8 +34,19 @@ RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c \
            $(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
            $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
 
-$(TARGET).CFLAGS += $(RC_CFLAGS)
-$(TARGET).srcs   += $(RC_SRCS)
 
-test_radio_control.CFLAGS += $(RC_CFLAGS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
+
+test_radio_control.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
 test_radio_control.srcs   += $(RC_SRCS)
diff --git a/conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile b/conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile
index bd409765fc..a4b5c66a61 100644
--- a/conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile
+++ b/conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile
@@ -3,21 +3,30 @@
 #
 
 RADIO_CONTROL_LED ?= none
-
-RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
-RC_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
-
 ifneq ($(RADIO_CONTROL_LED),none)
 RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
 endif
 
+RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
+
+RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF
+RC_FBW_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
+
 RC_SRCS += peripherals/cyrf6936.c \
 		   $(SRC_SUBSYSTEMS)/datalink/superbitrf.c\
            $(SRC_SUBSYSTEMS)/radio_control.c \
            $(SRC_SUBSYSTEMS)/radio_control/superbitrf_rc.c
 
-ap.CFLAGS += $(RC_CFLAGS)
-ap.srcs   += $(RC_SRCS)
 
-test_radio_control.CFLAGS += $(RC_CFLAGS)
-test_radio_control.srcs   += $(RC_SRCS)
+ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
+# Single MCU's run RC on ap target
+$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+$(TARGET).srcs   += $(RC_SRCS)
+else
+# Dual MCU case
+fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
+fbw.srcs   += $(RC_SRCS)
+# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
+# but don't add source files
+ap.CFLAGS += $(RC_CFLAGS)
+endif
diff --git a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c
index 23a3a20f16..19304f2eba 100644
--- a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c
+++ b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c
@@ -28,7 +28,7 @@
 
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/spektrum.h"
-
+#include "std.h"
 #include <inttypes.h>
 
 #if USE_NPS
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index ef7f1e3183..660ca33f54 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -45,14 +45,6 @@
 #include "subsystems/electrical.h"
 #include "firmwares/fixedwing/main_fbw.h"
 
-#ifndef SINGLE_MCU
-// If radio_control defines
-#ifdef RADIO_CONTROL_NB_CHANNEL
-#undef RADIO_CONTROL_NB_CHANNEL
-#endif
-#include "generated/radio.h"
-#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
-#endif
 
 /** Data structure shared by fbw and ap processes */
 struct fbw_state {
diff --git a/sw/airborne/subsystems/radio_control.h b/sw/airborne/subsystems/radio_control.h
index 57ab32eff5..6d0543d6e4 100644
--- a/sw/airborne/subsystems/radio_control.h
+++ b/sw/airborne/subsystems/radio_control.h
@@ -23,14 +23,14 @@
 #ifndef RADIO_CONTROL_H
 #define RADIO_CONTROL_H
 
-#if defined RADIO_CONTROL
-
 #include "led.h"
 #include "generated/airframe.h"
 #include "paparazzi.h"
 
-/* underlying hardware */
+/* underlying hardware, also include if RADIO_CONTROL is not defined for ap in dual mcu case */
 #include RADIO_CONTROL_TYPE_H
+
+#if defined RADIO_CONTROL
 /* must be defined by underlying hardware */
 extern void radio_control_impl_init(void);
 /* RADIO_CONTROL_NB_CHANNEL has to be defined by the implementation */