diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 7ebebd2c69..26ff8f7cd3 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -4,13 +4,15 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_1.0">
-      <subsystem name="radio_control" type="spektrum"/>
+      <!--subsystem name="radio_control" type="spektrum"/>
       <define name="RADIO_MODE" value="RADIO_AUX2"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
       <define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
-      <define name="OVERRIDE_UART5_IRQ_HANDLER"/>
-      <!--define name="ACTUATORS_START_DELAY" value="2"/-->
+      <define name="OVERRIDE_UART5_IRQ_HANDLER"/-->
+
+      <subsystem name="radio_control" type="ppm"/>
+      <define name="ACTUATORS_START_DELAY" value="3"/>
       <define name="USE_INS_NAV_INIT"/>
       <configure name="AHRS_ALIGNER_LED" value="3"/>
     </target>
@@ -67,7 +69,8 @@
 
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
+    <!-- FRONT, BACK, LEFT, RIGHT -->
+    <define name="ADDR" value="{ 0x54, 0x52, 0x58, 0x56 }"/>
   </section>
 
   <section name="SUPERVISION" prefix="SUPERVISION_">
@@ -78,10 +81,11 @@
     <define name="TRIM_R" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF"   value="{   0,    0, -256,  256 }"/>
-    <define name="PITCH_COEF"  value="{ 256, -256,    0,    0 }"/>
-    <define name="YAW_COEF"    value="{ -256,  -256, 256, 256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
+    <!-- front/back turning CCW, left/right CW -->
+    <define name="ROLL_COEF"   value="{    0,    0,  256, -256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{  256,  256, -256, -256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -89,12 +93,12 @@
     <define name="ACCEL_Y_NEUTRAL" value="11"/>
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
-    <define name="MAG_X_NEUTRAL" value="-98"/>
-    <define name="MAG_Y_NEUTRAL" value="-252"/>
-    <define name="MAG_Z_NEUTRAL" value="-122"/>
-    <define name="MAG_X_SENS" value="4.04659389111" integer="16"/>
-    <define name="MAG_Y_SENS" value="4.07651737489" integer="16"/>
-    <define name="MAG_Z_SENS" value="3.77693466173" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="-152"/>
+    <define name="MAG_Y_NEUTRAL" value="-51"/>
+    <define name="MAG_Z_NEUTRAL" value="10"/>
+    <define name="MAG_X_SENS" value="4.04042714046" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.95350991963" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.83055079257" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -176,8 +180,8 @@
     <define name="THETA_DGAIN"  value="-400"/>
     <define name="THETA_IGAIN"  value="-200"/>
 
-    <define name="PSI_PGAIN"  value="-1000"/>
-    <define name="PSI_DGAIN"  value="-400"/>
+    <define name="PSI_PGAIN"  value="-500"/>
+    <define name="PSI_DGAIN"  value="-300"/>
     <define name="PSI_IGAIN"  value="-10"/>
 
     <!-- feedforward -->