diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index 7e0bfc0318..1244dc3609 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -11,19 +11,20 @@
       <configure name="GPS_PORT" value="UART2"/>
       <!--      <define name="ACTUATORS_START_DELAY" value="1"/> -->
       <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="motor_mixing"/>
-      <subsystem name="actuators" type="asctec_v2"/>
-      <subsystem name="telemetry" type="xbee_api"/>
       <define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
       <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
       <define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
     </target>
+
     <target name="nps" board="pc">
       <subsystem name="fdm" type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
-      <subsystem name="motor_mixing"/>
-      <subsystem name="actuators" type="mkk"/>
     </target>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators" type="asctec_v2"/>
+
+    <subsystem name="telemetry" type="xbee_api"/>
     <subsystem name="imu" type="aspirin_v2.1"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="stabilization" type="int_euler"/>
@@ -192,13 +193,6 @@
 
   <!-- ************************* MISC ************************* -->
 
-  <!-- for the sim target -->
-
-  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-    <define name="NB" value="4"/>
-    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-  </section>
-
   <section name="MAGNETICS" prefix="AHRS_H_">
     <define name="X" value="0.4"/>
     <define name="Y" value="0"/>
@@ -209,15 +203,11 @@
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
   </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="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_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="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index ea8d32ecb4..22aea933d4 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -43,8 +43,8 @@
   <servos driver="Default">
     <servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
     <servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
-    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
     <servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
+    <servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
@@ -54,19 +54,19 @@
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="255"/>
 
-    <!-- Time cross layout (X), as documented in paparazzi -->
-    <define name="ROLL_COEF" value="{   256, -256, -256,  256  }"/>
-    <define name="PITCH_COEF" value="{  256,  256, -256,  -256 }"/>
-    <define name="YAW_COEF" value="{   -256,  256, -256,  256  }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256  }"/>
+    <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
+    <define name="ROLL_COEF" value="{   256, -256, -256,  256 }"/>
+    <define name="PITCH_COEF" value="{  256,  256, -256, -256 }"/>
+    <define name="YAW_COEF" value="{   -256,  256, -256,  256 }"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
   </section>
 
   <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_RIGHT" value="motor_mixing.commands[2]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
@@ -202,7 +202,8 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
+    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
diff --git a/conf/simulator/jsbsim/aircraft/simple_ardrone2.xml b/conf/simulator/jsbsim/aircraft/simple_ardrone2.xml
new file mode 100644
index 0000000000..04d0b9d107
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/simple_ardrone2.xml
@@ -0,0 +1,390 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+  <fileheader>
+    <author>Felix Ruess</author>
+    <filecreationdate>20-12-2013</filecreationdate>
+    <version>Version 0.9 - beta</version>
+    <description>Simple ARDrone2 quad in X configuration without rotor dynamic (NE/SW turning CCW, NW/SE CW)</description>
+  </fileheader>
+
+  <metrics>
+    <wingarea unit="IN2"> 78.53 </wingarea>
+    <wingspan unit="IN"> 10 </wingspan>
+    <chord unit="IN"> 6.89 </chord>
+    <htailarea unit="FT2"> 0 </htailarea>
+    <htailarm unit="FT"> 0 </htailarm>
+    <vtailarea unit="FT2"> 0 </vtailarea>
+    <vtailarm unit="FT"> 0 </vtailarm>
+    <location name="AERORP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="EYEPOINT" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="VRP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </metrics>
+
+  <mass_balance>
+    <ixx unit="SLUG*FT2"> 0.005 </ixx>
+    <iyy unit="SLUG*FT2"> 0.005 </iyy>
+    <izz unit="SLUG*FT2"> 0.010 </izz>
+    <ixy unit="SLUG*FT2"> 0. </ixy>
+    <ixz unit="SLUG*FT2"> 0. </ixz>
+    <iyz unit="SLUG*FT2"> 0. </iyz>
+    <emptywt unit="KG"> 0.4 </emptywt>
+    <location name="CG" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </mass_balance>
+
+  <ground_reactions>
+    <contact type="STRUCTURE" name="CONTACT_FRONT">
+      <location unit="M">
+        <x>-0.15 </x>
+        <y> 0 </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_BACK">
+      <location unit="M">
+        <x> 0.15</x>
+        <y> 0   </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_RIGHT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y> 0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_LEFT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y>-0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+  </ground_reactions>
+
+
+
+  <external_reactions>
+
+    <property>fcs/ne_motor</property>
+    <property>fcs/se_motor</property>
+    <property>fcs/sw_motor</property>
+    <property>fcs/nw_motor</property>
+
+    <!-- First the lift forces produced by each propeller -->
+
+    <force name="ne_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="sw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="se_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="nw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <!-- Then the Moment Couples -->
+
+
+    <force name="ne_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <!-- Necessary arm in IN to produce a moment ten times
+        "weaker" then the force when both are measured in the SI is 1.9685 in.
+        x = -(4.87 - 1.9685/sqrt(2))
+        y = 4.87 + 1.9685/sqrt(2) -->
+        <x>-3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="ne_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="se_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="se_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="sw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="sw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="nw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="nw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.35 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+  </external_reactions>
+
+  <propulsion/>
+
+  <flight_control name="FGFCS"/>
+
+  <aerodynamics>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD">
+        <description>Drag</description>
+        <product>
+          <property>aero/qbar-psf</property>
+          <value>47.9</value> <!-- Conversion to pascals -->
+          <value>0.0151</value> <!-- CD x Area (m^2) -->
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+    </axis>
+  </aerodynamics>
+
+</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/simple_quad.xml b/conf/simulator/jsbsim/aircraft/simple_quad.xml
index 25310f3dbc..5180dd2c98 100644
--- a/conf/simulator/jsbsim/aircraft/simple_quad.xml
+++ b/conf/simulator/jsbsim/aircraft/simple_quad.xml
@@ -6,7 +6,7 @@
         <author>Gustavo Violato &amp; Antoine Drouin</author>
         <filecreationdate>24-02-2009</filecreationdate>
         <version>Version 0.9 - beta</version>
-        <description>Simple Quadrotor without rotor dynamic (front/back motors turning CW, left/right CCW)</description>
+        <description>Simple Quadrotor in + configuration without rotor dynamic (front/back motors turning CW, left/right CCW)</description>
     </fileheader>
 
     <metrics>
diff --git a/conf/simulator/jsbsim/aircraft/simple_x_quad.xml b/conf/simulator/jsbsim/aircraft/simple_x_quad.xml
new file mode 100644
index 0000000000..fcce80f008
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/simple_x_quad.xml
@@ -0,0 +1,395 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+  <fileheader>
+    <author>Felix Ruess</author>
+    <filecreationdate>20-12-2013</filecreationdate>
+    <version>Version 0.9 - beta</version>
+    <description>Simple Quadrotor 350 in X configuration without rotor dynamic (NE/SW turning CW, NW/SE CCW)</description>
+  </fileheader>
+
+  <metrics>
+    <wingarea unit="IN2"> 78.53 </wingarea>
+    <wingspan unit="IN"> 10 </wingspan>
+    <chord unit="IN"> 6.89 </chord>
+    <htailarea unit="FT2"> 0 </htailarea>
+    <htailarm unit="FT"> 0 </htailarm>
+    <vtailarea unit="FT2"> 0 </vtailarea>
+    <vtailarm unit="FT"> 0 </vtailarm>
+    <location name="AERORP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="EYEPOINT" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="VRP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </metrics>
+
+  <mass_balance>
+    <ixx unit="SLUG*FT2"> 0.005 </ixx>
+    <iyy unit="SLUG*FT2"> 0.005 </iyy>
+    <izz unit="SLUG*FT2"> 0.010 </izz>
+    <ixy unit="SLUG*FT2"> 0. </ixy>
+    <ixz unit="SLUG*FT2"> 0. </ixz>
+    <iyz unit="SLUG*FT2"> 0. </iyz>
+        <emptywt unit="LBS"> 0.84 </emptywt>
+    <location name="CG" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </mass_balance>
+
+  <ground_reactions>
+    <contact type="STRUCTURE" name="CONTACT_FRONT">
+      <location unit="M">
+        <x>-0.15 </x>
+        <y> 0 </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_BACK">
+      <location unit="M">
+        <x> 0.15</x>
+        <y> 0   </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_RIGHT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y> 0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_LEFT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y>-0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+  </ground_reactions>
+
+
+
+
+
+
+
+
+  <external_reactions>
+
+    <property>fcs/ne_motor</property>
+    <property>fcs/se_motor</property>
+    <property>fcs/sw_motor</property>
+    <property>fcs/nw_motor</property>
+
+    <!-- First the lift forces produced by each propeller -->
+
+    <force name="ne_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="sw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="se_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="nw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <!-- Then the Moment Couples -->
+
+
+    <force name="ne_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <!-- Necessary arm in IN to produce a moment ten times
+        "weaker" then the force when both are measured in the SI is 1.9685 in.
+        x = -(4.87 - 1.9685/sqrt(2))
+        y = 4.87 + 1.9685/sqrt(2) -->
+        <x>-3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="ne_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="se_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="se_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="sw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="sw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="nw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="nw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+  </external_reactions>
+
+  <propulsion/>
+
+  <flight_control name="FGFCS"/>
+
+  <aerodynamics>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD">
+        <description>Drag</description>
+        <product>
+          <property>aero/qbar-psf</property>
+          <value>47.9</value> <!-- Conversion to pascals -->
+          <value>0.0151</value> <!-- CD x Area (m^2) -->
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+    </axis>
+  </aerodynamics>
+
+</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/simple_x_quad_ccw.xml b/conf/simulator/jsbsim/aircraft/simple_x_quad_ccw.xml
new file mode 100644
index 0000000000..bb76b55355
--- /dev/null
+++ b/conf/simulator/jsbsim/aircraft/simple_x_quad_ccw.xml
@@ -0,0 +1,395 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+
+  <fileheader>
+    <author>Felix Ruess</author>
+    <filecreationdate>20-12-2013</filecreationdate>
+    <version>Version 0.9 - beta</version>
+    <description>Simple Quadrotor 350 in X configuration without rotor dynamic (NE/SW turning CCW, NW/SE CW)</description>
+  </fileheader>
+
+  <metrics>
+    <wingarea unit="IN2"> 78.53 </wingarea>
+    <wingspan unit="IN"> 10 </wingspan>
+    <chord unit="IN"> 6.89 </chord>
+    <htailarea unit="FT2"> 0 </htailarea>
+    <htailarm unit="FT"> 0 </htailarm>
+    <vtailarea unit="FT2"> 0 </vtailarea>
+    <vtailarm unit="FT"> 0 </vtailarm>
+    <location name="AERORP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="EYEPOINT" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+    <location name="VRP" unit="IN">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </metrics>
+
+  <mass_balance>
+    <ixx unit="SLUG*FT2"> 0.005 </ixx>
+    <iyy unit="SLUG*FT2"> 0.005 </iyy>
+    <izz unit="SLUG*FT2"> 0.010 </izz>
+    <ixy unit="SLUG*FT2"> 0. </ixy>
+    <ixz unit="SLUG*FT2"> 0. </ixz>
+    <iyz unit="SLUG*FT2"> 0. </iyz>
+        <emptywt unit="LBS"> 0.84 </emptywt>
+    <location name="CG" unit="M">
+      <x> 0 </x>
+      <y> 0 </y>
+      <z> 0 </z>
+    </location>
+  </mass_balance>
+
+  <ground_reactions>
+    <contact type="STRUCTURE" name="CONTACT_FRONT">
+      <location unit="M">
+        <x>-0.15 </x>
+        <y> 0 </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_BACK">
+      <location unit="M">
+        <x> 0.15</x>
+        <y> 0   </y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_RIGHT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y> 0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+
+    <contact type="STRUCTURE" name="CONTACT_LEFT">
+      <location unit="M">
+        <x> 0.  </x>
+        <y>-0.15</y>
+        <z>-0.1 </z>
+      </location>
+      <static_friction>  0.8 </static_friction>
+      <dynamic_friction> 0.5 </dynamic_friction>
+      <spring_coeff unit="N/M"> 500 </spring_coeff>
+      <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+      <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
+      <max_steer unit="DEG"> 0.0 </max_steer>
+      <brake_group> NONE </brake_group>
+      <retractable>0</retractable>
+    </contact>
+  </ground_reactions>
+
+
+
+
+
+
+
+
+  <external_reactions>
+
+    <property>fcs/ne_motor</property>
+    <property>fcs/se_motor</property>
+    <property>fcs/sw_motor</property>
+    <property>fcs/nw_motor</property>
+
+    <!-- First the lift forces produced by each propeller -->
+
+    <force name="ne_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="sw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="se_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>4.87</x>
+        <y>4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <force name="nw_motor" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-4.87</x>
+        <y>-4.87</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0</x>
+        <y>0</y>
+        <z>-1</z>
+      </direction>
+    </force>
+
+    <!-- Then the Moment Couples -->
+
+
+    <force name="ne_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <!-- Necessary arm in IN to produce a moment ten times
+        "weaker" then the force when both are measured in the SI is 1.9685 in.
+        x = -(4.87 - 1.9685/sqrt(2))
+        y = 4.87 + 1.9685/sqrt(2) -->
+        <x>-3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="ne_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/ne_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="se_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="se_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/se_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="sw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="sw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/sw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+
+
+    <force name="nw_couple1" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-6.262</x>
+        <y>-3.478</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>0.7</x>
+        <y>0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+    <force name="nw_couple2" frame="BODY" unit="LBS">
+      <function>
+        <product>
+          <property>fcs/nw_motor</property>
+          <value> 0.84 </value>
+        </product>
+      </function>
+      <location unit="IN">
+        <x>-3.478</x>
+        <y>-6.262</y>
+        <z>0</z>
+      </location>
+      <direction>
+        <x>-0.7</x>
+        <y>-0.7</y>
+        <z>0</z>
+      </direction>
+    </force>
+
+  </external_reactions>
+
+  <propulsion/>
+
+  <flight_control name="FGFCS"/>
+
+  <aerodynamics>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD">
+        <description>Drag</description>
+        <product>
+          <property>aero/qbar-psf</property>
+          <value>47.9</value> <!-- Conversion to pascals -->
+          <value>0.0151</value> <!-- CD x Area (m^2) -->
+          <value>0.224808943</value> <!-- N to LBS -->
+        </product>
+      </function>
+    </axis>
+  </aerodynamics>
+
+</fdm_config>