diff --git a/conf/autopilot/fixedwing.makefile b/conf/autopilot/fixedwing.makefile
index 8b2808e155..bc717e9fc4 100644
--- a/conf/autopilot/fixedwing.makefile
+++ b/conf/autopilot/fixedwing.makefile
@@ -10,7 +10,7 @@ CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
 
 
 SRC_FIXEDWING=.
-SRC_ARCH=$(SRC_FIXEDWING)/arch/$(ARCH)
+SRC_ARCH=arch/$(ARCH)
 SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 
 SRC_FIRMWARE=firmwares/fixedwing
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index 02fa4b7fee..e3c3b31579 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -3,8 +3,9 @@
 #
 #
 
+SRC_ARCH=arch/$(ARCH)
 
-CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/SETUP
+CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup
 
 
 SRC_SETUP=.
@@ -49,9 +50,36 @@ usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 
 
+
+ifeq ($(ACTUATORS),)
+  ifeq ($(BOARD),tiny)
+    ifeq ($(BOARD_VERSION),1.1)
+      include $(CFG_SETUP)/actuators_4015.makefile
+    else
+      ifeq ($(BOARD_VERSION),0.99)
+        include $(CFG_SETUP)/actuators_4015.makefile
+      else
+        include $(CFG_SETUP)/actuators_4017.makefile
+      endif
+    endif
+  endif
+  ifeq ($(BOARD),twog)
+	include $(CFG_SETUP)/actuators_4017.makefile
+  endif
+
+  ifeq ($(BOARD),lisa_l)
+    include $(CFG_SETUP)/actuators_direct.makefile
+  endif
+
+else
+  include $(CFG_SETUP)/$(ACTUATORS).makefile
+endif
+
+
 # a test program to setup actuators
-setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1
 setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c actuators.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
+setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c setup_actuators.c $(SRC_ARCH)/uart_hw.c firmwares/fixedwing/main.c
diff --git a/conf/autopilot/subsystems/setup/actuators_4015.makefile b/conf/autopilot/subsystems/setup/actuators_4015.makefile
new file mode 100644
index 0000000000..64f188656f
--- /dev/null
+++ b/conf/autopilot/subsystems/setup/actuators_4015.makefile
@@ -0,0 +1,5 @@
+# for Tiny v1.1
+
+$(TARGET).CFLAGS 	+= -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
+$(TARGET).srcs 	+= $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
+
diff --git a/conf/autopilot/subsystems/setup/actuators_4017.makefile b/conf/autopilot/subsystems/setup/actuators_4017.makefile
new file mode 100644
index 0000000000..cab5136fc8
--- /dev/null
+++ b/conf/autopilot/subsystems/setup/actuators_4017.makefile
@@ -0,0 +1,5 @@
+# for Tiny v2 or Twog v1
+
+$(TARGET).CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+$(TARGET).srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
diff --git a/conf/autopilot/subsystems/setup/actuators_direct.makefile b/conf/autopilot/subsystems/setup/actuators_direct.makefile
new file mode 100644
index 0000000000..07865d71d1
--- /dev/null
+++ b/conf/autopilot/subsystems/setup/actuators_direct.makefile
@@ -0,0 +1,13 @@
+# for lisa_l
+
+$(TARGET).CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_DIRECT
+$(TARGET).srcs += $(SRC_ARCH)/servos_direct_hw.c actuators.c
+
+
+# TODO TODO UGLY HACK: We re-use the booz actuators: Should become universal actuator code!!
+# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories
+
+ifeq ($(ARCH), stm32)
+$(TARGET).srcs    += firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
+$(TARGET).CFLAGS  += -Ifirmwares/rotorcraft/actuators/arch/stm32
+endif
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index 4e15561d24..66b382041d 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -33,7 +33,7 @@
 #include "estimator.h"
 #include "nav.h"
 #include "generated/airframe.h"
-#include "autopilot.h"
+#include "firmwares/fixedwing/autopilot.h"
 
 /* mode */
 uint8_t v_ctl_mode;
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 7b1eef509c..ace3d94f68 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -45,7 +45,7 @@
 #include "gyro.h"
 #include "ap_downlink.h"
 #include "nav.h"
-#include "autopilot.h"
+#include "firmwares/fixedwing/autopilot.h"
 #include "estimator.h"
 #include "generated/settings.h"
 #include "link_mcu.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index d3954ce44d..ed29dab3e6 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -50,7 +50,7 @@
 #include "firmwares/fixedwing/actuators.h"
 #include "subsystems/radio_control.h"
 #include "fbw_downlink.h"
-#include "autopilot.h"
+#include "firmwares/fixedwing/autopilot.h"
 #include "paparazzi.h"
 #include "estimator.h"
 
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index bc8d33725a..0594546b02 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -36,7 +36,7 @@
 #include "nav.h"
 #include "generated/airframe.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
-#include "autopilot.h"
+#include "firmwares/fixedwing/autopilot.h"
 
 
 /* outer loop parameters */