diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index 6fbca0e2f7..557d03acb9 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -102,6 +102,14 @@
         <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
     </section>
 
+    <command_laws>
+      <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+      <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
+      <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
+      <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
+      <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    </command_laws>
+
     <section name="IMU" prefix="IMU_">
         <define name="GYRO_P_NEUTRAL" value="32581"/>
         <define name="GYRO_Q_NEUTRAL" value="32008"/>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 7752cd645a..f72a7f9295 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -90,7 +90,6 @@
         <axis name="THRUST" failsafe_value="0"/>
     </commands>
 
-
     <section name="MIXING" prefix="MOTOR_MIXING_">
         <define name="TRIM_ROLL" value="0"/>
         <define name="TRIM_PITCH" value="0"/>
@@ -103,6 +102,14 @@
         <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
     </section>
 
+    <command_laws>
+      <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+      <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
+      <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
+      <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
+      <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+    </command_laws>
+
     <section name="IMU" prefix="IMU_">
         <define name="GYRO_P_NEUTRAL" value="32581"/>
         <define name="GYRO_Q_NEUTRAL" value="32008"/>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index a064eca868..0afc6f9d0a 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -211,8 +211,8 @@
     <target name="test_adxl345"             board="lisa_l_1.0"/>
     <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
     <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
+    <!--target name="test_actuators_mkk"       board="lisa_l_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/-->
   </firmware>
 
 </airframe>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 19d65a5dcd..0d38e840c1 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -228,8 +228,8 @@
     <target name="test_adxl345"             board="lisa_l_1.1"/>
     <target name="test_esc_mkk_simple"      board="lisa_l_1.1"/>
     <target name="test_esc_asctecv1_simple" board="lisa_l_1.1"/>
-    <target name="test_actuators_mkk"       board="lisa_l_1.1"/>
-    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/>
+    <!--target name="test_actuators_mkk"       board="lisa_l_1.1"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.1"/-->
   </firmware>
 
 
diff --git a/conf/airframes/examples/setup_lisam2.xml b/conf/airframes/examples/setup_lisam2.xml
index 640c0e72e5..0d228f0fd9 100644
--- a/conf/airframes/examples/setup_lisam2.xml
+++ b/conf/airframes/examples/setup_lisam2.xml
@@ -4,7 +4,7 @@
 
   <firmware name="setup">
     <target name="tunnel"           board="lisa_m_2.0"/>
-    <target name="setup_actuators"  board="lisa_m_2.0"/>
+    <!--target name="setup_actuators"  board="lisa_m_2.0"/-->
   </firmware>
 
   <firmware name="lisa_test_progs">
diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c
index 1b72f44107..d55e6815ce 100644
--- a/sw/airborne/firmwares/setup/setup_actuators.c
+++ b/sw/airborne/firmwares/setup/setup_actuators.c
@@ -4,8 +4,7 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "led.h"
-#include "firmwares/fixedwing/actuators.h"
-//#include "actuators.h"
+#include "subsystems/actuators.h"
 
 #include "firmwares/fixedwing/main_fbw.h"
 
@@ -31,7 +30,7 @@ void dl_parse_msg( void ) {
     uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer);
     LED_TOGGLE(2);
     if (servo_no < ACTUATORS_NB)
-      SetServo(servo_no, servo_value);
+      //SetServo(servo_no, servo_value);
   }
 #ifdef DlSetting
   else if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) {
@@ -40,7 +39,7 @@ void dl_parse_msg( void ) {
     DlSetting(i, val);
     LED_TOGGLE(2);
     for (int j=0 ; j<8 ; j++) {
-      SetServo(j,actuators[j]);
+      //SetServo(j,actuators[j]);
     }
     DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val);
   } else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) {
@@ -59,7 +58,7 @@ void init_fbw( void ) {
 
   uint8_t i;
   for(i = 0; i < ACTUATORS_NB; i++) {
-    SetServo(i, 1500);
+    //SetServo(i, 1500);
   }
 
   //  SetServo(SERVO_GAZ, SERVO_GAZ_MIN);
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index 0d95029419..aeda89aa54 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -27,8 +27,8 @@
 #include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "firmwares/rotorcraft/commands.h"
-#include "actuators.h"
-#include "actuators/actuators_pwm.h"
+#include "subsystems/actuators.h"
+#include "subsystems/actuators/actuators_pwm.h"
 #include "subsystems/imu.h"
 #include "subsystems/radio_control.h"
 #include "autopilot.h"
diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
index 04a5679034..cd86efe09b 100644
--- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
@@ -25,7 +25,7 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "firmwares/rotorcraft/commands.h"
-#include "actuators.h"
+#include "subsystems/actuators.h"
 #include "subsystems/datalink/downlink.h"
 #include "led.h"
 
@@ -95,7 +95,7 @@ static inline void main_periodic_task( void ) {
     commands[COMMAND_YAW] = 20;
     commands[COMMAND_THRUST] = 0;
     // actuators_set(TRUE);
-    actuators_set(FALSE);
+    //actuators_set(FALSE);
   }
   LED_PERIODIC();
 
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk.h b/sw/airborne/subsystems/actuators/actuators_mkk.h
index f1436e4373..e90a2ecae8 100644
--- a/sw/airborne/subsystems/actuators/actuators_mkk.h
+++ b/sw/airborne/subsystems/actuators/actuators_mkk.h
@@ -41,7 +41,7 @@ extern struct ActuatorsMkk actuators_mkk;
 extern void actuators_mkk_init(void);
 extern void actuators_mkk_set(void);
 
-#define ActuatorMkkSet(_i, _v) { actuators_mkk.trans[i].buf[0] = _v; }
+#define ActuatorMkkSet(_i, _v) { actuators_mkk.trans[_i].buf[0] = _v; }
 #define ActuatorsMkkInit() actuators_mkk_init()
 #define ActuatorsMkkCommit() actuators_mkk_set()
 
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index c7380336d0..dc2d4eda10 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -28,7 +28,7 @@
 
 #include "mcu_periph/i2c.h"
 #include "firmwares/rotorcraft/commands.h"
-#include "firmwares/rotorcraft/actuators.h"
+#include "subsystems/actuators.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -61,7 +61,7 @@ static inline void main_periodic_task( void ) {
   commands[COMMAND_YAW]=0;
   commands[COMMAND_THRUST]=1;
 
-  actuators_set(TRUE);
+  //actuators_set(TRUE);
 
   LED_PERIODIC();
 
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index 08d5d19dd2..81fab9ac3f 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -32,7 +32,7 @@
 #include "mcu_periph/sys_time.h"
 #include "state.h"
 
-#include "actuators/supervision.h"
+#include "actuators/motor_mixing.h"
 
 
 struct NpsAutopilot autopilot;
@@ -100,8 +100,8 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
 
   /* scale final motor commands to 0-1 for feeding the fdm */
   /* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */
-  for (uint8_t i=0; i<SUPERVISION_NB_MOTOR; i++)
-    autopilot.commands[i] = (double)(supervision.commands[i] - SUPERVISION_MIN_MOTOR) / SUPERVISION_MAX_MOTOR;
+  for (uint8_t i=0; i<MOTOR_MIXING_NB_MOTOR; i++)
+    autopilot.commands[i] = (double)(motor_mixing.commands[i]/MAX_PPRZ);
 
 }