diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 1e50b49d2a..d799f3dfc6 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -4,25 +4,17 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_1.0">
-      <!--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"/-->
-
-      <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"/>
-      <configure name="USE_NEW_I2C_DRIVER" value="1"/>
-      <define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING"/>
-    </target>
-    <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
-      <subsystem name="radio_control" type="ppm"/>
+      <!--configure name="USE_NEW_I2C_DRIVER" value="1"/-->
     </target>
 
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="aspirin_v1.5"/>
@@ -60,9 +52,6 @@
 
   <modules main_freq="512">
     <load name="sys_mon.xml"/>
-    <load name="bat_checker.xml">
-      <define name="BAT_CHECKER_LED" value="4"/>
-    </load>
   </modules>
 
   <commands>
@@ -74,20 +63,20 @@
 
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
-    <!-- FRONT, BACK, LEFT, RIGHT -->
-    <define name="ADDR" value="{ 0x54, 0x52, 0x58, 0x56 }"/>
+    <!-- FRONT, BACK, RIGHT, LEFT -->
+    <define name="ADDR" value="{ 0x54, 0x52, 0x56, 0x58 }"/>
   </section>
 
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="2"/>
-    <define name="MAX_MOTOR" value="210"/>
+    <define name="MAX_MOTOR" value="200"/>
     <define name="TRIM_A" value="0"/>
     <define name="TRIM_E" value="0"/>
     <define name="TRIM_R" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
     <!-- front/back turning CCW, left/right CW -->
-    <define name="ROLL_COEF"   value="{    0,    0,  256, -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 }"/>
@@ -98,12 +87,12 @@
     <define name="ACCEL_Y_NEUTRAL" value="11"/>
     <define name="ACCEL_Z_NEUTRAL" value="-25"/>
 
-    <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="MAG_X_NEUTRAL" value="-45"/>
+    <define name="MAG_Y_NEUTRAL" value="334"/>
+    <define name="MAG_Z_NEUTRAL" value="7"/>
+    <define name="MAG_X_SENS" value="4.47647816128" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.71085671542" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.41585354498" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
@@ -126,8 +115,8 @@
     <define name="SP_MAX_P" value="10000"/>
     <define name="SP_MAX_Q" value="10000"/>
     <define name="SP_MAX_R" value="10000"/>
-    <define name="DEADBAND_P" value="0"/>
-    <define name="DEADBAND_Q" value="0"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
     <define name="DEADBAND_R" value="200"/>
     <define name="REF_TAU" value="4"/>
 
@@ -151,12 +140,9 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_PSI"     value="45." unit="deg"/>
-    <define name="SP_MAX_P"       value="180." unit="deg/s"/>
-    <define name="SP_MAX_Q"       value="180." unit="deg/s"/>
     <define name="SP_MAX_R"       value="90." unit="deg/s"/>
-    <define name="DEADBAND_A"     value="250"/>
-    <define name="DEADBAND_E"     value="250"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->