diff --git a/conf/airframes/mercury.xml b/conf/airframes/mercury.xml
index 29e64c23ab..6dd8d3f284 100644
--- a/conf/airframes/mercury.xml
+++ b/conf/airframes/mercury.xml
@@ -3,11 +3,6 @@
 <!-- commands section -->
 
   <servos>
-    <!--
-    <servo name="AILERON"  no="0" min="1000" neutral="1523" max="2000"/>
-    <servo name="ELEVATOR" no="1" min="2000" neutral="1500" max="1000"/>
-    <servo name="RUDDER" no="2" min="1000" neutral="1500" max="2000"/>
-    -->
     <servo name="S1" no="0" min="11287" neutral="32768" max="54249"/>
     <servo name="S2" no="1" min="11287" neutral="32768" max="54249"/>
   </servos>
diff --git a/conf/airframes/mercury_csc.xml b/conf/airframes/mercury_csc.xml
index 73a9898b54..f1532c3b42 100644
--- a/conf/airframes/mercury_csc.xml
+++ b/conf/airframes/mercury_csc.xml
@@ -1,4 +1,4 @@
-<airframe name="CSC">
+<airframe name="MERCURY_CSC">
 
   <!-- Four Motors -->
   <section name="BUSS_TWI" prefix="BUSS_TWI_BLMC_">
@@ -32,6 +32,14 @@ ap.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 ap.CFLAGS += -DSPEKTRUM_LINK=Uart1 -DUSE_UART1 -DUART1_BAUD=B115200 -DUART1_VIC_SLOT=6
 ap.srcs += $(SRC_CSC)/csc_rc_spektrum.c
 
+ap.CFLAGS += -DCAN1_BTR=CANBitrate125k_3MHz
+
+ap.CFLAGS += -DMOTORS=\"buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC_MOTOR
+ap.srcs += $(SRC_CSC_ARCH)/buss_twi_blmc_hw.c
+# on I2C0
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
 include $(PAPARAZZI_SRC)/conf/autopilot/mercury_csc.makefile
 
 
diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/mercury.makefile
index 7b6e6967d6..d10d51ed2f 100644
--- a/conf/autopilot/mercury.makefile
+++ b/conf/autopilot/mercury.makefile
@@ -97,8 +97,6 @@ ap.srcs += $(SRC_CSC)/csc_ap_link.c
 
 ap.srcs += $(SRC_CSC)/csc_adc.c
 
-ap.srcs += $(SRC_CSC)/csc_servos.c
-#ap.CFLAGS += -DPWM_SERVO_5 -DPWM_SERVO_0
 ap.srcs += $(SRC_ARCH)/servos_csc.c
 ap.CFLAGS += -DACTUATORS=\"servos_csc.h\"
 ap.srcs += commands.c actuators.c
diff --git a/conf/autopilot/mercury_csc.makefile b/conf/autopilot/mercury_csc.makefile
index 2cbcd5bae4..37bcefa2cb 100644
--- a/conf/autopilot/mercury_csc.makefile
+++ b/conf/autopilot/mercury_csc.makefile
@@ -69,7 +69,7 @@ ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
 
 
 ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2
-ap.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_3MHz
+ap.CFLAGS += -DUSE_CAN1 #-DCAN1_BTR=CANBitrate125k_3MHz
 ap.CFLAGS +=  -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
 ap.srcs += $(SRC_CSC)/csc_can.c
 #ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
@@ -89,11 +89,6 @@ ap.srcs += $(SRC_CSC)/csc_servos.c
 
 ap.srcs += $(SRC_CSC)/csc_ap_link.c
 
-ap.CFLAGS += -DMOTORS=\"buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC_MOTOR
-ap.srcs += $(SRC_CSC_ARCH)/buss_twi_blmc_hw.c
-# on I2C0
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 ap.srcs += $(SRC_CSC)/csc_adc.c
 
diff --git a/conf/settings/csc_ap.xml b/conf/settings/csc_ap.xml
index 630175465a..7760c558d5 100644
--- a/conf/settings/csc_ap.xml
+++ b/conf/settings/csc_ap.xml
@@ -15,7 +15,8 @@
       <dl_setting VAR="csc_yaw_setpoint_range" MIN="0" STEP="0.01" MAX="100" module="csc_autopilot" shortname="setpoint range"/>
     </dl_settings>
     <dl_settings NAME="vane sensor">
-      <dl_setting VAR="csc_vane_angle_offset" MIN="0" STEP="1" MAX="360" module="csc_autopilot" shortname="vane offset"/>
+      <dl_setting VAR="csc_vane_angle_offset" MIN="-180" STEP="1" MAX="180" module="csc_autopilot" shortname="vane offset"/>
+      <dl_setting VAR="csc_vane_weight" MIN="0" STEP="0.01" MAX="1" module="csc_autopilot" shortname="vane weight" />
     </dl_settings>
     <dl_settings NAME="flight params">
       <dl_setting VAR="csc_gains.pitch_kp" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="pitch kp"/>
@@ -27,7 +28,6 @@
       <dl_setting VAR="csc_gains.yaw_kp" MIN="-10000" STEP="10" MAX="10000" module="csc_autopilot" shortname="yaw kp"/>
       <dl_setting VAR="csc_gains.yaw_kd" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="yaw kd"/>
       <dl_setting VAR="csc_gains.yaw_ki" MIN="-200" STEP=".1" MAX="200" module="csc_autopilot" shortname="yaw ki" handler="set_yaw_ki"/>
-      <dl_setting VAR="csc_yaw_weight" MIN="-2" STEP="0.01" MAX="2" module="csc_autopilot" shortname="yaw weight"/>
       <dl_setting VAR="csc_yaw_rudder" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw rudder"/>
       <dl_setting VAR="csc_yaw_aileron" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw aileron"/>
       <dl_setting VAR="csc_yaw_deadband" MIN="-30" STEP="0.01" MAX="30" module="csc_autopilot" shortname="yaw deadband"/>
diff --git a/conf/telemetry/csc_ap.xml b/conf/telemetry/csc_ap.xml
index 85d7651571..d0383d5d13 100644
--- a/conf/telemetry/csc_ap.xml
+++ b/conf/telemetry/csc_ap.xml
@@ -5,10 +5,10 @@
     <mode name="default">
       <message name="ALIVE"          period="5"/>
       <message name="ATTITUDE"	     period="0.1"/>
-      <message name="VANE_SENSOR"    period="0.1"/>
+      <message name="VANE_SENSOR"    period="0.2"/>
       <message name="COMMANDS"       period="1"/>
-      <message name="SIMPLE_COMMANDS" period="0.1"/>
-      <message name="QUAD_STATUS"    period="1.1"/>
+      <message name="SIMPLE_COMMANDS" period="0.2"/>
+      <message name="QUAD_STATUS"    period="1.5"/>
       <message name="DL_VALUE"       period="1.5"/>
     </mode>
     <mode name="debug">