diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index 09a56b24fc..c38d5498df 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -220,7 +220,7 @@
       <subsystem name="actuators"     type="asctec"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index a71b809f98..8aaac3765f 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -18,7 +18,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 4edc153027..84969a8d08 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -23,7 +23,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
       <!--define name="NPS_NO_SUPERVISION"/-->
     </target>
 
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index 3b64ce701e..72341e345c 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -18,7 +18,7 @@
       <define name="USE_GPS_ACC4R"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 30125540d7..94ede377e3 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -252,7 +252,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index ea9b298445..69f4545c0e 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -197,7 +197,7 @@
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0"/>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 7d3d2db322..571cfd3fd6 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -221,7 +221,7 @@
       <subsystem name="actuators"     type="asctec"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
index 221b1d185c..244048fdb8 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -18,7 +18,7 @@
         </target>
 
         <target name="nps" board="pc">
-            <subsystem name="fdm"           type="nps"/>
+            <subsystem name="fdm"           type="jsbsim"/>
             <subsystem name="radio_control" type="ppm"/>
         </target>
 
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 819220c84d..c499d96cf1 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
@@ -19,7 +19,7 @@
         </target>
 
         <target name="nps" board="pc">
-            <subsystem name="fdm"           type="nps"/>
+            <subsystem name="fdm"           type="jsbsim"/>
             <subsystem name="radio_control" type="ppm"/>
         </target>
 
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index fe190c5893..ae583ee5f8 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -10,7 +10,7 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm"   type="nps"/>
+      <subsystem name="fdm"   type="jsbsim"/>
     </target>
 
 
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 1358e373ac..553fc34a9d 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -195,7 +195,7 @@
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0"/>
     <target name="nps" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index adaff15afd..1d03cafeb6 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -190,7 +190,7 @@
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index 31fcbbc351..3b1ee8b709 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -19,7 +19,7 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm" type="nps"/>
+      <subsystem name="fdm" type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
     </target>
 
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 208bf7ac60..c15bb0964a 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -15,7 +15,7 @@
       <define name="ACTUATORS_START_DELAY" value="3"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 74364564a8..c39584daec 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -12,7 +12,7 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index 7e68014115..f2760076cc 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -191,7 +191,7 @@
       <subsystem name="actuators"     type="mkk"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
index 9b6368bfea..2d98f234b7 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -9,7 +9,7 @@
     </target>
 
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
index 5c82a07e1b..c7915652d3 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -6,7 +6,7 @@
     <target name="ap" board="lisa_m_1.0">
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
     </target>
 
     <subsystem name="actuators"     type="pwm_supervision">
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
index 513331c1c2..76e3210fbe 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -6,7 +6,7 @@
     <target name="ap" board="lisa_m_2.0">
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
     </target>
 
     <subsystem name="actuators"     type="pwm_supervision">
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
index 994e7e1226..9633595152 100644
--- a/conf/airframes/obsolete/ENAC/mkk1.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1.xml
@@ -9,7 +9,7 @@
       <define name="USE_GPS_ACC4R"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
index 21363acc60..f3a066a809 100644
--- a/conf/airframes/obsolete/ENAC/nova1.xml
+++ b/conf/airframes/obsolete/ENAC/nova1.xml
@@ -8,7 +8,7 @@
       <define name="USE_GPS_ACC4R"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"         type="nps"/>
+      <subsystem name="fdm"         type="jsbsim"/>
     </target>
     <subsystem name="radio_control" type="spektrum"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index 6d8e3ac5ae..a79cea2d5c 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -285,7 +285,7 @@ second attempt
 
 
 	<target name="sim" board="pc"/>
-	<subsystem name="fdm"           type="nps"/>
+	<subsystem name="fdm"           type="jsbsim"/>
 	<subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
 	<subsystem name="actuators"     type="mkk"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 3e94d127fe..5d38914b96 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -243,7 +243,7 @@
 	</target>
 
 	<target name="sim" board="pc"/>
-	<subsystem name="fdm"           type="nps"/>
+	<subsystem name="fdm"           type="jsbsim"/>
 	<subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
 	<subsystem name="actuators"     type="mkk"/>
diff --git a/conf/airframes/obsolete/esden/jt_lisam.xml b/conf/airframes/obsolete/esden/jt_lisam.xml
index 8f4e9bb32b..8d6eb01345 100644
--- a/conf/airframes/obsolete/esden/jt_lisam.xml
+++ b/conf/airframes/obsolete/esden/jt_lisam.xml
@@ -188,7 +188,7 @@
       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/obsolete/esden/lisa_asctec.xml b/conf/airframes/obsolete/esden/lisa_asctec.xml
index 0dd596b3d0..3f2b5ee725 100644
--- a/conf/airframes/obsolete/esden/lisa_asctec.xml
+++ b/conf/airframes/obsolete/esden/lisa_asctec.xml
@@ -188,7 +188,7 @@
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
     </target>
 
diff --git a/conf/airframes/obsolete/esden/lisa_asctec_aspirin.xml b/conf/airframes/obsolete/esden/lisa_asctec_aspirin.xml
index f8e702ef25..ec37350e38 100644
--- a/conf/airframes/obsolete/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/obsolete/esden/lisa_asctec_aspirin.xml
@@ -192,7 +192,7 @@
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/obsolete/esden/lisa_m_2_asp_2_pwm.xml b/conf/airframes/obsolete/esden/lisa_m_2_asp_2_pwm.xml
index faaafac84a..349f5565f8 100644
--- a/conf/airframes/obsolete/esden/lisa_m_2_asp_2_pwm.xml
+++ b/conf/airframes/obsolete/esden/lisa_m_2_asp_2_pwm.xml
@@ -186,7 +186,7 @@
       <!--define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/-->
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
     </target>
 
diff --git a/conf/airframes/obsolete/esden/lisa_m_pwm.xml b/conf/airframes/obsolete/esden/lisa_m_pwm.xml
index c5d8181dc9..d5cde13d0c 100644
--- a/conf/airframes/obsolete/esden/lisa_m_pwm.xml
+++ b/conf/airframes/obsolete/esden/lisa_m_pwm.xml
@@ -204,7 +204,7 @@
       <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,1,-1,1,-1,-1,-1,1,1,1,1,1\}"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
     </target>
 
diff --git a/conf/airframes/obsolete/esden/lisa_pwm_aspirin.xml b/conf/airframes/obsolete/esden/lisa_pwm_aspirin.xml
index c48884a3d3..f2c52bf358 100644
--- a/conf/airframes/obsolete/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/obsolete/esden/lisa_pwm_aspirin.xml
@@ -192,7 +192,7 @@
       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
     </target>
     <target name="nps" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/obsolete/esden/synerani_4B.xml b/conf/airframes/obsolete/esden/synerani_4B.xml
index fb0271fa7a..762b6dadb6 100644
--- a/conf/airframes/obsolete/esden/synerani_4B.xml
+++ b/conf/airframes/obsolete/esden/synerani_4B.xml
@@ -195,7 +195,7 @@
       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
     </target>
     <target name="sim" board="pc">
-      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="fdm"           type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators"     type="mkk"/>
     </target>
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
index 9d8eab659b..6ed0bf3d66 100644
--- a/conf/airframes/obsolete/example_heli_lisam.xml
+++ b/conf/airframes/obsolete/example_heli_lisam.xml
@@ -244,7 +244,7 @@ AP_MODE_NAV
     </target>
 <!--
     <target name="sim" board="pc">
-      <subsystem name="fdm" type="nps"/>
+      <subsystem name="fdm" type="jsbsim"/>
       <subsystem name="radio_control" type="ppm"/>
       <subsystem name="actuators" type="mkk"/>
     </target>
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
new file mode 100644
index 0000000000..cf819b2853
--- /dev/null
+++ b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile
@@ -0,0 +1,171 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+#
+# SITL Simulator
+#
+
+SIM_TYPE = JSBSIM
+
+JSBSIM_ROOT = /opt/jsbsim
+JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
+JSBSIM_LIB = $(JSBSIM_ROOT)/lib
+
+SRC_FIRMWARE=firmwares/rotorcraft
+
+SRC_BOARD=boards/$(BOARD)
+
+NPSDIR = $(SIMDIR)/nps
+
+
+nps.ARCHDIR = sim
+
+nps.CFLAGS  += -DSITL -DUSE_NPS
+nps.CFLAGS  += `pkg-config glib-2.0 --cflags`
+nps.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lgsl -lgslcblas
+nps.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
+
+# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
+ifndef JSBSIM_PKG
+JSBSIM_PKG = $(shell pkg-config JSBSim --exists && echo 'yes')
+endif
+ifeq ($(JSBSIM_PKG), yes)
+	nps.CFLAGS  += `pkg-config JSBSim --cflags`
+	nps.LDFLAGS += `pkg-config JSBSim --libs`
+else
+	JSBSIM_PKG = no
+	nps.CFLAGS  += -I$(JSBSIM_INC)
+	nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
+endif
+
+
+nps.srcs += $(NPSDIR)/nps_main.c                      \
+       $(NPSDIR)/nps_fdm_jsbsim.c                \
+       $(NPSDIR)/nps_random.c                    \
+       $(NPSDIR)/nps_sensors.c                   \
+       $(NPSDIR)/nps_sensors_utils.c             \
+       $(NPSDIR)/nps_sensor_gyro.c               \
+       $(NPSDIR)/nps_sensor_accel.c              \
+       $(NPSDIR)/nps_sensor_mag.c                \
+       $(NPSDIR)/nps_sensor_baro.c               \
+       $(NPSDIR)/nps_sensor_gps.c                \
+       $(NPSDIR)/nps_radio_control.c             \
+       $(NPSDIR)/nps_radio_control_joystick.c    \
+       $(NPSDIR)/nps_radio_control_spektrum.c    \
+       $(NPSDIR)/nps_autopilot_rotorcraft.c            \
+       $(NPSDIR)/nps_ivy.c                       \
+       $(NPSDIR)/nps_flightgear.c                \
+
+
+
+nps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+
+nps.srcs   += firmwares/rotorcraft/main.c
+nps.srcs   += mcu.c
+nps.srcs   += $(SRC_ARCH)/mcu_arch.c
+
+ifeq ($(TARGET), nps)
+  include $(CFG_SHARED)/i2c_select.makefile
+endif
+
+
+nps.CFLAGS += -DPERIODIC_FREQUENCY=512
+#nps.CFLAGS += -DUSE_LED
+nps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+
+nps.srcs += subsystems/settings.c
+nps.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
+
+nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+nps.srcs += $(SRC_FIRMWARE)/telemetry.c \
+            subsystems/datalink/downlink.c \
+            $(SRC_ARCH)/ivy_transport.c
+
+nps.srcs   += $(SRC_FIRMWARE)/commands.c
+
+nps.srcs += $(SRC_FIRMWARE)/datalink.c
+
+#
+# Math functions
+#
+nps.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
+
+nps.CFLAGS += -DROTORCRAFT_BARO_LED=2
+nps.srcs += $(SRC_BOARD)/baro_board.c
+
+nps.CFLAGS += -DUSE_ADC
+nps.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
+nps.srcs   += subsystems/electrical.c
+# baro has variable offset amplifier on booz board
+#nps.CFLAGS += -DUSE_DAC
+#nps.srcs   += $(SRC_ARCH)/mcu_periph/dac_arch.c
+
+
+#nps.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+#nps.CFLAGS += -DIMU_B2_VERSION_1_1
+
+nps.srcs += $(SRC_FIRMWARE)/autopilot.c
+
+#
+# in makefile section of airframe xml
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
+# or
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+#
+
+nps.srcs += $(SRC_FIRMWARE)/stabilization.c
+nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
+nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
+
+
+NUM_TYPE=integer
+#NUM_TYPE=float
+
+STAB_TYPE=euler
+#STAB_TYPE=quaternion
+
+ifeq ($(NUM_TYPE), integer)
+  nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
+  nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
+  ifeq ($(STAB_TYPE), euler)
+    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
+  else ifeq ($(STAB_TYPE), quaternion)
+    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
+  endif
+else ifeq ($(NUM_TYPE), float)
+  nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
+  nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\"
+  ifeq ($(STAB_TYPE), euler)
+    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
+  else ifeq ($(STAB_TYPE), quaternion)
+    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
+    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
+  endif
+endif
+
+nps.CFLAGS += -DUSE_NAVIGATION
+nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
+nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
+nps.srcs += $(SRC_SUBSYSTEMS)/ins.c
+
+#  vertical filter float version
+nps.srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
+nps.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
+
+#
+# INS choice
+#
+# include ins_hff.makefile
+# or
+# nothing
+#
+
+
+nps.srcs += $(SRC_FIRMWARE)/navigation.c
+nps.srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
index cf819b2853..69ac14ffeb 100644
--- a/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
@@ -1,171 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 
-#
-# SITL Simulator
-#
+include $(CFG_ROTORCRAFT)/fdm_jsbsim.makefile
 
-SIM_TYPE = JSBSIM
-
-JSBSIM_ROOT = /opt/jsbsim
-JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
-JSBSIM_LIB = $(JSBSIM_ROOT)/lib
-
-SRC_FIRMWARE=firmwares/rotorcraft
-
-SRC_BOARD=boards/$(BOARD)
-
-NPSDIR = $(SIMDIR)/nps
-
-
-nps.ARCHDIR = sim
-
-nps.CFLAGS  += -DSITL -DUSE_NPS
-nps.CFLAGS  += `pkg-config glib-2.0 --cflags`
-nps.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lglibivy -lgsl -lgslcblas
-nps.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
-
-# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
-ifndef JSBSIM_PKG
-JSBSIM_PKG = $(shell pkg-config JSBSim --exists && echo 'yes')
-endif
-ifeq ($(JSBSIM_PKG), yes)
-	nps.CFLAGS  += `pkg-config JSBSim --cflags`
-	nps.LDFLAGS += `pkg-config JSBSim --libs`
-else
-	JSBSIM_PKG = no
-	nps.CFLAGS  += -I$(JSBSIM_INC)
-	nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
-endif
-
-
-nps.srcs += $(NPSDIR)/nps_main.c                      \
-       $(NPSDIR)/nps_fdm_jsbsim.c                \
-       $(NPSDIR)/nps_random.c                    \
-       $(NPSDIR)/nps_sensors.c                   \
-       $(NPSDIR)/nps_sensors_utils.c             \
-       $(NPSDIR)/nps_sensor_gyro.c               \
-       $(NPSDIR)/nps_sensor_accel.c              \
-       $(NPSDIR)/nps_sensor_mag.c                \
-       $(NPSDIR)/nps_sensor_baro.c               \
-       $(NPSDIR)/nps_sensor_gps.c                \
-       $(NPSDIR)/nps_radio_control.c             \
-       $(NPSDIR)/nps_radio_control_joystick.c    \
-       $(NPSDIR)/nps_radio_control_spektrum.c    \
-       $(NPSDIR)/nps_autopilot_rotorcraft.c            \
-       $(NPSDIR)/nps_ivy.c                       \
-       $(NPSDIR)/nps_flightgear.c                \
-
-
-
-nps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-
-nps.srcs   += firmwares/rotorcraft/main.c
-nps.srcs   += mcu.c
-nps.srcs   += $(SRC_ARCH)/mcu_arch.c
-
-ifeq ($(TARGET), nps)
-  include $(CFG_SHARED)/i2c_select.makefile
-endif
-
-
-nps.CFLAGS += -DPERIODIC_FREQUENCY=512
-#nps.CFLAGS += -DUSE_LED
-nps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-nps.srcs += subsystems/settings.c
-nps.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
-
-nps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
-nps.srcs += $(SRC_FIRMWARE)/telemetry.c \
-            subsystems/datalink/downlink.c \
-            $(SRC_ARCH)/ivy_transport.c
-
-nps.srcs   += $(SRC_FIRMWARE)/commands.c
-
-nps.srcs += $(SRC_FIRMWARE)/datalink.c
-
-#
-# Math functions
-#
-nps.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
-
-nps.CFLAGS += -DROTORCRAFT_BARO_LED=2
-nps.srcs += $(SRC_BOARD)/baro_board.c
-
-nps.CFLAGS += -DUSE_ADC
-nps.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
-nps.srcs   += subsystems/electrical.c
-# baro has variable offset amplifier on booz board
-#nps.CFLAGS += -DUSE_DAC
-#nps.srcs   += $(SRC_ARCH)/mcu_periph/dac_arch.c
-
-
-#nps.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
-#nps.CFLAGS += -DIMU_B2_VERSION_1_1
-
-nps.srcs += $(SRC_FIRMWARE)/autopilot.c
-
-#
-# in makefile section of airframe xml
-# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
-# or
-# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-#
-
-nps.srcs += $(SRC_FIRMWARE)/stabilization.c
-nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
-nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
-
-
-NUM_TYPE=integer
-#NUM_TYPE=float
-
-STAB_TYPE=euler
-#STAB_TYPE=quaternion
-
-ifeq ($(NUM_TYPE), integer)
-  nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-  nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
-  ifeq ($(STAB_TYPE), euler)
-    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
-  else ifeq ($(STAB_TYPE), quaternion)
-    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_int.h\"
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
-  endif
-else ifeq ($(NUM_TYPE), float)
-  nps.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_FLOAT
-  nps.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_float.h\"
-  ifeq ($(STAB_TYPE), euler)
-    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_float.h\"
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_float.c
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_float.c
-  else ifeq ($(STAB_TYPE), quaternion)
-    nps.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_quat_float.h\"
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
-    nps.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
-  endif
-endif
-
-nps.CFLAGS += -DUSE_NAVIGATION
-nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
-nps.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
-nps.srcs += $(SRC_SUBSYSTEMS)/ins.c
-
-#  vertical filter float version
-nps.srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
-nps.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
-
-#
-# INS choice
-#
-# include ins_hff.makefile
-# or
-# nothing
-#
-
-
-nps.srcs += $(SRC_FIRMWARE)/navigation.c
-nps.srcs += $(SRC_SUBSYSTEMS)/navigation/common_flight_plan.c
+$(warning The fdm_nps subsystem has been renamed, please replace <subsystem name="fdm" type="nps"/> with <subsystem name="fdm" type="jsbsim"/> in your airframe file.)