diff --git a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
index 055c145e07..ccc53dc25b 100644
--- a/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
+++ b/sw/airborne/firmwares/rotorcraft/oneloop/oneloop_andi.c
@@ -1601,13 +1601,13 @@ void oneloop_andi_run(bool in_flight, bool half_loop, struct FloatVect3 PSA_des,
   }
 
   /*Commit the actuator command*/
-  stabilization.cmd[COMMAND_THRUST] = 0;
   for (i = 0; i < ANDI_NUM_ACT; i++) {
     //actuators_pprz[i] = (int16_t) andi_u[i];
     commands[i] = (int16_t) andi_u[i];
   }
   commands[COMMAND_THRUST] = (commands[COMMAND_MOTOR_FRONT] + commands[COMMAND_MOTOR_RIGHT] + commands[COMMAND_MOTOR_BACK] + commands[COMMAND_MOTOR_LEFT])/num_thrusters_oneloop;
   autopilot.throttle = commands[COMMAND_THRUST];
+  stabilization.cmd[COMMAND_THRUST] = commands[COMMAND_THRUST];
   if(autopilot.mode==AP_MODE_ATTITUDE_DIRECT){
     eulers_zxy_des.phi   =  andi_u[COMMAND_ROLL];
     eulers_zxy_des.theta =  andi_u[COMMAND_PITCH];
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index e74a31a650..c71d58126d 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -35,9 +35,13 @@
 #include "modules/ins/ins.h"
 #include "math/pprz_algebra.h"
 
+#ifdef NPS_USE_COMMANDS
+#include "modules/core/commands.h"
+#define NPS_NO_MOTOR_MIXING TRUE
+#endif
+
 #ifndef NPS_NO_MOTOR_MIXING
 #include "modules/actuators/motor_mixing.h"
-
 #if NPS_COMMANDS_NB != MOTOR_MIXING_NB_MOTOR
 #warning "NPS_COMMANDS_NB does not match MOTOR_MIXING_NB_MOTOR!"
 #endif
@@ -169,8 +173,13 @@ void nps_autopilot_run_step(double time)
   /* scale final motor commands to 0-1 for feeding the fdm */
   for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
 #if NPS_NO_MOTOR_MIXING
+    #if NPS_USE_COMMANDS
+    commands[i] = autopilot_get_motors_on() ? commands[i] : 0;
+    nps_autopilot.commands[i] = (double)commands[i] / MAX_PPRZ;
+    #else
     actuators_pprz[i] = autopilot_get_motors_on() ? actuators_pprz[i] : 0;
-    nps_autopilot.commands[i] = (double)actuators_pprz[i] / MAX_PPRZ;
+    nps_autopilot.commands[i] = (double)actuators_pprz[i] / MAX_PPRZ;    
+    #endif
 #else
     nps_autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
 #endif