diff --git a/sw/airborne/motor_bench/mb_asctech_twi_controller.c b/sw/airborne/motor_bench/mb_asctech_twi_controller.c
deleted file mode 100644
index 0443714dfc..0000000000
--- a/sw/airborne/motor_bench/mb_asctech_twi_controller.c
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "mb_twi_controller.h"
-
-#include "i2c.h"
-
-#include "led.h"
-
-uint8_t mb_twi_command;
-
-uint8_t mb_twi_nb_overun;
-uint8_t mb_twi_i2c_done;
-
-
-#define MB_TWI_CONTROLLER_MAX_CMD 200
-#define MB_TWI_CONTROLLER_ADDR 0x02
-
-void mb_twi_controller_init(void) {
-  mb_twi_nb_overun = 0;
-  mb_twi_i2c_done = TRUE;
-}
-
-void mb_twi_controller_set( float throttle ) {
-  if (mb_twi_i2c_done) {
-    LED_TOGGLE(1);
-    uint8_t pitch = 100;
-    uint8_t roll  = 100;
-    uint8_t yaw   = 100;
-    mb_twi_command = throttle * MB_TWI_CONTROLLER_MAX_CMD;
-    i2c_buf[0] = pitch;
-    i2c_buf[1] = roll;
-    i2c_buf[2] = yaw;
-    i2c_buf[3] = mb_twi_command;
-    i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
-  }
-  else
-    mb_twi_nb_overun++;
-}
diff --git a/sw/airborne/motor_bench/mb_twi_controller_asctech.h b/sw/airborne/motor_bench/mb_twi_controller_asctech.h
new file mode 100644
index 0000000000..f6bc66d59a
--- /dev/null
+++ b/sw/airborne/motor_bench/mb_twi_controller_asctech.h
@@ -0,0 +1,12 @@
+#ifndef MB_TWI_CONTROLLER_ASCTECH_H
+#define MB_TWI_CONTROLLER_ASCTECH_H
+
+extern bool_t  mb_twi_controller_asctech_command;
+extern uint8_t mb_twi_controller_asctech_command_type;
+
+#define mb_twi_controller_asctech_SetCommand(value) { \
+    mb_twi_controller_asctech_command = TRUE;	      \
+    mb_twi_controller_asctech_command_type = value;   \
+  }
+
+#endif /* MB_TWI_CONTROLLER_ASCTECH_H */