diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index cbc48adfdb..09a56b24fc 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -2,7 +2,7 @@
 
 <airframe name="booz2_a7">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 5acec3639b..8001cd5ac6 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -35,7 +35,7 @@
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"  no="0"    min="0" neutral="0" max="255"/>
     <servo name="BACK"   no="2"    min="0" neutral="0" max="255"/>
     <servo name="RIGHT"  no="1"    min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index ed983ce12e..5c54678904 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -46,7 +46,7 @@
     <target name="test_rc_ppm"      board="booz_1.0"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index e3774fe6d2..06f971bcc3 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -35,7 +35,7 @@
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"  no="0"    min="0" neutral="0" max="255"/>
     <servo name="BACK"   no="2"    min="0" neutral="0" max="255"/>
     <servo name="RIGHT"  no="1"    min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 33cbbb872a..30125540d7 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -2,7 +2,7 @@
 
 <airframe name="booz2_a7">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 4fed1a2abe..08ca88b9d5 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_a1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 5be5972e59..33ad581dfe 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -2,7 +2,7 @@
 
 <airframe name="booz2_a7">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/Poine/booz2_a8.xml b/conf/airframes/Poine/booz2_a8.xml
index a9a9319dcd..fd9eba28f7 100644
--- a/conf/airframes/Poine/booz2_a8.xml
+++ b/conf/airframes/Poine/booz2_a8.xml
@@ -2,7 +2,7 @@
 
 <airframe name="booz2_a8">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
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 a4c17e68b4..72a77e955e 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
@@ -70,7 +70,7 @@
      </firmware>
      -->
 
-    <servos min="0" neutral="0" max="0xff">
+    <servos>
         <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
         <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
         <servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
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 8c35601169..da606215dd 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
@@ -88,7 +88,7 @@
     </firmware>
 -->
 
-    <servos min="0" neutral="0" max="0xff">
+    <servos>
         <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
         <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
         <servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 602e744aa7..a2c3547006 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -8,7 +8,7 @@
      Asctec Speed Controllers
      -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="3" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="0" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 86b1693f8a..f01d75739c 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -2,7 +2,7 @@
 
 <airframe name="jt_lisam">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="A1"            no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="A2"            no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="B1"            no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 83e0dc16b2..adaff15afd 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index 1fc084b7b0..353d779425 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml b/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
index 96c3ecc1dd..892ef1d6d7 100644
--- a/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
+++ b/conf/airframes/esden/lisa_m_2_asp_2_pwm.xml
@@ -11,7 +11,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index cc03d8d52b..4cb95d11fe 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index 8f1250065d..3367a22503 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_pwm_aspirin">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index fdd7b1a817..662721bc48 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -2,7 +2,7 @@
 
 <airframe name="synerani_4b">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="A1"            no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="A2"            no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="B1"            no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 4fed1a2abe..08ca88b9d5 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_a1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index c6c3678804..3e9af7aa92 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -1,7 +1,7 @@
 <!-- this is a custom hexa Lisa/L#3 and mikrokopter controllers -->
 <airframe name="booz2_a6">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
     <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 83e0dc16b2..adaff15afd 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index eb3cf417e2..a764708ed5 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -2,7 +2,7 @@
 
 <airframe name="qmk1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT"   no="2" min="0" neutral="0" max="255"/>
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 612449f50e..049f24cde7 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -22,7 +22,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="RIGHT"   no="2" min="1000" neutral="1000" max="2000"/>
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 19c7aff428..60b9ba120c 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -21,7 +21,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="NE"    no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="SE"    no="1" min="1000" neutral="1000" max="2000"/>
     <servo name="SW"    no="2" min="1000" neutral="1000" max="2000"/>
diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
index 26aa0861b3..89db3cc9de 100644
--- a/conf/airframes/obsolete/ENAC/g1_vision.xml
+++ b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -9,7 +9,7 @@
     <load name="booz_gumstix_com.xml"/>
   </modules>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
index fdf6ba7762..841349147f 100644
--- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -7,7 +7,7 @@
     <load name="sonar_maxbotix_booz.xml"/>
   </modules>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
index 752a5d2aa5..994e7e1226 100644
--- a/conf/airframes/obsolete/ENAC/mkk1.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1.xml
@@ -37,7 +37,7 @@
     <target name="test_actuators_mkk"      board="booz_1.0"/>
   </firmware-->
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
index 6b7a49cf36..21363acc60 100644
--- a/conf/airframes/obsolete/ENAC/nova1.xml
+++ b/conf/airframes/obsolete/ENAC/nova1.xml
@@ -29,7 +29,7 @@
     <target name="test_actuators_mkk"      board="lisa_l_1.0"/>
   </firmware>
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index 0eb5cc0ca9..0c2cfe06c0 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -7,7 +7,7 @@
      Datamodems configured for 57600 baud
      Asctec speed controllers-->
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 1dd2032774..6d60135e55 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -7,7 +7,7 @@
      Datamodems configured for 57600 baud
      MKK style speed controllers-->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index 2c33369b80..6d8e3ac5ae 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -1,7 +1,7 @@
 <!-- UofA Group 1000 Fixed Pitch Airframe using Booz board -->
 
 <airframe name="A1000 BOOZ">
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
 	<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
 	<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
 	<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 69b49feff9..3e94d127fe 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -8,7 +8,7 @@
 	 ZEF100 Speed Controllers
 	 -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
 	<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
 	<servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
 	<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
index a41cbbde0d..3328cc4b18 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -8,7 +8,7 @@
      ZEF100 Speed Controllers
      -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
index 7be1990714..06ea8ce8ad 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
@@ -1,6 +1,6 @@
 <airframe name="UofA Group 1000 Fixed Pitch Airframe">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
index 3559a2d5f8..0cecb4fdb2 100644
--- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
@@ -2,7 +2,7 @@
 
 <airframe name="lisa_asctec">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
     <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index 2fb26ce1b2..a5a48f5295 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_A2">
 
-    <servos min="0" neutral="0" max="0xff">
+    <servos>
         <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
         <servo name="BACK" no="1" min="0" neutral="0" max="255" />
         <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index 9fd40c6414..aa12a6dfdd 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -8,7 +8,7 @@
      Modified 6A speed controllers
      -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index f3f53d4cfc..81c9021e83 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -8,7 +8,7 @@
      ZEF100 Speed Controllers
      -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index 765e4edfc7..ed879fb742 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -8,7 +8,7 @@
      ZEF100 Speed Controllers
      -->
 
- <servos min="0" neutral="0" max="0xff">
+ <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_a1p.xml b/conf/airframes/obsolete/booz2_a1p.xml
index 05b8e004b4..f5906c89d6 100644
--- a/conf/airframes/obsolete/booz2_a1p.xml
+++ b/conf/airframes/obsolete/booz2_a1p.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_a1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index 9667db16e1..d0f9361638 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_A2">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index c76407c73e..0635e3ce89 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_A3">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index 3abab57aa1..e9cc7ede69 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_A4">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="PITCH"  no="0"    min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1"    min="0" neutral="0" max="255"/>
     <servo name="YAW"    no="2"    min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index 77d54a35fb..6fc2fe07eb 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -1,6 +1,6 @@
 <airframe name="booz2_a5">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="BACK_RIGHT"   no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK_LEFT"    no="1" min="0" neutral="0" max="255"/>
     <servo name="CENTER_RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index f01770f163..17b8eaf5b5 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -1,6 +1,6 @@
 <airframe name="BOOZ2_s1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 61650494e7..370920cd85 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -1,7 +1,7 @@
 <!-- Xavier Paris booz2 mikrokopter -->
 <airframe name="BOOZ2_x1">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
     <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
     <servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml
index 1a4c415dd5..c2b1e192d1 100644
--- a/conf/airframes/obsolete/tl.xml
+++ b/conf/airframes/obsolete/tl.xml
@@ -1,6 +1,6 @@
 <airframe name="TwistedLogic">
 
-  <servos min="0" neutral="0" max="0xff">
+  <servos>
     <servo name="AILERON"  no="2" min="900" neutral="1500" max="2100"/>
     <servo name="ELEVATOR" no="1" min="900" neutral="1500" max="2100"/>
     <servo name="MOTOR_RIGHT"   no="6" min="1250" neutral="1250" max="1810"/>