diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index b5ca327b07..7e0bfc0318 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -216,6 +216,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 1d1a729e9a..632b993672 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -257,6 +257,7 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <!--define name="JSBSIM_INIT" value="&quot;reset_enac&quot;"/-->
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
   </section>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index af754f073d..37ce741d63 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -249,6 +249,7 @@
     <section name="SIMULATOR" prefix="NPS_">
         <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
         <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+        <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
         <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     </section>
 
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 a474774180..943f4708df 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
@@ -249,6 +249,7 @@
     <section name="SIMULATOR" prefix="NPS_">
         <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
         <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+        <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
         <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
     </section>
 
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 659a8df1ba..5d91ec3e6d 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -206,6 +206,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES" value="{&quot;top_left_motor&quot;, &quot;top_right_motor&quot;, &quot;bottom_right_motor&quot;, &quot;bottom_left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 72a05e09bc..a53bf728f1 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -190,6 +190,7 @@
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+   <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
index ffdede1e73..1d854cd414 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
@@ -214,6 +214,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
index 4a3944ecb8..7d398ef073 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
@@ -212,6 +212,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 1440ea0781..cf4b170221 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -175,6 +175,7 @@
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+   <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
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 b332a0c730..ed03218407 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -199,6 +199,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
index 136a0b1d02..ee7a9f1bf8 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
@@ -200,6 +200,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 016537f4f4..0001b425c2 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -189,6 +189,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index c963633c5e..0ba0db9545 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -180,6 +180,7 @@
  <section name="SIMULATOR" prefix="NPS_">
    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+   <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index 5c264fc3a7..9a2048e390 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -198,6 +198,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 3316eec5ff..194bba93bb 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -264,6 +264,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_px4fmu.xml b/conf/airframes/examples/quadrotor_px4fmu.xml
index b189c2c8e6..2fbcb261f4 100644
--- a/conf/airframes/examples/quadrotor_px4fmu.xml
+++ b/conf/airframes/examples/quadrotor_px4fmu.xml
@@ -194,6 +194,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
   </section>
 
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 9139db0e35..b9e6bac2ab 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -235,6 +235,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
+    <define name="JSBSIM_MODEL" value="&quot;simple_quad_ccw&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
diff --git a/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml b/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
deleted file mode 100644
index 221cd780b1..0000000000
--- a/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
+++ /dev/null
@@ -1,396 +0,0 @@
-<?xml version="1.0"?>
-<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
-<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
-
-    <fileheader>
-        <author> Gustavo Violato &amp; Antoine Drouin</author>
-        <filecreationdate> 24-02-2009 </filecreationdate>
-        <version> Version 0.9 - beta</version>
-        <description> Simple Quadrotor without rotor dynamic </description>
-    </fileheader>
-
-    <metrics>
-        <wingarea unit="IN2"> 78.53 </wingarea>
-        <wingspan unit="IN"> 10 </wingspan>
-        <chord unit="IN"> 6.89 </chord>
-        <htailarea unit="FT2"> 0 </htailarea>
-        <htailarm unit="FT"> 0 </htailarm>
-        <vtailarea unit="FT2"> 0 </vtailarea>
-        <vtailarm unit="FT"> 0 </vtailarm>
-        <location name="AERORP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="EYEPOINT" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="VRP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </metrics>
-
-    <mass_balance>
-        <ixx unit="SLUG*FT2"> 0.005 </ixx>
-        <iyy unit="SLUG*FT2"> 0.005 </iyy>
-        <izz unit="SLUG*FT2"> 0.010 </izz>
-        <ixy unit="SLUG*FT2"> 0. </ixy>
-        <ixz unit="SLUG*FT2"> 0. </ixz>
-        <iyz unit="SLUG*FT2"> 0. </iyz>
-        <emptywt unit="LBS"> 0.84 </emptywt>
-        <location name="CG" unit="M">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </mass_balance>
-
-   <ground_reactions>
-        <contact type="STRUCTURE" name="CONTACT_FRONT">
-            <location unit="M">
-                <x>-0.15 </x>
-                <y> 0 </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_BACK">
-            <location unit="M">
-                <x> 0.15</x>
-                <y> 0   </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_RIGHT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y> 0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_LEFT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y>-0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-    </ground_reactions>
-
-
-
-
-
-
-
-
-    <external_reactions>
-
-      <property>fcs/front_motor</property>
-      <property>fcs/back_motor</property>
-      <property>fcs/right_motor</property>
-      <property>fcs/left_motor</property>
-
-      <!-- First the lift forces produced by each propeller -->
-
-      <force name="front_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/front_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>-6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="back_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/back_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="right_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/right_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="left_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/left_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>-6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-    <!-- Then the Moment Couples -->
-
-    <!-- Front Engine -->
-
-    <force name="front_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <!-- Necessary arm in IN to produce a moment ten times
-      "weaker" then the force when both are measured in the SI.
-      front and back motors turning clockwise, left and right motors
-      turning anti-clockwise when view from up-->
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="front_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Back Engine -->
-
-    <force name="back_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="back_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Right Engine -->
-
-    <force name="right_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="right_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Left Engine -->
-
-    <force name="left_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="left_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    </external_reactions>
-
-    <propulsion/>
-
-    <flight_control name="FGFCS"/>
-
-    <aerodynamics>
-        <axis name="DRAG">
-            <function name="aero/coefficient/CD">
-                <description>Drag</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <value>47.9</value> <!-- Conversion to pascals -->
-                    <value>0.0151</value> <!-- CD x Area (m^2) -->
-                    <value>0.224808943</value> <!-- N to LBS -->
-                </product>
-            </function>
-        </axis>
-    </aerodynamics>
-
-</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml b/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
deleted file mode 100644
index 221cd780b1..0000000000
--- a/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
+++ /dev/null
@@ -1,396 +0,0 @@
-<?xml version="1.0"?>
-<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
-<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
-
-    <fileheader>
-        <author> Gustavo Violato &amp; Antoine Drouin</author>
-        <filecreationdate> 24-02-2009 </filecreationdate>
-        <version> Version 0.9 - beta</version>
-        <description> Simple Quadrotor without rotor dynamic </description>
-    </fileheader>
-
-    <metrics>
-        <wingarea unit="IN2"> 78.53 </wingarea>
-        <wingspan unit="IN"> 10 </wingspan>
-        <chord unit="IN"> 6.89 </chord>
-        <htailarea unit="FT2"> 0 </htailarea>
-        <htailarm unit="FT"> 0 </htailarm>
-        <vtailarea unit="FT2"> 0 </vtailarea>
-        <vtailarm unit="FT"> 0 </vtailarm>
-        <location name="AERORP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="EYEPOINT" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="VRP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </metrics>
-
-    <mass_balance>
-        <ixx unit="SLUG*FT2"> 0.005 </ixx>
-        <iyy unit="SLUG*FT2"> 0.005 </iyy>
-        <izz unit="SLUG*FT2"> 0.010 </izz>
-        <ixy unit="SLUG*FT2"> 0. </ixy>
-        <ixz unit="SLUG*FT2"> 0. </ixz>
-        <iyz unit="SLUG*FT2"> 0. </iyz>
-        <emptywt unit="LBS"> 0.84 </emptywt>
-        <location name="CG" unit="M">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </mass_balance>
-
-   <ground_reactions>
-        <contact type="STRUCTURE" name="CONTACT_FRONT">
-            <location unit="M">
-                <x>-0.15 </x>
-                <y> 0 </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_BACK">
-            <location unit="M">
-                <x> 0.15</x>
-                <y> 0   </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_RIGHT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y> 0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_LEFT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y>-0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-    </ground_reactions>
-
-
-
-
-
-
-
-
-    <external_reactions>
-
-      <property>fcs/front_motor</property>
-      <property>fcs/back_motor</property>
-      <property>fcs/right_motor</property>
-      <property>fcs/left_motor</property>
-
-      <!-- First the lift forces produced by each propeller -->
-
-      <force name="front_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/front_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>-6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="back_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/back_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="right_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/right_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="left_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/left_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>-6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-    <!-- Then the Moment Couples -->
-
-    <!-- Front Engine -->
-
-    <force name="front_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <!-- Necessary arm in IN to produce a moment ten times
-      "weaker" then the force when both are measured in the SI.
-      front and back motors turning clockwise, left and right motors
-      turning anti-clockwise when view from up-->
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="front_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Back Engine -->
-
-    <force name="back_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="back_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Right Engine -->
-
-    <force name="right_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="right_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Left Engine -->
-
-    <force name="left_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="left_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    </external_reactions>
-
-    <propulsion/>
-
-    <flight_control name="FGFCS"/>
-
-    <aerodynamics>
-        <axis name="DRAG">
-            <function name="aero/coefficient/CD">
-                <description>Drag</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <value>47.9</value> <!-- Conversion to pascals -->
-                    <value>0.0151</value> <!-- CD x Area (m^2) -->
-                    <value>0.224808943</value> <!-- N to LBS -->
-                </product>
-            </function>
-        </axis>
-    </aerodynamics>
-
-</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/BOOZ2_F1.xml b/conf/simulator/jsbsim/aircraft/BOOZ2_F1.xml
deleted file mode 100644
index f55012a4ac..0000000000
--- a/conf/simulator/jsbsim/aircraft/BOOZ2_F1.xml
+++ /dev/null
@@ -1,396 +0,0 @@
-<?xml version="1.0"?>
-<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
-<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
-
-    <fileheader>
-        <author> Gustavo Violato &amp; Antoine Drouin </author>
-        <filecreationdate> 24-02-2009 </filecreationdate>
-        <version> Version 0.9 - beta</version>
-        <description> Simple Quadrotor without rotor dynamic </description>
-    </fileheader>
-
-    <metrics>
-        <wingarea unit="IN2"> 78.53 </wingarea>
-        <wingspan unit="IN"> 10 </wingspan>
-        <chord unit="IN"> 6.89 </chord>
-        <htailarea unit="FT2"> 0 </htailarea>
-        <htailarm unit="FT"> 0 </htailarm>
-        <vtailarea unit="FT2"> 0 </vtailarea>
-        <vtailarm unit="FT"> 0 </vtailarm>
-        <location name="AERORP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="EYEPOINT" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-        <location name="VRP" unit="IN">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </metrics>
-
-    <mass_balance>
-        <ixx unit="SLUG*FT2"> 0.005 </ixx>
-        <iyy unit="SLUG*FT2"> 0.005 </iyy>
-        <izz unit="SLUG*FT2"> 0.010 </izz>
-        <ixy unit="SLUG*FT2"> 0. </ixy>
-        <ixz unit="SLUG*FT2"> 0. </ixz>
-        <iyz unit="SLUG*FT2"> 0. </iyz>
-        <emptywt unit="LBS"> 0.84 </emptywt>
-        <location name="CG" unit="M">
-            <x> 0 </x>
-            <y> 0 </y>
-            <z> 0 </z>
-        </location>
-    </mass_balance>
-
-   <ground_reactions>
-        <contact type="STRUCTURE" name="CONTACT_FRONT">
-            <location unit="M">
-                <x>-0.15 </x>
-                <y> 0 </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_BACK">
-            <location unit="M">
-                <x> 0.15</x>
-                <y> 0   </y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_RIGHT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y> 0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-
-        <contact type="STRUCTURE" name="CONTACT_LEFT">
-            <location unit="M">
-                <x> 0.  </x>
-                <y>-0.15</y>
-                <z>-0.1 </z>
-            </location>
-            <static_friction>  0.8 </static_friction>
-            <dynamic_friction> 0.5 </dynamic_friction>
-            <spring_coeff unit="N/M"> 500 </spring_coeff>
-            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
-            <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
-            <max_steer unit="DEG"> 0.0 </max_steer>
-            <brake_group> NONE </brake_group>
-            <retractable>0</retractable>
-        </contact>
-    </ground_reactions>
-
-
-
-
-
-
-
-
-    <external_reactions>
-
-      <property>fcs/front_motor</property>
-      <property>fcs/back_motor</property>
-      <property>fcs/right_motor</property>
-      <property>fcs/left_motor</property>
-
-      <!-- First the lift forces produced by each propeller -->
-
-      <force name="front_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/front_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>-6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="back_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/back_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>6.89</x>
-        <y>0</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="right_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/right_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-      <force name="left_motor" frame="BODY" unit="LBS">
-       <function>
-        <product>
-         <property>fcs/left_motor</property>
-         <value> 0.84 </value>
-        </product>
-       </function>
-       <location unit="IN">
-        <x>0</x>
-        <y>-6.89</y>
-        <z>0</z>
-       </location>
-       <direction>
-        <x>0</x>
-        <y>0</y>
-        <z>-1</z>
-       </direction>
-      </force>
-
-    <!-- Then the Moment Couples -->
-
-    <!-- Front Engine -->
-
-    <force name="front_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <!-- Necessary arm in IN to produce a moment ten times
-      "weaker" then the force when both are measured in the SI.
-      front and back motors turning clockwise, left and right motors
-      turning anti-clockwise when view from up-->
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="front_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/front_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Back Engine -->
-
-    <force name="back_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>-1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="back_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/back_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>6.89</x>
-      <y>-1.9685</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>1</x>
-      <y>0</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Right Engine -->
-
-    <force name="right_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="right_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/right_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <!-- Left Engine -->
-
-    <force name="left_couple1" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>-1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>-1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    <force name="left_couple2" frame="BODY" unit="LBS">
-     <function>
-      <product>
-       <property>fcs/left_motor</property>
-       <value> 0.84 </value>
-      </product>
-     </function>
-     <location unit="IN">
-      <x>1.9685</x>
-      <y>-6.89</y>
-      <z>0</z>
-     </location>
-     <direction>
-      <x>0</x>
-      <y>1</y>
-      <z>0</z>
-     </direction>
-    </force>
-
-    </external_reactions>
-
-    <propulsion/>
-
-    <flight_control name="FGFCS"/>
-
-    <aerodynamics>
-        <axis name="DRAG">
-            <function name="aero/coefficient/CD">
-                <description>Drag</description>
-                <product>
-                    <property>aero/qbar-psf</property>
-                    <value>47.9</value> <!-- Conversion to pascals -->
-                    <value>0.0151</value> <!-- CD x Area (m^2) -->
-                    <value>0.224808943</value> <!-- N to LBS -->
-                </product>
-            </function>
-        </axis>
-    </aerodynamics>
-
-</fdm_config>
diff --git a/conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml b/conf/simulator/jsbsim/aircraft/simple_quad.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/Quad_LisaM_2.xml
rename to conf/simulator/jsbsim/aircraft/simple_quad.xml
diff --git a/conf/simulator/jsbsim/aircraft/fraser.xml b/conf/simulator/jsbsim/aircraft/simple_quad_ccw.xml
similarity index 100%
rename from conf/simulator/jsbsim/aircraft/fraser.xml
rename to conf/simulator/jsbsim/aircraft/simple_quad_ccw.xml