diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index eb5e212666..24fd1e00be 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -16,7 +16,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
-    <subsystem name="actuators" 	type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_lea5h"/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 45aa719c44..772e8e15ab 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -165,8 +165,7 @@
       <param name="MODEM_BAUD" 		value="B9600"/>
     </subsystem>
 
-    <!-- Actuators -->
-    <subsystem name="actuators" 	type="4015"/>
+    <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="adc"           type="generic">
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 20cf110b65..7222485f11 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -26,7 +26,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox_lea5h"/>
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index 24a835c46b..5bb00aa163 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -22,7 +22,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" type="transparent"/>
-    <subsystem name="actuators" type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude" type="infrared"/>
     <subsystem name="gps" type="ublox_lea5h"/>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index 34fd1e4935..030b21dd58 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -25,8 +25,7 @@
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent"/>
 
-    <!-- Actuators -->
-    <subsystem name="actuators" 	type="4017"/>
+    <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="attitude" 		type="infrared"/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index d0db9ae5db..7796548f68 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -27,7 +27,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
     <subsystem name="telemetry" type="transparent"/>
-    <subsystem name="actuators" type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude" type="infrared"/>
     <subsystem name="gps" type="ublox_lea5h"/>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 4820b223b9..a789ab7a59 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -175,7 +175,7 @@
       <param name="MODEM_BAUD" 		value="B9600"/>
     </subsystem>
 
-    <!-- Actuators -->
+    <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index ab819b661b..3ea2b3d490 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -25,7 +25,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gyro"          type="roll"/>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 2604a777bb..d4431a8724 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -26,7 +26,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="actuators"     type="4017"/>
     <subsystem name="control"/>
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox_lea4p"/>