diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index 6a95864cde..4d063bcb3e 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -97,11 +97,16 @@ endif
 
 # a test program to setup actuators
 ifeq ($(ARCH), lpc21)
-setup_actuators.CFLAGS += -DFBW -DUSE_LED -DSYS_TIME_LED=1
+setup_actuators.CFLAGS += -DFBW -DUSE_LED
 setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
+ifneq ($(SYS_TIME_LED),none)
+setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY='60'
+setup_actuators.CFLAGS += -DUSE_SYS_TIME
 setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
 else ifeq ($(TARGET),setup_actuators)
 $(error setup_actuators currently only implemented for the lpc21)
diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c
index c914b1bdc9..a852e928a7 100644
--- a/sw/airborne/firmwares/setup/setup_actuators.c
+++ b/sw/airborne/firmwares/setup/setup_actuators.c
@@ -7,12 +7,17 @@
 #include "generated/airframe.h"
 #define DATALINK_C
 #include "subsystems/datalink/datalink.h"
-#include "mcu_periph/uart.h"
 #include "subsystems/datalink/pprz_transport.h"
 #include "firmwares/fixedwing/main_fbw.h"
-#include "subsystems/datalink/downlink.h"
+
 #include "generated/settings.h"
 
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
+#endif
+#include "mcu_periph/uart.h"
+#include "subsystems/datalink/downlink.h"
+#include "ap_downlink.h"
 
 #define IdOfMsg(x) (x[1])
 
@@ -76,16 +81,5 @@ void periodic_task_fbw(void) {
 }
 
 void event_task_fbw(void) {
-  if (PprzBuffer()) {
-    ReadPprzBuffer();
-  }
-  if (pprz_msg_received) {
-    pprz_msg_received = FALSE;
-    pprz_parse_payload();
-    LED_TOGGLE(3);
-  }
-  if (dl_msg_available) {
-    dl_parse_msg();
-    dl_msg_available = FALSE;
-  }
+  DatalinkEvent();
 }