diff --git a/conf/airframes/BR/asctec_br.xml b/conf/airframes/BR/asctec_br.xml
index 4f1ce88b6f..ef646b3f90 100644
--- a/conf/airframes/BR/asctec_br.xml
+++ b/conf/airframes/BR/asctec_br.xml
@@ -35,7 +35,7 @@
   <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
   </modules>
 
@@ -63,12 +63,12 @@
     <define name="REVERSE" value="TRUE"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <command_laws>
diff --git a/conf/airframes/BR/conf.xml b/conf/airframes/BR/conf.xml
index 4a479ce003..edd4648d58 100644
--- a/conf/airframes/BR/conf.xml
+++ b/conf/airframes/BR/conf.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml"
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
    gui_color="white"
   />
   <aircraft
@@ -106,7 +106,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/geo_mag.xml modules/air_data.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
    gui_color="blue"
   />
 </conf>
diff --git a/conf/airframes/BR/mavtec4_br.xml b/conf/airframes/BR/mavtec4_br.xml
index cdd1ab5941..c8602eb1bb 100644
--- a/conf/airframes/BR/mavtec4_br.xml
+++ b/conf/airframes/BR/mavtec4_br.xml
@@ -35,7 +35,7 @@
   <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
   </modules>
 
@@ -63,12 +63,12 @@
     <define name="REVERSE" value="TRUE"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <command_laws>
diff --git a/conf/airframes/CDW/cdw_conf.xml b/conf/airframes/CDW/cdw_conf.xml
index 7d9dc606b0..36db34fdb5 100644
--- a/conf/airframes/CDW/cdw_conf.xml
+++ b/conf/airframes/CDW/cdw_conf.xml
@@ -29,7 +29,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/servo_switch.xml modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
+   settings_modules="modules/switch_servo.xml modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/conf/airframes/CDW/cdw_mavtec.xml b/conf/airframes/CDW/cdw_mavtec.xml
index e821521449..33ac851dfe 100644
--- a/conf/airframes/CDW/cdw_mavtec.xml
+++ b/conf/airframes/CDW/cdw_mavtec.xml
@@ -42,7 +42,7 @@
   <modules main_freq="512">
     <!--   <module name="logger_spi_link"/>
     <module name="imu_quality_assessment"/> -->
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="send_imu_mag_current"/>
     <module name="gps" type="ubx_ucenter" />
     <module name="nav" type="survey_rectangle_rotorcraft"/>
@@ -65,12 +65,12 @@
      <servo name="DROP" no="4" min="1100" neutral="1500" max="2100"/>
   </servos>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <commands>
diff --git a/conf/airframes/ENAC/conf_enac.xml b/conf/airframes/ENAC/conf_enac.xml
index b9314ca17f..a95e601c32 100644
--- a/conf/airframes/ENAC/conf_enac.xml
+++ b/conf/airframes/ENAC/conf_enac.xml
@@ -62,7 +62,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
-   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml"
+   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml"
    gui_color="#3cf2d51335a7"
   />
   <aircraft
@@ -84,7 +84,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml"
+   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 78b009636e..eb1baa0762 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -28,7 +28,7 @@
     <module name="ahrs"          type="int_cmpl_quat"/>
     <module name="ins"           type="hff"/>
 
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="rotorcraft_cam"/>
     <!--module name="sonar" type="adc"/-->
     <!--module name="adc_generic">
@@ -225,12 +225,12 @@
     <define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
  </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
  <section name="MISC">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 9b7914ca59..af1f918be8 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -31,7 +31,7 @@
     <module name="ahrs"          type="int_cmpl_euler"/>
     <module name="ins"           type="extended"/>
 
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="rotorcraft_cam"/>
     <module name="sonar_adc">
       <configure name="ADC_SONAR" value="ADC_0"/>
@@ -221,11 +221,11 @@
     <define name="TILT_ANGLE_MIN" value=" 10." unit="deg"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_SWITCH_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_SWITCH_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_ON_VALUE" value="SWITCH_SERVO_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SWITCH_SERVO_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <section name="MISC">
diff --git a/conf/airframes/FLIXR/flixr_conf.xml b/conf/airframes/FLIXR/flixr_conf.xml
index 7e347030d6..b9ac1b6e1a 100644
--- a/conf/airframes/FLIXR/flixr_conf.xml
+++ b/conf/airframes/FLIXR/flixr_conf.xml
@@ -40,7 +40,7 @@
    telemetry="telemetry/default_fixedwing_imu.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
-   settings_modules="modules/gps.xml modules/servo_switch.xml"
+   settings_modules="modules/gps.xml modules/switch_servo.xml"
    gui_color="blue"
   />
   <aircraft
diff --git a/conf/airframes/FLIXR/flixr_discovery.xml b/conf/airframes/FLIXR/flixr_discovery.xml
index 693fb6676c..23c62e834e 100644
--- a/conf/airframes/FLIXR/flixr_discovery.xml
+++ b/conf/airframes/FLIXR/flixr_discovery.xml
@@ -50,7 +50,7 @@
     <module name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
     </module>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="sys_mon"/>
     <module name="adc_generic">
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
@@ -83,7 +83,7 @@
     <servo name="HATCH"         no="7" min="1100" neutral="1100" max="1900"/>
   </servos>
 
-  <section name="SERVO_SWITCH" PREFIX="SERVO_SWITCH_">
+  <section name="SWITCH_SERVO" PREFIX="SWITCH_SERVO_">
     <define name="SERVO" value="HATCH"/>
     <define name="ON_VALUE" value="SERVO_HATCH_MIN"/>
     <define name="OFF_VALUE" value="SERVO_HATCH_MAX"/>
diff --git a/conf/airframes/TUDELFT/tudelft_asctec_freek.xml b/conf/airframes/TUDELFT/tudelft_asctec_freek.xml
index a7767b3f53..822c763a53 100644
--- a/conf/airframes/TUDELFT/tudelft_asctec_freek.xml
+++ b/conf/airframes/TUDELFT/tudelft_asctec_freek.xml
@@ -37,7 +37,7 @@
   <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_spi_link"/>
   </modules>
@@ -66,12 +66,12 @@
     <define name="REVERSE" value="TRUE"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <command_laws>
diff --git a/conf/airframes/TUDELFT/tudelft_conf.xml b/conf/airframes/TUDELFT/tudelft_conf.xml
index be77b2b51c..e128b89773 100644
--- a/conf/airframes/TUDELFT/tudelft_conf.xml
+++ b/conf/airframes/TUDELFT/tudelft_conf.xml
@@ -205,7 +205,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_rotorcraft_survey_imav2015_competition.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/servo_switch.xml modules/gps_ubx_ucenter.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/geo_mag.xml]"
+   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_float_mlkf.xml modules/switch_servo.xml modules/gps_ubx_ucenter.xml [modules/nav_survey_rectangle_rotorcraft.xml] [modules/nav_survey_poly_rotorcraft.xml] [modules/geo_mag.xml]"
    gui_color="#ffffd5c5aead"
   />
   <aircraft
@@ -216,7 +216,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/servo_switch.xml"
+   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/switch_servo.xml"
    gui_color="#e66affffaa08"
   />
   <aircraft
@@ -227,7 +227,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml"
-   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/servo_switch.xml modules/gps_ubx_ucenter.xml"
+   settings_modules="modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml [modules/geo_mag.xml] [modules/air_data.xml] modules/switch_servo.xml modules/gps_ubx_ucenter.xml"
    gui_color="#8c63ffff8e00"
   />
   <aircraft
diff --git a/conf/airframes/TUDELFT/tudelft_delfly.xml b/conf/airframes/TUDELFT/tudelft_delfly.xml
index b61498e074..97b8d3aaed 100644
--- a/conf/airframes/TUDELFT/tudelft_delfly.xml
+++ b/conf/airframes/TUDELFT/tudelft_delfly.xml
@@ -53,7 +53,7 @@
 
   <modules>
     <module name="baro_sim"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
   </modules>
 
diff --git a/conf/airframes/TUDELFT/tudelft_mavtec4.xml b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
index 2dd74f49c4..417cd0ed94 100644
--- a/conf/airframes/TUDELFT/tudelft_mavtec4.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
@@ -38,7 +38,7 @@
   <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <!--module name="gps" type="ubx_ucenter"/-->
   </modules>
 
@@ -66,12 +66,12 @@
     <define name="REVERSE" value="TRUE"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <command_laws>
diff --git a/conf/airframes/TUDELFT/tudelft_mavtec5.xml b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
index 5d46257828..3996af8c3d 100644
--- a/conf/airframes/TUDELFT/tudelft_mavtec5.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
@@ -37,7 +37,7 @@
   <modules>
     <module name="geo_mag"/>
     <module name="air_data"/>
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="logger_spi_link">
       <configure name="HS_LOG_SPI_DEV" value="SPI1"/>
@@ -69,12 +69,12 @@
     <define name="REVERSE" value="TRUE"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <command_laws>
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 9de6b9263a..03475141f7 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -3,7 +3,7 @@
 <airframe name="Blender">
 
   <modules main_freq="512">
-    <module name="servo_switch"/>
+    <module name="switch" type="servo"/>
     <module name="rotorcraft_cam"/>
     <module name="digital_cam">
       <!-- AUX1 -->
@@ -231,12 +231,12 @@
     <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="5" unit="meter"/>
   </section>
 
-  <section name="SERVO_SWITCH">
-    <define name="SERVO_SWITCH_SERVO" value="DROP"/>
-    <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="SERVO_DROP_MAX"/>
-    <define name="DropOpen()" value="ServoSwitchOn()"/>
-    <define name="DropClose()" value="ServoSwitchOff()"/>
+  <section name="SWITCH_SERVO">
+    <define name="SWITCH_SERVO_SERVO" value="DROP"/>
+    <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_DROP_MIN"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="SERVO_DROP_MAX"/>
+    <define name="DropOpen()" value="SwitchServoOn()"/>
+    <define name="DropClose()" value="SwitchServoOff()"/>
   </section>
 
   <section name="MISC">
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 95ec0e5a27..047afc7508 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -172,7 +172,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
    gui_color="white"
   />
   <aircraft
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index 8560a0da8c..ffd210cbdb 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
+   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/imu_common.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml"
    gui_color="white"
   />
   <aircraft
diff --git a/conf/conf_tests_coverity.xml b/conf/conf_tests_coverity.xml
index 2fb7d8c39e..67dd47f038 100644
--- a/conf/conf_tests_coverity.xml
+++ b/conf/conf_tests_coverity.xml
@@ -271,7 +271,7 @@
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
    settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/nps.xml"
-   settings_modules="modules/servo_switch.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps.xml"
+   settings_modules="modules/switch_servo.xml modules/rotorcraft_cam.xml modules/digital_cam.xml modules/nav_survey_rectangle_rotorcraft.xml modules/gps.xml"
    gui_color="white"
   />
   <aircraft
diff --git a/conf/modules/servo_switch.xml b/conf/modules/servo_switch.xml
deleted file mode 100644
index 4d037318c1..0000000000
--- a/conf/modules/servo_switch.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<!DOCTYPE module SYSTEM "module.dtd">
-
-<module name="servo_switch" dir="switching">
-  <doc>
-    <description>Servo switch</description>
-    <define name="SERVO_SWITCH_ON_VALUE"  value="pwm" description="servo value in usec"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="pwm" description="servo value in usec"/>
-    <define name="SERVO_SWITCH_SERVO"     value="nb" description="Id of the servo (default: SWITCH)"/>
-  </doc>
-  <settings>
-    <dl_settings NAME="Servo switch control">
-      <dl_settings NAME="SWITCH">
-        <dl_setting var="servo_switch_on" min="0" step="1" max="1" module="switching/servo_switch" values="Off|On">
-          <strip_button name="ON"  value="1" group="servo_switch"/>
-          <strip_button name="OFF" value="0" group="servo_switch"/>
-        </dl_setting>
-      </dl_settings>
-    </dl_settings>
-  </settings>
-  <header>
-    <file name="servo_switch.h"/>
-  </header>
-  <init fun="servo_switch_init()"/>
-  <periodic fun="servo_switch_periodic()" freq="10."/>
-  <makefile target="ap|sim|nps">
-
-<!-- these parameters should be set for that module in the airframe file unless you want the defaults
-     Servo value in usec
-  <load name="servo_switch.xml">
-    <define name="SERVO_SWITCH_ON_VALUE"  value="2000"/>
-    <define name="SERVO_SWITCH_OFF_VALUE" value="1000"/>
-    <define name="SERVO_SWITCH_SERVO"     value="SWITCH"/>
-  </load>
-
-  The servo will not exceed the min and max positions defined in the servo section
--->
-
-    <file name="servo_switch.c"/>
-  </makefile>
-</module>
-
diff --git a/conf/modules/switch_servo.xml b/conf/modules/switch_servo.xml
new file mode 100644
index 0000000000..77c57dc964
--- /dev/null
+++ b/conf/modules/switch_servo.xml
@@ -0,0 +1,41 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="switch_servo" dir="switching">
+  <doc>
+    <description>Swicht using a Servo</description>
+    <define name="SWITCH_SERVO_ON_VALUE"  value="pwm" description="servo value in usec"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="pwm" description="servo value in usec"/>
+    <define name="SWITCH_SERVO_SERVO"     value="nb" description="Id of the servo (default: SWITCH)"/>
+  </doc>
+  <settings>
+    <dl_settings NAME="Switch Servo">
+      <dl_settings NAME="SWITCH">
+        <dl_setting var="switch_servo_on" min="0" step="1" max="1" module="switching/switch_servo" values="Off|On">
+          <strip_button name="ON"  value="1" group="switching"/>
+          <strip_button name="OFF" value="0" group="switching"/>
+        </dl_setting>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="switch_servo.h"/>
+  </header>
+  <init fun="switch_servo_init()"/>
+  <periodic fun="switch_servo_periodic()" freq="10."/>
+  <makefile target="ap|sim|nps">
+
+<!-- these parameters should be set for that module in the airframe file unless you want the defaults
+     Servo value in usec
+  <load name="switch_servo.xml">
+    <define name="SWITCH_SERVO_ON_VALUE"  value="2000"/>
+    <define name="SWITCH_SERVO_OFF_VALUE" value="1000"/>
+    <define name="SWITCH_SERVO_SERVO"     value="SWITCH"/>
+  </load>
+
+  The servo will not exceed the min and max positions defined in the servo section
+-->
+
+    <file name="switch_servo.c"/>
+  </makefile>
+</module>
+
diff --git a/conf/modules/switch_uart.xml b/conf/modules/switch_uart.xml
index f7863fa398..af22ecbe0d 100644
--- a/conf/modules/switch_uart.xml
+++ b/conf/modules/switch_uart.xml
@@ -10,10 +10,10 @@
     <dl_settings NAME="Switch control">
       <dl_settings NAME="SWITCH">
         <dl_setting var="switch_uart_channel" min="0" step="1" max="4" module="switching/switch_uart" handler="SwitchUartChannel">
-          <strip_button name="1" value="1" group="servo_switch"/>
-          <strip_button name="2" value="2" group="servo_switch"/>
-          <strip_button name="3" value="3" group="servo_switch"/>
-          <strip_button name="4" value="4" group="servo_switch"/>
+          <strip_button name="1" value="1" group="switching"/>
+          <strip_button name="2" value="2" group="switching"/>
+          <strip_button name="3" value="3" group="switching"/>
+          <strip_button name="4" value="4" group="switching"/>
         </dl_setting>
       </dl_settings>
     </dl_settings>
diff --git a/sw/airborne/modules/switching/servo_switch.c b/sw/airborne/modules/switching/switch_servo.c
similarity index 69%
rename from sw/airborne/modules/switching/servo_switch.c
rename to sw/airborne/modules/switching/switch_servo.c
index 9946d15811..7588d40b83 100644
--- a/sw/airborne/modules/switching/servo_switch.c
+++ b/sw/airborne/modules/switching/switch_servo.c
@@ -19,27 +19,27 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "switching/servo_switch.h"
+#include "switching/switch_servo.h"
 #include "generated/airframe.h"
 #include "subsystems/actuators.h"
 
-bool servo_switch_on;
+bool switch_servo_on;
 
 // One level of macro stack to allow redefinition of the default servo
-#define _ServoSwitch(_n, _v) ActuatorSet(_n, _v)
-#define ServoSwitch(_n, _v) _ServoSwitch(_n, _v)
+#define _SwitchServo(_n, _v) ActuatorSet(_n, _v)
+#define SwitchServo(_n, _v) _SwitchServo(_n, _v)
 
-void servo_switch_init(void)
+void switch_servo_init(void)
 {
-  servo_switch_on = false;
-  servo_switch_periodic();
+  switch_servo_on = false;
+  switch_servo_periodic();
 }
 
-void servo_switch_periodic(void)
+void switch_servo_periodic(void)
 {
-  if (servo_switch_on == TRUE) {
-    ServoSwitch(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE);
+  if (switch_servo_on == TRUE) {
+    SwitchServo(SWITCH_SERVO_SERVO, SWITCH_SERVO_ON_VALUE);
   } else {
-    ServoSwitch(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE);
+    SwitchServo(SWITCH_SERVO_SERVO, SWITCH_SERVO_OFF_VALUE);
   }
 }
diff --git a/sw/airborne/modules/switching/servo_switch.h b/sw/airborne/modules/switching/switch_servo.h
similarity index 62%
rename from sw/airborne/modules/switching/servo_switch.h
rename to sw/airborne/modules/switching/switch_servo.h
index 9704e9af7d..909afb968c 100644
--- a/sw/airborne/modules/switching/servo_switch.h
+++ b/sw/airborne/modules/switching/switch_servo.h
@@ -19,32 +19,32 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef SERVO_SWITCH_H
-#define SERVO_SWITCH_H
+#ifndef SWITCH_SERVO_H
+#define SWITCH_SERVO_H
 
 #include "std.h"
 #include "paparazzi.h"
 #include "generated/airframe.h"
 
-extern bool servo_switch_on;
-extern int16_t servo_switch_value;
+extern bool switch_servo_on;
+extern int16_t switch_servo_value;
 
-#ifndef SERVO_SWITCH_ON_VALUE
-#define SERVO_SWITCH_ON_VALUE 2000
+#ifndef SWITCH_SERVO_ON_VALUE
+#define SWITCH_SERVO_ON_VALUE 2000
 #endif
-#ifndef SERVO_SWITCH_OFF_VALUE
-#define SERVO_SWITCH_OFF_VALUE 1000
+#ifndef SWITCH_SERVO_OFF_VALUE
+#define SWITCH_SERVO_OFF_VALUE 1000
 #endif
-#ifndef SERVO_SWITCH_SERVO
-#define SERVO_SWITCH_SERVO SWITCH
+#ifndef SWITCH_SERVO_SERVO
+#define SWITCH_SERVO_SERVO SWITCH
 #endif
 
 
-extern void servo_switch_init(void);
-extern void servo_switch_periodic(void);
+extern void switch_servo_init(void);
+extern void switch_servo_periodic(void);
 
-#define ServoSwitchOn()  ({ servo_switch_on = true; false; })
-#define ServoSwitchOff() ({ servo_switch_on = false; false; })
+#define SwitchServoOn()  ({ switch_servo_on = true; false; })
+#define SwitchServoOff() ({ switch_servo_on = false; false; })
 
-#endif //SERVO_SWITCH_H
+#endif //SWITCH_SERVO_H