diff --git a/conf/airframes/flyingtux.xml b/conf/airframes/flyingtux.xml
index 83911fc4c7..62abe8d030 100644
--- a/conf/airframes/flyingtux.xml
+++ b/conf/airframes/flyingtux.xml
@@ -25,7 +25,7 @@
   </rc_commands>
 
   <command_laws>
-    <set servo="GAZ" value="2 * @THROTTLE"/>
+    <set servo="GAZ" value="@THROTTLE"/>
     <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
diff --git a/conf/airframes/microjet1.xml b/conf/airframes/microjet1.xml
index 99fff924f5..6d39b3f822 100644
--- a/conf/airframes/microjet1.xml
+++ b/conf/airframes/microjet1.xml
@@ -28,7 +28,7 @@
   </rc_commands>
 
   <command_laws>
-    <set servo="GAZ" value="2 * @THROTTLE"/>
+    <set servo="GAZ" value="@THROTTLE"/>
     <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
diff --git a/conf/airframes/plaster1.xml b/conf/airframes/plaster1.xml
index 9aa7f84303..436e357dd1 100755
--- a/conf/airframes/plaster1.xml
+++ b/conf/airframes/plaster1.xml
@@ -14,7 +14,7 @@
   </servos>
 
   <commands>
-    <axis name="THROTTLE" failsafe_value="100"/>
+    <axis name="THROTTLE" failsafe_value="0"/>
     <axis name="ROLL"     failsafe_value="0"/>
     <axis name="PITCH"    failsafe_value="0"/>
     <axis name="YAW"    failsafe_value="0"/>
@@ -28,7 +28,7 @@
   </rc_commands>
 
   <command_laws>
-    <set servo="GAZ" value="2 * @THROTTLE"/>
+    <set servo="GAZ" value="@THROTTLE"/>
     <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
diff --git a/sw/airborne/main_fbw.c b/sw/airborne/main_fbw.c
index b0a2121b53..9582d7310b 100644
--- a/sw/airborne/main_fbw.c
+++ b/sw/airborne/main_fbw.c
@@ -252,14 +252,6 @@ void periodic_task_fbw( void ) {
     _1Hz = 0;
     last_ppm_cpt = ppm_cpt;
     ppm_cpt = 0;
-#ifdef DEBUG
-    uint8_t i;
-    for(i = 0; i < 4; i++) {
-      uart0_print_hex16(commands[i]);
-      uart0_print_string(" ");
-    }
-    uart0_print_string("\n");
-#endif
   }
 
   if (time_since_last_ap < STALLED_TIME)
diff --git a/sw/tools/gen_airframe.ml b/sw/tools/gen_airframe.ml
index 1edd9e966c..60407bb42b 100644
--- a/sw/tools/gen_airframe.ml
+++ b/sw/tools/gen_airframe.ml
@@ -74,6 +74,8 @@ let parse_servo = fun c ->
   define (name^"_NEUTRAL") (sof neutral);
   define (name^"_TRAVEL_UP") (sof travel_up);
   define (name^"_TRAVEL_DOWN") (sof travel_down);
+  let min = Pervasives.min min max
+  and max = Pervasives.max min max in
   define (name^"_MAX") (sof max);
   define (name^"_MIN") (sof min);
   nl ()