diff --git a/conf/airframes/BR/DreamCacher_bart.xml b/conf/airframes/BR/DreamCacher_bart.xml
index c0ae2ac96b..6d3881e713 100644
--- a/conf/airframes/BR/DreamCacher_bart.xml
+++ b/conf/airframes/BR/DreamCacher_bart.xml
@@ -182,9 +182,9 @@
  </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/BR/asctec_br.xml b/conf/airframes/BR/asctec_br.xml
index e604e268d2..a640c2b881 100644
--- a/conf/airframes/BR/asctec_br.xml
+++ b/conf/airframes/BR/asctec_br.xml
@@ -180,9 +180,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/BR/ladybird_kit_bart.xml b/conf/airframes/BR/ladybird_kit_bart.xml
index ebc84e38ff..8d9e831b3b 100644
--- a/conf/airframes/BR/ladybird_kit_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_bart.xml
@@ -187,9 +187,9 @@
   </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
index d1e00f063e..0ccf73558a 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga.xml
@@ -187,9 +187,9 @@
   </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
index 080b20ce07..e2306c2ace 100644
--- a/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
+++ b/conf/airframes/BR/ladybird_kit_bart_bluegiga_optitrack.xml
@@ -203,9 +203,9 @@
   </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/BR/ladybird_kit_indi_bart.xml b/conf/airframes/BR/ladybird_kit_indi_bart.xml
index 5015d191d4..31bc0c9775 100644
--- a/conf/airframes/BR/ladybird_kit_indi_bart.xml
+++ b/conf/airframes/BR/ladybird_kit_indi_bart.xml
@@ -199,9 +199,9 @@
  </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/BR/mavtec4_br.xml b/conf/airframes/BR/mavtec4_br.xml
index 6be2d2c5b0..c77f1c74f0 100644
--- a/conf/airframes/BR/mavtec4_br.xml
+++ b/conf/airframes/BR/mavtec4_br.xml
@@ -180,9 +180,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/CDW/cdw_asctec.xml b/conf/airframes/CDW/cdw_asctec.xml
index 019e13c8ba..7866cf9f83 100644
--- a/conf/airframes/CDW/cdw_asctec.xml
+++ b/conf/airframes/CDW/cdw_asctec.xml
@@ -178,9 +178,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml b/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
index 501cc00d5f..251b538efb 100644
--- a/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
+++ b/conf/airframes/CDW/cdw_chimu_tiny2_pt_spi.xml
@@ -80,7 +80,7 @@ YAPA + XSens + XBee
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
-    <!--   <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <!--   <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
          <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml b/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
index 1dcec8729d..f9b7cc34fe 100644
--- a/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
+++ b/conf/airframes/CDW/cdw_chimu_tiny_fw_spi.xml
@@ -76,7 +76,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/CDW/cdw_mavtec.xml b/conf/airframes/CDW/cdw_mavtec.xml
index 3b36fd42af..a9b6067533 100644
--- a/conf/airframes/CDW/cdw_mavtec.xml
+++ b/conf/airframes/CDW/cdw_mavtec.xml
@@ -201,9 +201,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/CDW/cdw_tricopter.xml b/conf/airframes/CDW/cdw_tricopter.xml
index 6e91f2a1e4..e9a921f9db 100644
--- a/conf/airframes/CDW/cdw_tricopter.xml
+++ b/conf/airframes/CDW/cdw_tricopter.xml
@@ -203,7 +203,7 @@ LiPo/LiIo-Zellen: 3
   </section>
 
   <section name="MISC">
-    <define name="XBEE_INIT" value="&quot;ATID3332\r&quot;"/>
+    <define name="XBEE_INIT" value="ATID3332\r" type="string"/>
     <define name="FACE_REINJ_1" value="1024"/>
     <define name="VoltageOfAdc(adc)" value="(0.00528*adc)"/>
   </section>
diff --git a/conf/airframes/CDW/cdw_twoseastwenty.xml b/conf/airframes/CDW/cdw_twoseastwenty.xml
index 39a2c8d6bb..e6bc58c9d3 100644
--- a/conf/airframes/CDW/cdw_twoseastwenty.xml
+++ b/conf/airframes/CDW/cdw_twoseastwenty.xml
@@ -259,7 +259,7 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-    <define name="XBEE_INIT" value="&quot;ATPL4\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL4\rATRN5\rATTT80\r" type="string"/>
     <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="COMMAND_ROLL_TRIM" value="180"/>
     <define name="COMMAND_PITCH_TRIM" value="-194."/>
diff --git a/conf/airframes/CDW/cdw_yapa_xsens.xml b/conf/airframes/CDW/cdw_yapa_xsens.xml
index e50c495ac1..e34c994ff9 100644
--- a/conf/airframes/CDW/cdw_yapa_xsens.xml
+++ b/conf/airframes/CDW/cdw_yapa_xsens.xml
@@ -198,7 +198,7 @@
   <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="8." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
-    <define name="XBEE_INIT" value="&quot;ATPL4\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL4\rATRN5\rATTT80\r" type="string"/>
     <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="COMMAND_ROLL_TRIM" value="180"/>
diff --git a/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml b/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
index 0b328f6707..fae8e7ac30 100644
--- a/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
+++ b/conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
@@ -76,7 +76,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/CDW/test/ChimuLisaFw.xml b/conf/airframes/CDW/test/ChimuLisaFw.xml
index 0300ba4e4d..1f8386fcbb 100644
--- a/conf/airframes/CDW/test/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/test/ChimuLisaFw.xml
@@ -55,7 +55,7 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
@@ -120,7 +120,7 @@
   </section>
 
   <section name="SIMU">
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
+    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
   </section>
diff --git a/conf/airframes/CDW/test/ChimuTinyFw.xml b/conf/airframes/CDW/test/ChimuTinyFw.xml
index cd3911d720..a4c3469e29 100644
--- a/conf/airframes/CDW/test/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/test/ChimuTinyFw.xml
@@ -76,7 +76,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/CDW/test/yapa3_aspirin2.xml b/conf/airframes/CDW/test/yapa3_aspirin2.xml
index 32f4036baf..8e9078a975 100644
--- a/conf/airframes/CDW/test/yapa3_aspirin2.xml
+++ b/conf/airframes/CDW/test/yapa3_aspirin2.xml
@@ -121,7 +121,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/CRIDEA/cridea_quadsuave.xml b/conf/airframes/CRIDEA/cridea_quadsuave.xml
index 932b502fc4..2e2192a893 100644
--- a/conf/airframes/CRIDEA/cridea_quadsuave.xml
+++ b/conf/airframes/CRIDEA/cridea_quadsuave.xml
@@ -199,9 +199,9 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/ENAC/fixed-wing/crrcsim.xml b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
index a0e9324237..eaeb95e89c 100644
--- a/conf/airframes/ENAC/fixed-wing/crrcsim.xml
+++ b/conf/airframes/ENAC/fixed-wing/crrcsim.xml
@@ -249,7 +249,7 @@
     <define name="CRRCSIM_COMMAND_THROTTLE" value="0"/>
     <define name="CRRCSIM_ROLL_NEUTRAL" value="0." unit="deg"/>
     <define name="CRRCSIM_PITCH_NEUTRAL" value="12." unit="deg"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index d5f3c9b5ac..3340f32b10 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -244,8 +244,8 @@
   <section name="SIMU">
     <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
     <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
+    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
+    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
     <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
diff --git a/conf/airframes/ENAC/fixed-wing/jp.xml b/conf/airframes/ENAC/fixed-wing/jp.xml
index 431a7c0ba3..e2bfb1a1eb 100644
--- a/conf/airframes/ENAC/fixed-wing/jp.xml
+++ b/conf/airframes/ENAC/fixed-wing/jp.xml
@@ -275,8 +275,8 @@
 
   <section name="SIMULATOR" prefix="NPS_">
     <define name="JSBSIM_LAUNCHSPEED" value="15"/>
-    <define name="JSBSIM_MODEL" value="&quot;easystar&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_invariant.h&quot;"/>
+    <define name="JSBSIM_MODEL" value="easystar" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index f879bc9ed9..f28601124c 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -107,7 +107,7 @@
     <define name="MAXIMUM_AIRSPEED" value="18." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
+<!--    <define name="XBEE_INIT" value="ATPL2\rATRN1\rATTT80\r" type="string"/> -->
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="TRIGGER_DELAY" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml
index ebd862e615..01dbe12421 100644
--- a/conf/airframes/ENAC/fixed-wing/mythe.xml
+++ b/conf/airframes/ENAC/fixed-wing/mythe.xml
@@ -257,8 +257,8 @@
   <section name="SIMU">
     <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
     <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
+    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
+    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
     <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 91994e8671..bd995e3cc2 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -129,7 +129,7 @@
     <define name="MAXIMUM_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
+<!--    <define name="XBEE_INIT" value="ATPL2\rATRN1\rATTT80\r" type="string"/> -->
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="LIGHT_LED_NAV" value="3"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 232921615a..c5d83a9188 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -224,8 +224,8 @@
   <section name="SIMU">
     <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
     <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
-    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
+    <define name="JSBSIM_MODEL" value="Malolo1" type="string"/>
+    <!--define name="JSBSIM_INIT"	value="Malolo1-IC"/-->
     <define name="JSBSIM_LAUNCHSPEED" value="15.0"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="0." unit="deg"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="0." unit="deg"/>
diff --git a/conf/airframes/ENAC/quadrotor/bebop_201.xml b/conf/airframes/ENAC/quadrotor/bebop_201.xml
index bbe4d6f37b..12d62484a4 100644
--- a/conf/airframes/ENAC/quadrotor/bebop_201.xml
+++ b/conf/airframes/ENAC/quadrotor/bebop_201.xml
@@ -33,7 +33,7 @@
     </load>
     <!--load name="send_imu_mag_current.xml"/>
     <load name="file_logger.xml">
-      <define name="FILE_LOGGER_PATH" value="\\&quot;/data/ftp/internal_000/\\&quot;"/>
+      <define name="FILE_LOGGER_PATH" value="\\/data/ftp/internal_000/\\" type="string"/>
     </load-->
     <!--load name="video_rtp_stream.xml">
       <define name="VIEWVIDEO_FPS" value="60"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index a2ffac0688..0fefca1601 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -253,10 +253,10 @@
   </section>
 
   <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;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <!--define name="JSBSIM_INIT" value="reset_enac"/-->
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_booz2_a1.h" type="string"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml b/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
index 29f889079c..17fe08ec45 100644
--- a/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
+++ b/conf/airframes/ENAC/quadrotor/ladybird_lisa_s.xml
@@ -192,10 +192,10 @@
  </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_INIT" value="reset00" type="string"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_cocto_lm2a2.xml b/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
index df182c6ff8..318f6fd4b7 100644
--- a/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
+++ b/conf/airframes/ESDEN/esden_cocto_lm2a2.xml
@@ -193,8 +193,8 @@ B2L -> CW
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_gain_scheduling_example.xml b/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
index b43179e7c9..3110b409b2 100644
--- a/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
+++ b/conf/airframes/ESDEN/esden_gain_scheduling_example.xml
@@ -178,8 +178,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
 <!--//////////////INCLUDE THE GAIN SCHEDULING MODULE\\\\\\\\\\\\\\\\-->
diff --git a/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
index 3cbe3c5c95..c198a28055 100644
--- a/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_hexy_ll11a2pwm.xml
@@ -190,8 +190,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
index a63c329d56..7d9140f096 100644
--- a/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_hexy_lm2a2pwm.xml
@@ -151,8 +151,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_lisa2_hex.xml b/conf/airframes/ESDEN/esden_lisa2_hex.xml
index fe81caaecb..0d01530334 100644
--- a/conf/airframes/ESDEN/esden_lisa2_hex.xml
+++ b/conf/airframes/ESDEN/esden_lisa2_hex.xml
@@ -165,8 +165,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_qs_asp22.xml b/conf/airframes/ESDEN/esden_qs_asp22.xml
index 6f32d26c1a..d41e06c2ed 100644
--- a/conf/airframes/ESDEN/esden_qs_asp22.xml
+++ b/conf/airframes/ESDEN/esden_qs_asp22.xml
@@ -192,8 +192,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml b/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
index ff4c8f8fed..fbfd0b8f65 100644
--- a/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_ll11a2pwm.xml
@@ -186,8 +186,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml b/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
index e9c181107c..17bcb33a3e 100644
--- a/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm1a1pwm.xml
@@ -147,8 +147,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
index 87392da022..2907b4bdec 100644
--- a/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm2a2pwm.xml
@@ -150,8 +150,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml b/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
index 8eb21531fd..426e3293f6 100644
--- a/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
+++ b/conf/airframes/ESDEN/esden_quady_lm2a2pwmppm.xml
@@ -147,8 +147,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/ESDEN/esden_quady_ls10pwm.xml b/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
index 8f3789e117..b0c66cbdc2 100644
--- a/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
+++ b/conf/airframes/ESDEN/esden_quady_ls10pwm.xml
@@ -150,8 +150,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml b/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
index e70182fdfb..e9fb4233fe 100644
--- a/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/FLIXR/flixr_fraser_lisa_m_rotorcraft.xml
@@ -212,9 +212,9 @@
   </section>
 
   <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_ccw&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
index f8936f203e..60807a4df7 100644
--- a/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
+++ b/conf/airframes/FLIXR/flixr_ladybird_lisa_s.xml
@@ -234,9 +234,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
 </airframe>
diff --git a/conf/airframes/FLIXR/flixr_lisamx_dual.xml b/conf/airframes/FLIXR/flixr_lisamx_dual.xml
index 4cb7f4e7a8..dc3905f335 100644
--- a/conf/airframes/FLIXR/flixr_lisamx_dual.xml
+++ b/conf/airframes/FLIXR/flixr_lisamx_dual.xml
@@ -232,7 +232,7 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
-    <define name="XBEE_INIT" value="&quot;ATPL4\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL4\rATRN5\rATTT80\r" type="string"/>
     <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
     <define name="COMMAND_ROLL_TRIM" value="180"/>
     <define name="COMMAND_PITCH_TRIM" value="-194."/>
diff --git a/conf/airframes/FLIXR/flixr_zmr250_elle0.xml b/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
index 2006611a3f..9ee7ece6d8 100644
--- a/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
+++ b/conf/airframes/FLIXR/flixr_zmr250_elle0.xml
@@ -180,7 +180,7 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
+    <define name="ACTUATOR_NAMES"  value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
     <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
     <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
index e6e71b524e..370864e0ce 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_hexa_lisa_mx_20.xml
@@ -223,9 +223,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_racerpex_hexa&quot;"/>
-    <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="fl_motor, fr_motor, r_motor, br_motor, bl_motor, l_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_racerpex_hexa" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
   </section>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
index bbfa5d28d3..c074b36da1 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_octo_lisa_mx_20.xml
@@ -217,9 +217,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;fl1_motor&quot;, &quot;fr2_motor&quot;, &quot;fr3_motor&quot;, &quot;br4_motor&quot;, &quot;br5_motor&quot;, &quot;bl6_motor&quot;, &quot;bl7_motor&quot;, &quot;fl8_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;HOOPERFLY/hooperfly_racerpex_octo&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="fl1_motor, fr2_motor, fr3_motor, br4_motor, br5_motor, bl6_motor, bl7_motor, fl8_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="HOOPERFLY/hooperfly_racerpex_octo" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
index 50017157db..a1d007c41a 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_racerpex_quad_lisa_mx_20.xml
@@ -219,9 +219,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_racerpex_quad&quot;"/>
-    <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_racerpex_quad" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
   </section>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
index 918f7e7d25..f32710f9bb 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_hexa_lisa_mx_20.xml
@@ -223,9 +223,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_hexa&quot;"/>
-    <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="fl_motor, fr_motor, r_motor, br_motor, bl_motor, l_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_hexa" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
   </section>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
index 41984e784a..179bad8f94 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_elle0.xml
@@ -218,9 +218,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_quad&quot;"/>
-    <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
   </section>
diff --git a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
index 35e4d78ec4..6f22b51a33 100644
--- a/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
+++ b/conf/airframes/HOOPERFLY/hooperfly_teensyfly_quad_lisa_mx_20.xml
@@ -219,9 +219,9 @@
   </section>    
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL"    value="&quot;HOOPERFLY/hooperfly_teensyfly_quad&quot;"/>
-    <define name="SENSORS_PARAMS"  value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL"    value="HOOPERFLY/hooperfly_teensyfly_quad" type="string"/>
+    <define name="SENSORS_PARAMS"  value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE"    value="4"/>
   </section>
diff --git a/conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml b/conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
index 387d4e5545..3f8256e9a8 100644
--- a/conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
+++ b/conf/airframes/LS/ls_ladybird_lisa_s_bluegiga_small_gps_messages.xml
@@ -201,9 +201,9 @@
  </section>
 
  <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-   <define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml b/conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
index 3d3845fa6f..b0d0bf4141 100644
--- a/conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
+++ b/conf/airframes/LS/ls_quadrotor_mavtec_lisa_m_2_0.xml
@@ -191,9 +191,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/OPENUAS/openuas_ardrone2.xml b/conf/airframes/OPENUAS/openuas_ardrone2.xml
index 608fa4b56b..ad49a93063 100644
--- a/conf/airframes/OPENUAS/openuas_ardrone2.xml
+++ b/conf/airframes/OPENUAS/openuas_ardrone2.xml
@@ -239,10 +239,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/OPENUAS/openuas_psi.xml b/conf/airframes/OPENUAS/openuas_psi.xml
index 0c49155875..1a5034b63e 100644
--- a/conf/airframes/OPENUAS/openuas_psi.xml
+++ b/conf/airframes/OPENUAS/openuas_psi.xml
@@ -239,10 +239,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/OPENUAS/openuas_taxiiii.xml b/conf/airframes/OPENUAS/openuas_taxiiii.xml
index 2de950ce22..b508290a1d 100644
--- a/conf/airframes/OPENUAS/openuas_taxiiii.xml
+++ b/conf/airframes/OPENUAS/openuas_taxiiii.xml
@@ -228,7 +228,7 @@ or tuning_via?_transmitter config.
     <define name="MAXIMUM_AIRSPEED" value="20." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
-<!--    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN1\rATTT80\r&quot;"/> -->
+<!--    <define name="XBEE_INIT" value="ATPL2\rATRN1\rATTT80\r" type="string"/> -->
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
    <!-- <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>-->
 
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index b9ab81647b..d0e7d99998 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -116,7 +116,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
index 26241b1396..2de4870dac 100644
--- a/conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_chouchou_lisa_s.xml
@@ -168,8 +168,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml b/conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
index 8d383d6c23..71fb6c01c1 100644
--- a/conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
+++ b/conf/airframes/TUDELFT/IMAV2013/tudelft_quadrotor_lisa_s.xml
@@ -170,8 +170,8 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
index f68ecd0cd6..dbe31892ad 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_flip.xml
@@ -207,10 +207,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
index e9ced3802f..862b73e8f1 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_indi.xml
@@ -202,10 +202,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
index 750206107e..1bf7facb52 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_oa_clint_roland.xml
@@ -215,10 +215,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
index 6bd52a73bb..e4ee94b99a 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow.xml
@@ -197,9 +197,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
index ad585fd576..4d90f83bbb 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_ins.xml
@@ -202,9 +202,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
index 401c45dc1c..048bfacb91 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_opticflow_stereo.xml
@@ -198,9 +198,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml b/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
index df4862897f..054c26e745 100644
--- a/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
+++ b/conf/airframes/TUDELFT/tudelft_ardrone2_optitrack.xml
@@ -203,10 +203,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_mavtec4.xml b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
index 0a848ea444..b0ac4571e0 100644
--- a/conf/airframes/TUDELFT/tudelft_mavtec4.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec4.xml
@@ -190,9 +190,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/TUDELFT/tudelft_mavtec5.xml b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
index f189af323f..6278a985e7 100644
--- a/conf/airframes/TUDELFT/tudelft_mavtec5.xml
+++ b/conf/airframes/TUDELFT/tudelft_mavtec5.xml
@@ -188,9 +188,9 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES"  value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml b/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
index ede1e0ec4a..a120d60b18 100644
--- a/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
+++ b/conf/airframes/TUDELFT/tudelft_rm_ardrone2.xml
@@ -209,10 +209,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml b/conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml
index 643b2afde1..d8b06133af 100644
--- a/conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml
+++ b/conf/airframes/TUDELFT/tudelft_silverlit_lisas.xml
@@ -132,9 +132,9 @@ Lisa/S v1.0 board (http://wiki.paparazziuav.org/wiki/Lisa/S)
 
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES" value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/examples/ardrone2_px4flow_hover.xml b/conf/airframes/examples/ardrone2_px4flow_hover.xml
index e51c69f6f7..36abc0eb03 100644
--- a/conf/airframes/examples/ardrone2_px4flow_hover.xml
+++ b/conf/airframes/examples/ardrone2_px4flow_hover.xml
@@ -211,10 +211,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/examples/lisa_l_chimu.xml b/conf/airframes/examples/lisa_l_chimu.xml
index 1fd326a61b..435688c67d 100644
--- a/conf/airframes/examples/lisa_l_chimu.xml
+++ b/conf/airframes/examples/lisa_l_chimu.xml
@@ -78,7 +78,7 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index 14cafe74d4..44919c147f 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -90,7 +90,7 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/examples/yapaChimuSpi.xml b/conf/airframes/examples/yapaChimuSpi.xml
index 277d8d1d1f..a733754cd8 100644
--- a/conf/airframes/examples/yapaChimuSpi.xml
+++ b/conf/airframes/examples/yapaChimuSpi.xml
@@ -107,7 +107,7 @@
     <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+    <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
 <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
diff --git a/conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_fw.xml b/conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_fw.xml
index 39d68f3327..3bd1dc0e1e 100644
--- a/conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_fw.xml
+++ b/conf/airframes/testhardware/LisaL_v1.1_aspirin_v1.5_fw.xml
@@ -82,7 +82,7 @@
         <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
         <define name="CARROT" value="5." unit="s"/>
         <define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
-        <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+        <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
         <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
         <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     </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 5adc11c697..bff755e364 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
@@ -205,9 +205,9 @@
     </section>
 
     <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+        <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+        <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+        <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     </section>
 
 </airframe>
diff --git a/conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml b/conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml
index fc85511aef..e98d68891b 100644
--- a/conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml
+++ b/conf/airframes/testhardware/LisaL_v1.1_b2_v1.2_fw.xml
@@ -81,7 +81,7 @@
     <section name="MISC">
         <define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
         <define name="CARROT" value="5." unit="s"/>
-        <define name="XBEE_INIT" value="&quot;ATPL2\rATRN5\rATTT80\r&quot;"/>
+        <define name="XBEE_INIT" value="ATPL2\rATRN5\rATTT80\r" type="string"/>
         <!--    <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
         <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     </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 7d6160ecea..3a96af2d71 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
@@ -230,9 +230,9 @@
     </section>
 
     <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+        <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+        <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+        <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     </section>
 
 </airframe>
diff --git a/conf/airframes/untested/ardrone2_indi.xml b/conf/airframes/untested/ardrone2_indi.xml
index e9ced3802f..862b73e8f1 100644
--- a/conf/airframes/untested/ardrone2_indi.xml
+++ b/conf/airframes/untested/ardrone2_indi.xml
@@ -202,10 +202,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/ardrone2_optitrack.xml b/conf/airframes/untested/ardrone2_optitrack.xml
index 2f2ef5808e..a396fe1aa8 100644
--- a/conf/airframes/untested/ardrone2_optitrack.xml
+++ b/conf/airframes/untested/ardrone2_optitrack.xml
@@ -201,10 +201,10 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
-    <define name="JSBSIM_MODEL" value="&quot;simple_ardrone2&quot;"/>
-    <define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_ardrone2.h&quot;"/>
+    <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
+    <define name="JSBSIM_INIT" value="reset00" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml b/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
index e6adf572d9..efabfad6e6 100644
--- a/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_bre_hexa_mkk.xml
@@ -205,8 +205,8 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/krooz_sd_hexa_mkk.xml b/conf/airframes/untested/krooz_sd_hexa_mkk.xml
index 827b66c306..4cc05759d1 100644
--- a/conf/airframes/untested/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_hexa_mkk.xml
@@ -205,8 +205,8 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/krooz_sd_okto_mkk.xml b/conf/airframes/untested/krooz_sd_okto_mkk.xml
index cc9f215ce4..fc13992351 100644
--- a/conf/airframes/untested/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/untested/krooz_sd_okto_mkk.xml
@@ -210,8 +210,8 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/krooz_sd_quad_pwm.xml b/conf/airframes/untested/krooz_sd_quad_pwm.xml
index 2d2021d3f0..00bd05c835 100644
--- a/conf/airframes/untested/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/untested/krooz_sd_quad_pwm.xml
@@ -199,9 +199,9 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/lisa_asctec.xml b/conf/airframes/untested/lisa_asctec.xml
index 9a4db4b4f5..826406feb1 100644
--- a/conf/airframes/untested/lisa_asctec.xml
+++ b/conf/airframes/untested/lisa_asctec.xml
@@ -164,9 +164,9 @@
  </section>
 
  <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+   <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+   <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+   <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
  </section>
 
  <modules main_freq="512">
diff --git a/conf/airframes/untested/quadrotor_lisa_m_mkk.xml b/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
index 453d9f00e6..2e582f3186 100644
--- a/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/untested/quadrotor_lisa_m_mkk.xml
@@ -176,9 +176,9 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/conf/airframes/untested/quadrotor_mlkf.xml b/conf/airframes/untested/quadrotor_mlkf.xml
index 13e774266a..5a7a88cf19 100644
--- a/conf/airframes/untested/quadrotor_mlkf.xml
+++ b/conf/airframes/untested/quadrotor_mlkf.xml
@@ -184,9 +184,9 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
     <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
     <define name="JS_AXIS_MODE" value="4"/>
   </section>
diff --git a/conf/airframes/untested/quadrotor_px4fmu.xml b/conf/airframes/untested/quadrotor_px4fmu.xml
index 91da1639ae..992d97c9e5 100644
--- a/conf/airframes/untested/quadrotor_px4fmu.xml
+++ b/conf/airframes/untested/quadrotor_px4fmu.xml
@@ -181,9 +181,9 @@
   </section>
 
   <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="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <define name="ACTUATOR_NAMES"  value="front_motor, back_motor, right_motor, left_motor" type="string[]"/>
+    <define name="JSBSIM_MODEL" value="simple_quad" type="string"/>
+    <define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
   </section>
 
   <section name="AUTOPILOT">