diff --git a/conf/airframes/ardrone2.xml b/conf/airframes/ardrone2.xml
index eef5436ac4..10a934fbfd 100644
--- a/conf/airframes/ardrone2.xml
+++ b/conf/airframes/ardrone2.xml
@@ -52,22 +52,17 @@
     <define name="TRIM_ROLL" value="0"/>
     <define name="TRIM_PITCH" value="0"/>
     <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
 
     <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="ROLL_COEF" value="{   256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF" value="{   -256,  256, -256,  256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
+    <define name="TYPE" value="QUAD_X"/>
   </section>
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/ardrone2_indi.xml b/conf/airframes/ardrone2_indi.xml
index 9a5e319c42..dcb8cc0af8 100644
--- a/conf/airframes/ardrone2_indi.xml
+++ b/conf/airframes/ardrone2_indi.xml
@@ -53,22 +53,17 @@
     <define name="TRIM_ROLL" value="0"/>
     <define name="TRIM_PITCH" value="0"/>
     <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
 
     <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="ROLL_COEF" value="{   256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF" value="{   -256,  256, -256,  256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
+    <define name="TYPE" value="QUAD_X"/>
   </section>
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
   <section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/ardrone2_opticflow_hover.xml b/conf/airframes/ardrone2_opticflow_hover.xml
index b207f57f8e..db2e29cae3 100644
--- a/conf/airframes/ardrone2_opticflow_hover.xml
+++ b/conf/airframes/ardrone2_opticflow_hover.xml
@@ -48,22 +48,17 @@
     <define name="TRIM_ROLL" value="0"/>
     <define name="TRIM_PITCH" value="0"/>
     <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
 
     <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="ROLL_COEF" value="{   256, -256, -256,  256 }"/>
-    <define name="PITCH_COEF" value="{  256,  256, -256, -256 }"/>
-    <define name="YAW_COEF" value="{   -256,  256, -256,  256 }"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256 }"/>
+    <define name="TYPE" value="QUAD_X"/>
   </section>
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
    <section name="VISION" prefix="VISION_">
diff --git a/conf/airframes/bebop.xml b/conf/airframes/bebop.xml
index 338ae31145..22490aacea 100644
--- a/conf/airframes/bebop.xml
+++ b/conf/airframes/bebop.xml
@@ -60,26 +60,16 @@
   </servos>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
-    <define name="TRIM_ROLL" value="0"/>
-    <define name="TRIM_PITCH" value="0"/>
-    <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="255"/>
-    <define name="MAX_SATURATION_OFFSET" value="3*MAX_PPRZ"/>
-
     <!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
-    <define name="ROLL_COEF" value="   256, -256, -256,  256" type="int[]"/>
-    <define name="PITCH_COEF" value="  256,  256, -256, -256" type="int[]"/>
-    <define name="YAW_COEF" value="   -256,  256, -256,  256" type="int[]"/>
-    <define name="THRUST_COEF" value=" 256,  256,  256,  256" type="int[]"/>
+    <define name="TYPE" value="QUAD_X"/>
   </section>
 
   <command_laws>
     <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
-    <set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
-    <set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
-    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
-    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
+    <set servo="TOP_LEFT" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
+    <set servo="TOP_RIGHT" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
+    <set servo="BOTTOM_RIGHT" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
+    <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
   <section name="AIR_DATA" prefix="AIR_DATA_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index 3144c7ba43..f4f64b3ae2 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -63,7 +63,7 @@
   </commands>
 
   <section name="MIXING" prefix="MOTOR_MIXING_">
-    <!-- front/back turning CW, right/left CCW -->
+    <!-- front (CW), right (CCW), back (CW), left (CCW) -->
     <define name="TYPE" value="QUAD_PLUS"/>
   </section>
 
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index 437f486a92..2a39a5844b 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -49,13 +49,9 @@
     <define name="TRIM_ROLL" value="0"/>
     <define name="TRIM_PITCH" value="0"/>
     <define name="TRIM_YAW" value="0"/>
-    <define name="NB_MOTOR" value="4"/>
-    <define name="SCALE" value="256"/>
+
     <!-- FRONT CW, RIGHT CCW, BACK CW, LEFT CCW -->
-    <define name="ROLL_COEF"  value="{    0, -256,    0,  256}"/>
-    <define name="PITCH_COEF" value="{  256,    0, -256,    0}"/>
-    <define name="YAW_COEF"   value="{ -256,  256, -256,  256}"/>
-    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+    <define name="TYPE" value="QUAD_PLUS"/>
   </section>
 
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 781b1b5281..a736907821 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -211,7 +211,7 @@
   <aircraft
    name="bebop"
    ac_id="202"
-   airframe="airframes/bebop.xml"
+   airframe="airframes/bebop_indi.xml"
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"