diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h
index 3a23cedbaf..c8ba69b539 100644
--- a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h
+++ b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h
@@ -4,18 +4,6 @@
 #include "LPC21xx.h"
 #include "mcu_periph/sys_time.h"
 
-#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s)
-
-#define SERVO_REG_0 PWMMR5
-#define SERVO_REG_1 PWMMR3
-#define SERVO_REG_2 PWMMR1
-#define SERVO_REG_3 PWMMR6
-#define SERVO_REG_4 PWMMR4
-#define SERVO_REG_5 PWMMR2
-
-#define COMMAND_(i) SERVO_REG_ ## i
-#define ActuatorPwmSet(_i, _v) { COMMAND_(_i) = SERVOS_TICS_OF_USEC(_v); }
-
 
 /*
    wiring on classix PWM connector
@@ -29,35 +17,53 @@ PWM6        PWM2  SSEL0  EINT2   P0.7
 
 */
 
-#define PWM_PINSEL_MASK_VAL 3
+#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s)
 
-#define PWM_SERVO_0_PINSEL PINSEL1
-#define PWM_SERVO_0_PINSEL_VAL 1
-#define PWM_SERVO_0_PINSEL_BIT 10
-#define PWM_SERVO_0_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_0_PINSEL_BIT)
-#define PWM_SERVO_0_ENA PWMPCR_ENA5
-#define PWM_SERVO_0_LATCH PWMLER_LATCH5
+/* default definition of servo (from classix order) */
+#ifndef SERVO_REG_0
+#define SERVO_REG_0 PWMMR5
+#endif
+#ifndef SERVO_REG_1
+#define SERVO_REG_1 PWMMR3
+#endif
+#ifndef SERVO_REG_2
+#define SERVO_REG_2 PWMMR1
+#endif
+#ifndef SERVO_REG_3
+#define SERVO_REG_3 PWMMR6
+#endif
+#ifndef SERVO_REG_4
+#define SERVO_REG_4 PWMMR4
+#endif
+#ifndef SERVO_REG_5
+#define SERVO_REG_5 PWMMR2
+#endif
+
+#define COMMAND_(i) SERVO_REG_ ## i
+#define ActuatorPwmSet(_i, _v) { COMMAND_(_i) = SERVOS_TICS_OF_USEC(_v); }
+
+#define PWM_PINSEL_MASK_VAL 3
 
 #define PWM_SERVO_1_PINSEL PINSEL0
 #define PWM_SERVO_1_PINSEL_VAL 2
-#define PWM_SERVO_1_PINSEL_BIT 2
+#define PWM_SERVO_1_PINSEL_BIT 0
 #define PWM_SERVO_1_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_1_PINSEL_BIT)
-#define PWM_SERVO_1_ENA PWMPCR_ENA3
-#define PWM_SERVO_1_LATCH PWMLER_LATCH3
+#define PWM_SERVO_1_ENA PWMPCR_ENA1
+#define PWM_SERVO_1_LATCH PWMLER_LATCH1
 
 #define PWM_SERVO_2_PINSEL PINSEL0
 #define PWM_SERVO_2_PINSEL_VAL 2
-#define PWM_SERVO_2_PINSEL_BIT 0
+#define PWM_SERVO_2_PINSEL_BIT 14
 #define PWM_SERVO_2_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_2_PINSEL_BIT)
-#define PWM_SERVO_2_ENA PWMPCR_ENA1
-#define PWM_SERVO_2_LATCH PWMLER_LATCH1
+#define PWM_SERVO_2_ENA PWMPCR_ENA2
+#define PWM_SERVO_2_LATCH PWMLER_LATCH2
 
 #define PWM_SERVO_3_PINSEL PINSEL0
 #define PWM_SERVO_3_PINSEL_VAL 2
-#define PWM_SERVO_3_PINSEL_BIT 18
+#define PWM_SERVO_3_PINSEL_BIT 2
 #define PWM_SERVO_3_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_3_PINSEL_BIT)
-#define PWM_SERVO_3_ENA PWMPCR_ENA6
-#define PWM_SERVO_3_LATCH PWMLER_LATCH6
+#define PWM_SERVO_3_ENA PWMPCR_ENA3
+#define PWM_SERVO_3_LATCH PWMLER_LATCH3
 
 #define PWM_SERVO_4_PINSEL PINSEL0
 #define PWM_SERVO_4_PINSEL_VAL 2
@@ -66,12 +72,19 @@ PWM6        PWM2  SSEL0  EINT2   P0.7
 #define PWM_SERVO_4_ENA PWMPCR_ENA4
 #define PWM_SERVO_4_LATCH PWMLER_LATCH4
 
-#define PWM_SERVO_5_PINSEL PINSEL0
-#define PWM_SERVO_5_PINSEL_VAL 2
-#define PWM_SERVO_5_PINSEL_BIT 14
+#define PWM_SERVO_5_PINSEL PINSEL1
+#define PWM_SERVO_5_PINSEL_VAL 1
+#define PWM_SERVO_5_PINSEL_BIT 10
 #define PWM_SERVO_5_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_5_PINSEL_BIT)
-#define PWM_SERVO_5_ENA PWMPCR_ENA2
-#define PWM_SERVO_5_LATCH PWMLER_LATCH2
+#define PWM_SERVO_5_ENA PWMPCR_ENA5
+#define PWM_SERVO_5_LATCH PWMLER_LATCH5
+
+#define PWM_SERVO_6_PINSEL PINSEL0
+#define PWM_SERVO_6_PINSEL_VAL 2
+#define PWM_SERVO_6_PINSEL_BIT 18
+#define PWM_SERVO_6_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_6_PINSEL_BIT)
+#define PWM_SERVO_6_ENA PWMPCR_ENA6
+#define PWM_SERVO_6_LATCH PWMLER_LATCH6
 
 extern const uint8_t pwm_latch_value;
 
diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h
index 3516c091d4..5fed1bd9d2 100644
--- a/sw/airborne/boards/booz_1.0.h
+++ b/sw/airborne/boards/booz_1.0.h
@@ -147,16 +147,21 @@
 #define MS2100_DRDY_EINT 3
 #define MS2100_DRDY_VIC_IT VIC_EINT3
 
-/* BOOZ PWM0 = PWM_SERVO_0 (driver) = PWM5 (lpc)
+
+/* Servo definition for actruators_pwm driver */
+
+/* BOOZ PWM0 = PWM_SERVO_5 (driver) = PWM5 (lpc)
  * on CAM connector */
 #if USE_PWM0
-#define PWM_SERVO_0 1
+#define PWM_SERVO_5 1
+#define SERVO_REG_0 PWMMR5
 #endif
 
-/* BOOZ PWM1 = PWM_SERVO_5 (driver) = PWM2 (lpc)
+/* BOOZ PWM1 = PWM_SERVO_2 (driver) = PWM2 (lpc)
  * on SPI connector */
 #if USE_PWM1
-#define PWM_SERVO_5 1
+#define PWM_SERVO_2 1
+#define SERVO_REG_1 PWMMR2
 #endif
 
 
diff --git a/sw/airborne/boards/navgo_1.0.h b/sw/airborne/boards/navgo_1.0.h
index f409143362..ea3ff20eee 100644
--- a/sw/airborne/boards/navgo_1.0.h
+++ b/sw/airborne/boards/navgo_1.0.h
@@ -88,14 +88,18 @@
 #define SPI1_DRDY_EINT         0
 #define SPI1_DRDY_VIC_IT       VIC_EINT0
 
-/* NAVGO PWM0 = PWM_SERVO_5 (driver) = PWM2 (lpc) */
+/* Servo definition for actruators_pwm driver */
+
+/* NAVGO PWM0 = PWM_SERVO_2 (driver) = PWM2 (lpc) */
 #if USE_PWM0
-#define PWM_SERVO_5 1
+#define PWM_SERVO_2 1
+#define SERVO_REG_0 PWMMR2
 #endif
 
-/* NAVGO PWM1 = PWM_SERVO_0 (driver) = PWM5 (lpc) */
+/* NAVGO PWM1 = PWM_SERVO_5 (driver) = PWM5 (lpc) */
 #if USE_PWM1
-#define PWM_SERVO_0 1
+#define PWM_SERVO_5 1
+#define SERVO_REG_1 PWMMR5
 #endif
 
 #define BOARD_HAS_BARO 1