diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index a5201efd9e..723e050614 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -16,7 +16,9 @@
     <define name="GUIDANCE_H_USE_REF"/>
 
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="actuators"     type="mkk">
+      <configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->
+    </subsystem>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>
@@ -38,13 +40,6 @@
     <!--load name="sonar_maxbotix_booz.xml"/-->
   </modules>
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
-    <servo name="BACK" no="1" min="0" neutral="0" max="255" />
-    <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
-    <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
-  </servos>
-
   <commands>
     <axis name="PITCH" failsafe_value="0" />
     <axis name="ROLL" failsafe_value="0" />
@@ -84,10 +79,6 @@
     <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
     <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
 
-    <define name="ACCEL_X_CHAN" value="3" />
-    <define name="ACCEL_Y_CHAN" value="5" />
-    <define name="ACCEL_Z_CHAN" value="6" />
-
     <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
     <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
index f70c299815..3ea53af26e 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
@@ -1,8 +1,15 @@
 #
-# Booz Mikrokopter Actuators
+# Mikrokopter Actuators
+#
+# enable the subsystem for your firmware:
+# <firmware name="rotorcraft">
+#   ...
+#   <subsystem name="actuators"     type="mkk">
+#     <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
+# </firmware>
 #
 #
-# required xml:
+# required xml configuration:
 #  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
 #    <define name="NB" value="4"/>
 #    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
@@ -24,8 +31,11 @@
 #
 #
 
+# set default i2c timing if not already configured
+ifeq ($(MKK_I2C_SCL_TIME), )
+MKK_I2C_SCL_TIME=150
+endif
 
-#
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 ap.srcs += mcu_periph/i2c.c
@@ -33,7 +43,7 @@ ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10
 else ifeq ($(ARCH), stm32)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
 ap.CFLAGS += -DUSE_I2C1
@@ -42,6 +52,6 @@ endif
 # Simulator
 sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
 sim.srcs += mcu_periph/i2c.c
 sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index d1f02766d7..e0853e4bab 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -36,7 +36,7 @@
 #if defined USE_UART0 || defined USE_UART1  || defined USE_UART2 || defined USE_UART3 || defined USE_UART4  || defined USE_UART5
 #include "mcu_periph/uart.h"
 #endif
-#if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2 
+#if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2
 #include "mcu_periph/i2c.h"
 #endif
 #if defined USE_ADC