diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index 9dcd7df444..5146d71f5e 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -3,10 +3,12 @@
 <airframe name="synerani_4b">
 
   <servos min="0" neutral="0" max="0xff">
-    <servo name="FRONT"   no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="BACK"    no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="LEFT"    no="2" min="1000" neutral="1000" max="2000"/>
-    <servo name="RIGHT"   no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="A1"            no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="A2"            no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="B1"            no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="B2"            no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
+    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
   </servos>
 
   <commands>
@@ -15,20 +17,21 @@
     <axis name="YAW"    failsafe_value="0"/>
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
-
+  
+  <!--
   <command_laws>
-    <!--<let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="aildderon"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
     <set servo="MOTOR"         value="@THROTTLE"/>
     <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-    -->
     <set servo="FRONT" value="0"/>
     <set servo="BACK" value="1"/>
     <set servo="LEFT" value="2"/>
     <set servo="RIGHT" value="3"/>
 
   </command_laws>
+  -->
 
   <!-- for the sim -->
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
@@ -45,9 +48,9 @@
     <define name="TRIM_R" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
-    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
-    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
-    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+    <define name="ROLL_COEF"   value="{  256, -256,  256, -256 }"/>
+    <define name="PITCH_COEF"  value="{ -256, -256,  256,  256 }"/>
+    <define name="YAW_COEF"    value="{    0,    0,    0,    0 }"/>
     <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
     <!--define name="MAX_POSITIVE_MOTOR_STEP" value="5"/-->
   </section>
@@ -56,9 +59,9 @@
 
   <section name="IMU" prefix="IMU_">
     
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 225. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 180. )"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  90. )"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(   0. )"/>
 
   </section>
 
@@ -204,8 +207,8 @@
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <subsystem name="ahrs"          type="cmpl"/>
-    <!--<subsystem name="ahrs"          type="ic"/>-->
+    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <subsystem name="ahrs"          type="ic"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">