diff --git a/conf/Makefile.nps b/conf/Makefile.nps
index 2c6fc6eabf..d2d57ede4c 100644
--- a/conf/Makefile.nps
+++ b/conf/Makefile.nps
@@ -69,7 +69,7 @@ all compile: check_jsbsim $(OBJDIR)/simsitl
 
 
 check_jsbsim:
-	@echo Paparazzi jsbsim package found: $(JSBSIM_PKG)
+	@echo Paparazzi jsbsim package found: $(FIND_JSBSIM_VIA_PKG_CONFIG)
 
 
 $(OBJDIR)/simsitl : $($(TARGET).objs)
diff --git a/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile b/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
deleted file mode 100644
index 87fb635626..0000000000
--- a/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
+++ /dev/null
@@ -1,7 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-#
-# NPS SITL Simulator FDM backend based on CRRCSIM (MNAV inputdev)
-#
-
-nps.srcs += nps/nps_fdm_crrcsim.c
diff --git a/conf/firmwares/subsystems/shared/fdm_jsbsim.makefile b/conf/firmwares/subsystems/shared/fdm_jsbsim.makefile
deleted file mode 100644
index b8faeabb6a..0000000000
--- a/conf/firmwares/subsystems/shared/fdm_jsbsim.makefile
+++ /dev/null
@@ -1,23 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-#
-# JSBSim FDM backend for NPS Simulator
-#
-
-JSBSIM_ROOT ?= /opt/jsbsim
-JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
-JSBSIM_LIB = $(JSBSIM_ROOT)/lib
-
-# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
-JSBSIM_PKG ?= $(shell pkg-config JSBSim --exists && echo 'yes')
-ifeq ($(JSBSIM_PKG), yes)
-	nps.CFLAGS  += $(shell pkg-config JSBSim --cflags)
-	nps.LDFLAGS += $(shell pkg-config JSBSim --libs)
-else
-	JSBSIM_PKG = no
-	nps.CFLAGS  += -I$(JSBSIM_INC)
-	nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
-endif
-
-
-nps.srcs += nps/nps_fdm_jsbsim.cpp
diff --git a/conf/modules/fdm_crrcsim.xml b/conf/modules/fdm_crrcsim.xml
new file mode 100644
index 0000000000..332844c066
--- /dev/null
+++ b/conf/modules/fdm_crrcsim.xml
@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="fdm_crrcsim" dir="fdm">
+  <doc>
+    <description>
+      CRRCSIM FDM backend for NPS simulator
+
+      Only for fixed-wing.
+      CRRCSIM is running as an external program using the MNAV inputdev.
+      Download the patched version for Paparazzi on Github: https://github.com/paparazzi/crrcsim-pprz
+
+      CRRCSIM doc: https://github.com/paparazzi/crrcsim-pprz/tree/master/documentation
+      NPS doc: http://wiki.paparazziuav.org/wiki/NPS
+    </description>
+  </doc>
+  <header/>
+  <makefile target="nps" firmware="fixedwing">
+    <file name="nps_fdm_crrcsim.cpp" dir="nps"/>
+  </makefile>
+</module>
+
diff --git a/conf/modules/fdm_jsbsim.xml b/conf/modules/fdm_jsbsim.xml
new file mode 100644
index 0000000000..d282fb2458
--- /dev/null
+++ b/conf/modules/fdm_jsbsim.xml
@@ -0,0 +1,35 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="fdm_jsbsim" dir="fdm">
+  <doc>
+    <description>
+      JSBSim FDM backend for NPS simulator
+
+      Use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
+
+      JSBSim doc: http://wiki.paparazziuav.org/wiki/JSBSim
+      NPS doc: http://wiki.paparazziuav.org/wiki/NPS
+    </description>
+    <configure name="FIND_JSBSIM_VIA_PKG_CONFIG" value="yes|no" description="enable or disable using pkg-config to get library flags (enabled by default when package exists)"/>
+    <configure name="JSBSIM_ROOT" value="/opt/jsbsim" description="set root directory for JSBSim library when auto-detection (see FIND_JSBSIM_VIA_PKG_CONFIG) is not used (default path: /opt/jsbsim)"/>
+  </doc>
+  <header/>
+  <makefile target="nps">
+    <configure name="JSBSIM_ROOT" default="/opt/jsbsim"/>
+    <configure name="JSBSIM_INC" value="$(JSBSIM_ROOT)/include/JSBSim"/>
+    <configure name="JSBSIM_LIB" value="$(JSBSIM_ROOT)/lib"/>
+    <configure name="FIND_JSBSIM_VIA_PKG_CONFIG" default="$(shell pkg-config JSBSim --exists && echo 'yes')"/>
+    <raw>
+      ifeq ($(FIND_JSBSIM_VIA_PKG_CONFIG), yes)
+      nps.CFLAGS  += $(shell pkg-config JSBSim --cflags)
+      nps.LDFLAGS += $(shell pkg-config JSBSim --libs)
+      else
+      FIND_JSBSIM_VIA_PKG_CONFIG = no
+      nps.CFLAGS  += -I$(JSBSIM_INC)
+      nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
+      endif
+    </raw>
+    <file name="nps_fdm_jsbsim.cpp" dir="nps"/>
+  </makefile>
+</module>
+