diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile
index 45fd6aaf54..167ccc3068 100644
--- a/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile
@@ -14,5 +14,5 @@ endif
 
 # Simulator
 sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11
+sim.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
 
diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile
index 30451deebb..6aa20bc4fc 100644
--- a/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile
@@ -29,3 +29,8 @@ ifeq ($(ARCH), stm32)
 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
+
+# Simulator
+sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+sim.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile
index 58b251fc06..874c998a31 100644
--- a/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile
@@ -33,17 +33,19 @@
 #
 #
 
+ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+
+ifeq ($(ARCH), lpc21)
+
 # 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 += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-
-ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=11
+
 else ifeq ($(ARCH), stm32)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
 ap.CFLAGS += -DUSE_I2C1
diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
index 5daf9d055f..d092a2ff9a 100644
--- a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
@@ -1,7 +1,12 @@
 
 # add actuatos arch to include directories
-ap.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
+$(TARGET).CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
 
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+
+# Simulator
+sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
+sim.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
deleted file mode 100644
index 2ed9a99455..0000000000
--- a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
+++ /dev/null
@@ -1,3 +0,0 @@
-#include "actuators/actuators_mkk.h"
-
-void actuators_mkk_arch_init(void) {}
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.c
similarity index 52%
rename from sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
rename to sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.c
index 399c3c6c78..b709aa9b14 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.c
@@ -1,29 +1,34 @@
 /*
- * $Id$
+ * Copyright (C) 2010 The Paparazzi Team
  *
- * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ * This file is part of Paparazzi.
  *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
+ * Paparazzi is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
  * the Free Software Foundation; either version 2, or (at your option)
  * any later version.
  *
- * paparazzi is distributed in the hope that it will be useful,
+ * Paparazzi is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
+ * along with Paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef ACTUATORS_MKK_ARCH_H
-#define ACTUATORS_MKK_ARCH_H
+/** @file arch/sim/actuators_pwm_arch.c
+ *  dummy servos handling for sim
+ */
 
-#define ActuatorsMkkArchSend() {}
+#include "firmwares/rotorcraft/actuators/actuators_pwm.h"
 
-#endif /* ACTUATORS_MKK_ARCH_H */
+void actuators_pwm_arch_init(void) {
+
+}
+
+void actuators_pwm_commit(void) {
+
+}
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h
new file mode 100644
index 0000000000..4e797628db
--- /dev/null
+++ b/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file arch/sim/actuators_pwm_arch.h
+ *  dummy servos handling for sim
+ */
+
+#ifndef ACTUATORS_PWM_ARCH_H
+#define ACTUATORS_PWM_ARCH_H
+
+#define ACTUATORS_PWM_NB 8
+
+extern void actuators_pwm_arch_init(void);
+extern void actuators_pwm_commit(void);
+
+#define ChopServo(_x,_a,_b) Chop(_x, _a, _b)
+#define Actuator(_x)  actuators_pwm_values[_x]
+#define SERVOS_TICS_OF_USEC(_v) (_v)
+
+#endif /* ACTUATORS_PWM_ARCH_H */