diff --git a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
index 9cbf0286603b..2af06dfaeb0f 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@@ -28,10 +28,10 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
 
 # disable some checks to allow to fly
 # - without real battery
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
index 60a01fb403e6..2d60e580b140 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@@ -77,14 +77,14 @@ param set-default CA_SV_CS1_TYPE 2
 param set-default CA_SV_CS2_TRQ_P 1.0
 param set-default CA_SV_CS2_TYPE 3
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_FUNC8 203
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
 
 
 param set SYS_HITL 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
index b1b42bd3e35a..7ded23ce9d10 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@@ -27,10 +27,10 @@ param set-default CA_ROTOR3_PX -0.15
 param set-default CA_ROTOR3_PY 0.15
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
index 0ec506b68f95..3aea8d3e133a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@@ -27,13 +27,13 @@ param set-default CA_SV_CS2_TRQ_Y 1.0
 param set-default CA_SV_CS2_TYPE 4
 param set-default CA_SV_CS3_TYPE 10
 
-param set-default HIL_ACT_REV 2
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_FUNC3 203
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_FUNC5 204
-param set-default HIL_ACT_FUNC6 400
+param set-default PWM_MAIN_REV 2
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 400
 
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
index d47d11545be5..f662bbf29244 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@@ -43,11 +43,11 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC5 202
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_REV 32
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC5 202
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_REV 32
 
 param set-default MAV_TYPE 19
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil b/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil
index 7daed3eff97c..81c761f5e009 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1401_ssrc_holybro_x500.hil
@@ -32,10 +32,25 @@ param set-default CA_ROTOR3_PX -0.175
 param set-default CA_ROTOR3_PY 0.175
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+
+param set-default PWM_MAIN_MIN1 0
+param set-default PWM_MAIN_MIN2 0
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MIN4 0
+
+param set-default PWM_MAIN_MAX1 1000
+param set-default PWM_MAIN_MAX2 1000
+param set-default PWM_MAIN_MAX3 1000
+param set-default PWM_MAIN_MAX4 1000
+
+param set-default PWM_MAIN_DIS1 0
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 0
+param set-default PWM_MAIN_DIS4 0
 
 # Set takeoff ramp to disabled for a more decisive takeoff action
 param set-default MPC_TKO_RAMP_T 0
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil
index 06725298bcef..e23fdd48c148 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1404_ssrc_standard_vtol.hil
@@ -30,28 +30,41 @@ param set-default CA_ROTOR4_AZ 0.0
 param set-default CA_ROTOR4_PX 0.2
 
 # HITL PWM functions
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_MIN1 10
-param set-default HIL_ACT_MAX1 1500
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_MIN2 10
-param set-default HIL_ACT_MAX2 1500
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_MIN3 10
-param set-default HIL_ACT_MAX3 1500
-param set-default HIL_ACT_FUNC4 104
-param set-default HIL_ACT_MIN4 10
-param set-default HIL_ACT_MAX4 1500
-param set-default HIL_ACT_FUNC5 105
-param set-default HIL_ACT_MIN5 0
-param set-default HIL_ACT_MAX5 3500
-param set-default HIL_ACT_FUNC6 201
-param set-default HIL_ACT_DIS6 500
-param set-default HIL_ACT_FUNC7 202
-param set-default HIL_ACT_DIS7 500
-param set-default HIL_ACT_FUNC8 203
-param set-default HIL_ACT_DIS8 500
+param set PWM_MAIN_FUNC1 101
+param set PWM_MAIN_FUNC2 102
+param set PWM_MAIN_FUNC3 103
+param set PWM_MAIN_FUNC4 104
+param set PWM_MAIN_FUNC5 105
+param set PWM_MAIN_FUNC6 201
+param set PWM_MAIN_FUNC7 202
+param set PWM_MAIN_FUNC8 203
 
+param set PWM_MAIN_MIN1 10
+param set PWM_MAIN_MIN2 10
+param set PWM_MAIN_MIN3 10
+param set PWM_MAIN_MIN4 10
+param set PWM_MAIN_MIN5 0
+param set PWM_MAIN_MIN6 0
+param set PWM_MAIN_MIN7 0
+param set PWM_MAIN_MIN8 0
+
+param set PWM_MAIN_MAX1 1500
+param set PWM_MAIN_MAX2 1500
+param set PWM_MAIN_MAX3 1500
+param set PWM_MAIN_MAX4 1500
+param set PWM_MAIN_MAX5 3500
+param set PWM_MAIN_MAX6 1000
+param set PWM_MAIN_MAX7 1000
+param set PWM_MAIN_MAX8 1000
+
+param set PWM_MAIN_DIS1 0
+param set PWM_MAIN_DIS2 0
+param set PWM_MAIN_DIS3 0
+param set PWM_MAIN_DIS4 0
+param set PWM_MAIN_DIS5 0
+param set PWM_MAIN_DIS6 500
+param set PWM_MAIN_DIS7 500
+param set PWM_MAIN_DIS8 500
 
 param set-default ASPD_PRIMARY 1
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil b/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil
index 1479ac19c747..0b8f1cf2f2fd 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1440_ssrc_skywalker_x8.hil
@@ -21,13 +21,21 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_R 0.5
 
 # HITL PWM functions
-param set-default HIL_ACT_FUNC1 201
-param set-default HIL_ACT_DIS1 500
-param set-default HIL_ACT_FUNC2 202
-param set-default HIL_ACT_DIS2 500
-param set-default HIL_ACT_FUNC4 101
-param set-default HIL_ACT_MIN4 150
-param set-default HIL_ACT_MAX4 1000
+param set PWM_MAIN_FUNC1 201
+param set PWM_MAIN_FUNC2 202
+param set PWM_MAIN_FUNC4 101
+
+param set PWM_MAIN_MIN1 0
+param set PWM_MAIN_MIN2 0
+param set PWM_MAIN_MIN4 150
+
+param set PWM_MAIN_MAX1 1000
+param set PWM_MAIN_MAX2 1000
+param set PWM_MAIN_MAX4 3000
+
+param set PWM_MAIN_DIS1 500
+param set PWM_MAIN_DIS2 500
+param set PWM_MAIN_DIS4 0
 
 # Airspeed parameters
 param set-default ASPD_PRIMARY 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor b/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
index 59ffc5030294..8c51a35b4c4a 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/4401_ssrc_fog_x_tmotor
@@ -51,12 +51,6 @@ param set-default PWM_MAIN_FUNC2 102
 param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 
-# HITL PWM functions
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
 # Increase velocity controller P gain
 param set-default MPC_XY_VEL_P_ACC 2.4
 
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 3e9e98706795..eed5b59d58de 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -355,11 +355,6 @@ else
 	#
 	if param greater SYS_HITL 0
 	then
-		if ! pwm_out_sim start -m hil
-		then
-			tune_control play error
-		fi
-
 		sensors start -h
 		commander start -h
 		# disable GPS
diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index bdc4dd4362a2..db358c3e4d0e 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -5,7 +5,6 @@ CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
diff --git a/src/drivers/pwm_esc/pwm_esc.cpp b/src/drivers/pwm_esc/pwm_esc.cpp
index b12a9e1d2970..b96419c255a5 100644
--- a/src/drivers/pwm_esc/pwm_esc.cpp
+++ b/src/drivers/pwm_esc/pwm_esc.cpp
@@ -33,7 +33,7 @@
 
 /**
  * @file pwm_esc.cpp
- * Driver for the NuttX PWM driver controleed escs
+ * Driver for the NuttX PWM driver controlled escs
  *
  */
 
@@ -352,19 +352,25 @@ PWMESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigne
 	} else {
 		// In hitl, publish actuator_outputs_sim
 		// Only publish once we receive actuator_controls (important for lock-step to work correctly)
-		actuator_outputs_s actuator_outputs_sim{};
 
 		if (num_control_groups_updated > 0) {
+			actuator_outputs_s actuator_outputs_sim{};
+			actuator_outputs_sim.noutputs = num_outputs;
+
+			const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
+
 			for (int i = 0; i < (int)num_outputs; i++) {
 				uint16_t disarmed = _mixing_output.disarmedValue(i);
 				uint16_t min = _mixing_output.minValue(i);
 				uint16_t max = _mixing_output.maxValue(i);
 
 				OutputFunction function = _mixing_output.outputFunction(i);
+				bool is_reversible = reversible_outputs & (1u << i);
 				float output = outputs[i];
 
-				if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax)) {
-					// Scale motors to [0, 1]
+				if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax
+				     && !is_reversible)) {
+					// Scale non-reversible motors to [0, 1]
 					actuator_outputs_sim.output[i] = (output - disarmed) / (max - disarmed);
 
 				} else {
@@ -633,7 +639,7 @@ int PWMESC::print_usage(const char *reason)
 	PRINT_MODULE_DESCRIPTION(
 		R"DESCR_STR(
 ### Description
-Driver for PWM outputs.
+Driver for PWM outputs. Used also in HITL mode.
 
 )DESCR_STR");
 
diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp
index fe6cb7977293..1ac0b2a0f079 100644
--- a/src/lib/mixer_module/mixer_module_tests.cpp
+++ b/src/lib/mixer_module/mixer_module_tests.cpp
@@ -44,11 +44,7 @@
 
 #include "mixer_module.hpp"
 
-#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
 #define PARAM_PREFIX "PWM_MAIN"
-#else
-#define PARAM_PREFIX "HIL_ACT"
-#endif
 
 static constexpr int max_num_outputs = 8;
 
diff --git a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
index 01d317b66975..72bd6a4c2ea1 100644
--- a/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
+++ b/src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
@@ -79,8 +79,16 @@ class MavlinkStreamHILActuatorControls : public MavlinkStream, ModuleParams
 
 		for (int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; ++i) {
 			char param_name[17];
-			snprintf(param_name, sizeof(param_name), "%s_%s%d", "HIL_ACT", "FUNC", i + 1);
-			param_get(param_find(param_name), &_output_functions[i]);
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", "PWM_MAIN", "FUNC", i + 1);
+			param_t param_handle = param_find(param_name);
+
+			if (param_handle == PARAM_INVALID) {
+				_output_functions[i] = 0;
+				continue;
+
+			} else {
+				param_get(param_handle, &_output_functions[i]);
+			}
 		}
 	}
 
diff --git a/ssrc_config/config_hitl_eth_gzsim_fw.txt b/ssrc_config/config_hitl_eth_gzsim_fw.txt
index 9ae79fdaa53c..49fe7f29b0d7 100644
--- a/ssrc_config/config_hitl_eth_gzsim_fw.txt
+++ b/ssrc_config/config_hitl_eth_gzsim_fw.txt
@@ -28,47 +28,30 @@ param set COM_RC_IN_MODE 1
 # EKF2
 param set EKF2_MULTI_IMU 1
 
+# Disable ESC arming check
+param set FD_ESCS_EN 0
+
 ####################################
 # specific fw HITL configuration
 ####################################
 
-# Override airframe defaults
-param set ASPD_DO_CHECKS 7
-param set FW_LAUN_DETCN_ON 0
-
 # HITL PWM functions
-param set HIL_ACT_FUNC1 201
-param set HIL_ACT_DIS1 500
-param set HIL_ACT_FUNC2 202
-param set HIL_ACT_DIS2 500
-param set HIL_ACT_FUNC4 101
-param set HIL_ACT_MIN4 150
-param set HIL_ACT_MAX4 3000
-
-# Control allocator parameters
-param set CA_AIRFRAME 1
-param set CA_ROTOR_COUNT 1
-param set CA_SV_CS_COUNT 2
-param set CA_SV_CS0_TYPE 5
-param set CA_SV_CS0_TRQ_P 0.5
-param set CA_SV_CS0_TRQ_R -0.5
-param set CA_SV_CS1_TYPE 6
-param set CA_SV_CS1_TRQ_P 0.5
-param set CA_SV_CS1_TRQ_R 0.5
+# TODO: adapt gz model to remove custom HITL min, max and disarmed limit
+param set PWM_MAIN_MIN1 0
+param set PWM_MAIN_MIN2 0
 
-# Airspeed parameters
-param set ASPD_PRIMARY 1
+param set PWM_MAIN_MAX1 1000
+param set PWM_MAIN_MAX2 1000
+param set PWM_MAIN_MAX4 3000
 
-# Maximum landing slope angle in deg
-param set FW_LND_ANG 8.0
+param set PWM_MAIN_DIS1 500
+param set PWM_MAIN_DIS2 500
+param set PWM_MAIN_DIS4 0
 
-# RC loss failsafe to HOLD mode
-param set COM_RC_IN_MODE 1
-
-# Maximum manual roll angle
-param set FW_MAN_R_MAX 60.0
+# Change airspeed checks
+param set ASPD_DO_CHECKS 7
 
-# Fixed wing control
+# FW control
 # Pitch rate
 param set FW_PR_P 0.9
 param set FW_PR_FF 0.5
@@ -94,13 +77,9 @@ param set FW_T_CLMB_MAX 8.0
 param set FW_T_SINK_MAX 2.7
 param set FW_T_SINK_MIN 2.2
 
-# Navigation
-param set NAV_ACC_RAD 15.0
-param set NAV_DLL_ACT 2
-
-# Misc
+# FW takeoff / landing
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 30.0
 param set FW_LND_USETER 0
-param set RWTO_TKOFF 1
-param set FD_ESCS_EN 0
+param set FW_LAUN_DETCN_ON 0
+param set RWTO_TKOFF 1
\ No newline at end of file
diff --git a/ssrc_config/config_hitl_eth_gzsim_mc.txt b/ssrc_config/config_hitl_eth_gzsim_mc.txt
index 5ed5e0e67266..c66e101915db 100644
--- a/ssrc_config/config_hitl_eth_gzsim_mc.txt
+++ b/ssrc_config/config_hitl_eth_gzsim_mc.txt
@@ -31,41 +31,11 @@ param set EKF2_MULTI_IMU 1
 # specific mc HITL configuration
 ####################################
 
-# HITL PWM functions
-param set-default HIL_ACT_FUNC1 101
-param set-default HIL_ACT_FUNC2 102
-param set-default HIL_ACT_FUNC3 103
-param set-default HIL_ACT_FUNC4 104
-
-param set-default CA_ROTOR0_PX 0.175
-param set-default CA_ROTOR0_PY 0.175
-param set-default CA_ROTOR0_KM  0.05
-
-param set-default CA_ROTOR1_PX -0.175
-param set-default CA_ROTOR1_PY -0.175
-param set-default CA_ROTOR1_KM  0.05
-
-param set-default CA_ROTOR2_PX 0.175
-param set-default CA_ROTOR2_PY -0.175
-param set-default CA_ROTOR2_KM -0.05
-
-param set-default CA_ROTOR3_PX -0.175
-param set-default CA_ROTOR3_PY 0.175
-param set-default CA_ROTOR3_KM -0.05
-
-# extra
-param set-default MPC_THR_HOVER 0.60
 param set COM_RCL_EXCEPT 4
 param set NAV_DLL_ACT 0
 param set NAV_RCL_ACT 0
 param set MAV_0_BROADCAST 1
 param set IMU_GYRO_CUTOFF 60
 param set IMU_DGYRO_CUTOFF 30
-param set MC_ROLLRATE_P 0.14
-param set MC_PITCHRATE_P 0.14
-param set MC_ROLLRATE_I 0.3
-param set MC_PITCHRATE_I 0.3
-param set MC_ROLLRATE_D 0.004
-param set MC_PITCHRATE_D 0.004
 param set BAT_N_CELLS 4
 param set SDLOG_MODE 0
\ No newline at end of file
diff --git a/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt b/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt
index 1093870464a7..28e5e9ff7c09 100644
--- a/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt
+++ b/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt
@@ -28,148 +28,46 @@ param set COM_RC_IN_MODE 1
 # EKF2
 param set EKF2_MULTI_IMU 1
 
+# Bypass some ESC checks
+param set FD_ACT_EN 0
+param set FD_ACT_MOT_TOUT 500
+param set FD_ESCS_EN 0
+
 ####################################
 # specific vtol HITL configuration
 ####################################
 
 # HITL PWM functions
-param set HIL_ACT_FUNC1 101
-param set HIL_ACT_MIN1 10
-param set HIL_ACT_MAX1 1500
-param set HIL_ACT_FUNC2 102
-param set HIL_ACT_MIN2 10
-param set HIL_ACT_MAX2 1500
-param set HIL_ACT_FUNC3 103
-param set HIL_ACT_MIN3 10
-param set HIL_ACT_MAX3 1500
-param set HIL_ACT_FUNC4 104
-param set HIL_ACT_MIN4 10
-param set HIL_ACT_MAX4 1500
-param set HIL_ACT_FUNC5 201
-param set HIL_ACT_DIS5 500
-param set HIL_ACT_FUNC6 202
-param set HIL_ACT_DIS6 500
-param set HIL_ACT_FUNC7 203
-param set HIL_ACT_DIS7 500
-param set HIL_ACT_FUNC8 204
-param set HIL_ACT_DIS8 500
-param set HIL_ACT_FUNC9 205
-param set HIL_ACT_DIS9 500
-param set HIL_ACT_FUNC10 105
-param set HIL_ACT_MIN10 0
-param set HIL_ACT_MAX10 3500
-
-# Control allocator parameters
-param set CA_AIRFRAME 2
-param set CA_ROTOR_COUNT 5
-param set CA_ROTOR0_PX 0.37
-param set CA_ROTOR0_PY 0.42
-param set CA_ROTOR1_PX -0.41
-param set CA_ROTOR1_PY -0.42
-param set CA_ROTOR2_PX 0.37
-param set CA_ROTOR2_PY -0.42
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.41
-param set CA_ROTOR3_PY 0.42
-param set CA_ROTOR3_KM -0.05
-param set CA_ROTOR4_AX 1.0
-param set CA_ROTOR4_AZ 0.0
-param set CA_ROTOR4_PX 0.0
-param set CA_ROTOR4_KM 0.05
-
-param set CA_SV_CS_COUNT 5
-param set CA_SV_CS0_TYPE 1
-param set CA_SV_CS0_TRQ_R -0.5
-param set CA_SV_CS1_TYPE 2
-param set CA_SV_CS1_TRQ_R 0.5
-param set CA_SV_CS2_TYPE 3
-param set CA_SV_CS2_TRQ_P 1.0
-param set CA_SV_CS2_TRIM 0.1
-param set CA_SV_CS3_TYPE 3
-param set CA_SV_CS3_TRQ_P 1.0
-param set CA_SV_CS3_TRIM 0.1
-param set CA_SV_CS4_TYPE 4
-param set CA_SV_CS4_TRQ_Y 1.0
-
-# Fixed wing specific
-param set FW_RR_IMAX 0.4000
-param set FW_YR_IMAX 0.4000
-
-param set FW_YR_P 0.2
-param set FW_YR_I 0.01
-
-param set FW_RR_FF 0.5
-param set FW_RR_P 0.05
-param set FW_RR_I 0.1
-param set FW_RR_IMAX 0.4
-
-param set FW_R_LIM 50.0
-param set FW_R_RMAX 70.0
-param set FW_R_TC 0.4
-
-param set FW_PR_FF 0.5
-param set FW_PR_I 0.1
-param set FW_PR_IMAX 0.4
-
-param set FW_P_LIM_MAX 30.0
-param set FW_P_LIM_MIN -30.0
-
-# Airspeed parameters
-param set ASPD_PRIMARY 1
-param set FW_AIRSPD_MAX 25.0
-param set FW_AIRSPD_MIN 15.0
-param set FW_AIRSPD_STALL 12.0
-param set FW_AIRSPD_TRIM 18.0
-
-# VTOL specific
-# VTOL type
-param set VT_TYPE 2
-
-# Airspeed at which we can start blending both fw and mc controls.
-param set VT_ARSP_BLEND 8.0
-
-# Airspeed at which we can switch to fw mode
-param set VT_ARSP_TRANS 14.0
-
-# Back-transition duration
-param set VT_B_TRANS_DUR 10.0
-param set VT_B_TRANS_RAMP 3.0
-
-# Transition duration
-param set VT_F_TRANS_DUR 6.0
-param set VT_F_TRANS_THR 1.0
-
-# VTOL takeoff
-param set MIS_TAKEOFF_ALT 10.0
-param set VTO_LOITER_ALT 10.0
-
-param set MC_AIRMODE 0
-param set MC_ROLLRATE_P 0.14
-param set MC_ROLLRATE_I 0.2
-param set MC_PITCHRATE_P 0.14
-param set MC_PITCHRATE_I 0.2
-param set MC_YAW_P 2.0
-param set MC_YAW_WEIGHT 0.5
-param set MC_YAWRATE_P 0.2
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_MAX 120.0
-
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 1.8
-param set MPC_XY_VEL_I_ACC 0.4
-param set MPC_XY_VEL_D_ACC 0.2
-param set MPC_YAW_MODE 4
-
-param set NAV_ACC_RAD 10.0
-
-# QuadChute altitude (transition to quad mode as a failsafe)
-param set VT_FW_MIN_ALT 5.0
-
-# QuadChute angle limits
-param set VT_FW_QC_P 35
-param set VT_FW_QC_R 60
-
-# Others
-param set FD_ACT_EN 0
-param set FD_ACT_MOT_TOUT 500
-param set FD_ESCS_EN 0
+# TODO: adapt gz model to remove custom HITL min, max and disarmed limit
+param set PWM_MAIN_MIN1 10
+param set PWM_MAIN_MIN2 10
+param set PWM_MAIN_MIN3 10
+param set PWM_MAIN_MIN4 10
+param set PWM_MAIN_MIN5 0
+param set PWM_MAIN_MIN6 0
+param set PWM_MAIN_MIN7 0
+param set PWM_MAIN_MIN8 0
+param set PWM_MAIN_MIN9 0
+param set PWM_MAIN_MIN10 0
+
+param set PWM_MAIN_MAX1 1500
+param set PWM_MAIN_MAX2 1500
+param set PWM_MAIN_MAX3 1500
+param set PWM_MAIN_MAX4 1500
+param set PWM_MAIN_MAX5 1000
+param set PWM_MAIN_MAX6 1000
+param set PWM_MAIN_MAX7 1000
+param set PWM_MAIN_MAX8 1000
+param set PWM_MAIN_MAX9 1000
+param set PWM_MAIN_MAX10 3500
+
+param set PWM_MAIN_DIS1 0
+param set PWM_MAIN_DIS2 0
+param set PWM_MAIN_DIS3 0
+param set PWM_MAIN_DIS4 0
+param set PWM_MAIN_DIS5 500
+param set PWM_MAIN_DIS6 500
+param set PWM_MAIN_DIS7 500
+param set PWM_MAIN_DIS8 500
+param set PWM_MAIN_DIS9 500
+param set PWM_MAIN_DIS10 0
diff --git a/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt b/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt
index fd6782354c37..3fc1eb7382e7 100644
--- a/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt
+++ b/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt
@@ -33,27 +33,41 @@ param set EKF2_MULTI_IMU 1
 ####################################
 
 # HITL PWM functions
-param set HIL_ACT_FUNC1 101
-param set HIL_ACT_MIN1 10
-param set HIL_ACT_MAX1 1500
-param set HIL_ACT_FUNC2 102
-param set HIL_ACT_MIN2 10
-param set HIL_ACT_MAX2 1500
-param set HIL_ACT_FUNC3 103
-param set HIL_ACT_MIN3 10
-param set HIL_ACT_MAX3 1500
-param set HIL_ACT_FUNC4 104
-param set HIL_ACT_MIN4 10
-param set HIL_ACT_MAX4 1500
-param set HIL_ACT_FUNC5 105
-param set HIL_ACT_MIN5 0
-param set HIL_ACT_MAX5 3500
-param set HIL_ACT_FUNC6 201
-param set HIL_ACT_DIS6 500
-param set HIL_ACT_FUNC7 202
-param set HIL_ACT_DIS7 500
-param set HIL_ACT_FUNC8 203
-param set HIL_ACT_DIS8 500
+param set PWM_MAIN_FUNC1 101
+param set PWM_MAIN_FUNC2 102
+param set PWM_MAIN_FUNC3 103
+param set PWM_MAIN_FUNC4 104
+param set PWM_MAIN_FUNC5 105
+param set PWM_MAIN_FUNC6 201
+param set PWM_MAIN_FUNC7 202
+param set PWM_MAIN_FUNC8 203
+
+param set PWM_MAIN_MIN1 10
+param set PWM_MAIN_MIN2 10
+param set PWM_MAIN_MIN3 10
+param set PWM_MAIN_MIN4 10
+param set PWM_MAIN_MIN5 0
+param set PWM_MAIN_MIN6 0
+param set PWM_MAIN_MIN7 0
+param set PWM_MAIN_MIN8 0
+
+param set PWM_MAIN_MAX1 1500
+param set PWM_MAIN_MAX2 1500
+param set PWM_MAIN_MAX3 1500
+param set PWM_MAIN_MAX4 1500
+param set PWM_MAIN_MAX5 3500
+param set PWM_MAIN_MAX6 1000
+param set PWM_MAIN_MAX7 1000
+param set PWM_MAIN_MAX8 1000
+
+param set PWM_MAIN_DIS1 0
+param set PWM_MAIN_DIS2 0
+param set PWM_MAIN_DIS3 0
+param set PWM_MAIN_DIS4 0
+param set PWM_MAIN_DIS5 0
+param set PWM_MAIN_DIS6 500
+param set PWM_MAIN_DIS7 500
+param set PWM_MAIN_DIS8 500
 
 
 # Control allocator parameters