diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 2e764b213a..b0a1f2b8b1 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -52,7 +52,8 @@
 
 #include "io/beeper.h"
 #include "io/display.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/gps.h"
@@ -530,7 +531,7 @@ static void writeIntraframe(void)
      * Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
      * Throttle lies in range [minthrottle..maxthrottle]:
      */
-    blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - masterConfig.escAndServoConfig.minthrottle);
+    blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - masterConfig.motorConfig.minthrottle);
 
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
         /*
@@ -574,7 +575,7 @@ static void writeIntraframe(void)
     blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
 
     //Motors can be below minthrottle when disarmed, but that doesn't happen much
-    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
+    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - masterConfig.motorConfig.minthrottle);
 
     //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
     for (x = 1; x < motorCount; x++) {
@@ -931,7 +932,7 @@ void stopInTestMode(void)
  */
 bool inMotorTestMode(void) {
     static uint32_t resetTime = 0;
-    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.escAndServoConfig.mincommand);
+    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.motorConfig.mincommand);
     int i;
     bool atLeastOneMotorActivated = false;
 
@@ -1198,8 +1199,8 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s",                 buildDate, buildTime);
         BLACKBOX_PRINT_HEADER_LINE("Craft name:%s",                       masterConfig.name);
         BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d",                    masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
-        BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      masterConfig.escAndServoConfig.minthrottle);
-        BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      masterConfig.escAndServoConfig.maxthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      masterConfig.motorConfig.minthrottle);
+        BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      masterConfig.motorConfig.maxthrottle);
         BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x",                     castFloatBytesToInt(gyro.scale));
         BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u",                           acc.acc_1G);
 
diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
index 18a18c5186..7532d58b09 100644
--- a/src/main/blackbox/blackbox_io.c
+++ b/src/main/blackbox/blackbox_io.c
@@ -32,7 +32,8 @@
 
 #include "io/beeper.h"
 #include "io/display.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "rx/rx.h"
 #include "fc/rc_controls.h"
 #include "io/osd.h"
diff --git a/src/main/config/config.c b/src/main/config/config.c
index f4786be177..fb5cb7eaf2 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -52,7 +52,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
@@ -235,19 +236,25 @@ void resetSensorAlignment(sensorAlignmentConfig_t *sensorAlignmentConfig)
     sensorAlignmentConfig->mag_align = ALIGN_DEFAULT;
 }
 
-void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
+void resetMotorConfig(motorConfig_t *motorConfig)
 {
 #ifdef BRUSHED_MOTORS
-    escAndServoConfig->minthrottle = 1000;
+    motorConfig->minthrottle = 1000;
 #else
-    escAndServoConfig->minthrottle = 1070;
+    motorConfig->minthrottle = 1070;
 #endif
-    escAndServoConfig->maxthrottle = 2000;
-    escAndServoConfig->mincommand = 1000;
-    escAndServoConfig->servoCenterPulse = 1500;
-    escAndServoConfig->maxEscThrottleJumpMs = 0;
+    motorConfig->maxthrottle = 2000;
+    motorConfig->mincommand = 1000;
+    motorConfig->maxEscThrottleJumpMs = 0;
 }
 
+#ifdef USE_SERVOS
+void resetServoConfig(servoConfig_t *servoConfig)
+{
+    servoConfig->servoCenterPulse = 1500;
+}
+#endif
+
 void resetFlight3DConfig(flight3DConfig_t *flight3DConfig)
 {
     flight3DConfig->deadband3d_low = 1406;
@@ -368,7 +375,7 @@ controlRateConfig_t *getControlRateConfig(uint8_t profileIndex)
 
 uint16_t getCurrentMinthrottle(void)
 {
-    return masterConfig.escAndServoConfig.minthrottle;
+    return masterConfig.motorConfig.minthrottle;
 }
 
 // Default settings
@@ -485,7 +492,10 @@ void createDefaultConfig(master_t *config)
     config->airplaneConfig.fixedwing_althold_dir = 1;
 
     // Motor/ESC/Servo
-    resetEscAndServoConfig(&config->escAndServoConfig);
+    resetMotorConfig(&config->motorConfig);
+#ifdef USE_SERVOS
+    resetServoConfig(&config->servoConfig);
+#endif
     resetFlight3DConfig(&config->flight3DConfig);
 
 #ifdef BRUSHED_MOTORS
@@ -639,7 +649,7 @@ static void resetConf(void)
 
 void activateControlRateConfig(void)
 {
-    generateThrottleCurve(currentControlRateProfile, &masterConfig.escAndServoConfig);
+    generateThrottleCurve(currentControlRateProfile, &masterConfig.motorConfig);
 }
 
 void activateConfig(void)
@@ -652,7 +662,7 @@ void activateConfig(void)
 
     useRcControlsConfig(
         masterConfig.modeActivationConditions,
-        &masterConfig.escAndServoConfig,
+        &masterConfig.motorConfig,
         &currentProfile->pidProfile
     );
 
@@ -674,7 +684,7 @@ void activateConfig(void)
 
     mixerUseConfigs(
         &masterConfig.flight3DConfig,
-        &masterConfig.escAndServoConfig,
+        &masterConfig.motorConfig,
         &masterConfig.mixerConfig,
         &masterConfig.airplaneConfig,
         &masterConfig.rxConfig
@@ -700,7 +710,7 @@ void activateConfig(void)
         &currentProfile->pidProfile,
         &masterConfig.barometerConfig,
         &masterConfig.rcControlsConfig,
-        &masterConfig.escAndServoConfig
+        &masterConfig.motorConfig
     );
 
 #ifdef BARO
diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
index e52d3050b3..ea163077cc 100644
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@@ -45,7 +45,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 6996068a9c..4883df44e5 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -28,7 +28,8 @@ typedef struct master_s {
 
     // motor/esc/servo related stuff
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
-    escAndServoConfig_t escAndServoConfig;
+    motorConfig_t motorConfig;
+    servoConfig_t servoConfig;
     flight3DConfig_t flight3DConfig;
 
     uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
diff --git a/src/main/config/feature.c b/src/main/config/feature.c
index 77b9069f35..4e4acf488f 100644
--- a/src/main/config/feature.c
+++ b/src/main/config/feature.c
@@ -45,7 +45,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index 0f67e4b028..85c140ddad 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -53,7 +53,8 @@
 
 #include "io/beeper.h"
 #include "io/display.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/gimbal.h"
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index dcbeedf8b1..1402d2b6ca 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -47,7 +47,7 @@
 
 #include "io/gps.h"
 #include "io/beeper.h"
-#include "io/escservo.h"
+#include "io/motors.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/vtx.h"
@@ -62,7 +62,7 @@
 
 #include "fc/mw.h"
 
-static escAndServoConfig_t *escAndServoConfig;
+static motorConfig_t *motorConfig;
 static pidProfile_t *pidProfile;
 
 // true if arming is done via the sticks (as opposed to a switch)
@@ -516,7 +516,7 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
         case ADJUSTMENT_THROTTLE_EXPO:
             newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
             controlRateConfig->thrExpo8 = newValue;
-            generateThrottleCurve(controlRateConfig, escAndServoConfig);
+            generateThrottleCurve(controlRateConfig, motorConfig);
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
         break;
         case ADJUSTMENT_PITCH_ROLL_RATE:
@@ -709,9 +709,9 @@ int32_t getRcStickDeflection(int32_t axis, uint16_t midrc) {
     return MIN(ABS(rcData[axis] - midrc), 500);
 }
 
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse)
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfig, pidProfile_t *pidProfileToUse)
 {
-    escAndServoConfig = escAndServoConfigToUse;
+    motorConfig = motorConfig;
     pidProfile = pidProfileToUse;
 
     isUsingSticksToArm = !isModeActivationConditionPresent(modeActivationConditions, BOXARM);
diff --git a/src/main/fc/rc_controls.h b/src/main/fc/rc_controls.h
index dd25f7fa57..87008c129e 100644
--- a/src/main/fc/rc_controls.h
+++ b/src/main/fc/rc_controls.h
@@ -263,5 +263,5 @@ bool isUsingSticksForArming(void);
 int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
 bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);
 struct pidProfile_s;
-struct escAndServoConfig_s;
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, struct escAndServoConfig_s *escAndServoConfigToUse, struct pidProfile_s *pidProfileToUse);
+struct motorConfig_s;
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, struct motorConfig_s *motorConfigToUse, struct pidProfile_s *pidProfileToUse);
diff --git a/src/main/fc/rc_curves.c b/src/main/fc/rc_curves.c
index ee69070d46..760f276f9a 100644
--- a/src/main/fc/rc_curves.c
+++ b/src/main/fc/rc_curves.c
@@ -23,7 +23,7 @@
 #include "config/config.h"
 #include "config/feature.h"
 
-#include "io/escservo.h"
+#include "io/motors.h"
 
 #include "fc/rc_curves.h"
 #include "fc/rc_controls.h"
@@ -34,10 +34,10 @@
 #define THROTTLE_LOOKUP_LENGTH 12
 static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH];    // lookup table for expo & mid THROTTLE
 
-void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoConfig_t *escAndServoConfig)
+void generateThrottleCurve(controlRateConfig_t *controlRateConfig, motorConfig_t *motorConfig)
 {
     uint8_t i;
-    uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : escAndServoConfig->minthrottle);
+    uint16_t minThrottle = (feature(FEATURE_3D && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) ? PWM_RANGE_MIN : motorConfig->minthrottle);
 
     for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
         int16_t tmp = 10 * i - controlRateConfig->thrMid8;
@@ -47,7 +47,7 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
         if (tmp < 0)
             y = controlRateConfig->thrMid8;
         lookupThrottleRC[i] = 10 * controlRateConfig->thrMid8 + tmp * (100 - controlRateConfig->thrExpo8 + (int32_t) controlRateConfig->thrExpo8 * (tmp * tmp) / (y * y)) / 10;
-        lookupThrottleRC[i] = minThrottle + (int32_t) (escAndServoConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
+        lookupThrottleRC[i] = minThrottle + (int32_t) (motorConfig->maxthrottle - minThrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
     }
 }
 
diff --git a/src/main/fc/rc_curves.h b/src/main/fc/rc_curves.h
index 9c1b361c2e..41132a98f3 100644
--- a/src/main/fc/rc_curves.h
+++ b/src/main/fc/rc_curves.h
@@ -18,8 +18,8 @@
 #pragma once
 
 struct controlRateConfig_s;
-struct escAndServoConfig_s;
-void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct escAndServoConfig_s *escAndServoConfig);
+struct motorConfig_s;
+void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct motorConfig_s *motorConfig);
 
 int16_t rcLookupThrottle(int32_t tmp);
 
diff --git a/src/main/flight/altitudehold.c b/src/main/flight/altitudehold.c
index ee2a2322a4..a6eea2088b 100644
--- a/src/main/flight/altitudehold.c
+++ b/src/main/flight/altitudehold.c
@@ -40,7 +40,7 @@
 #include "rx/rx.h"
 
 #include "fc/rc_controls.h"
-#include "io/escservo.h"
+#include "io/motors.h"
 
 #include "flight/mixer.h"
 #include "flight/pid.h"
@@ -60,19 +60,19 @@ int32_t vario = 0;                      // variometer in cm/s
 static barometerConfig_t *barometerConfig;
 static pidProfile_t *pidProfile;
 static rcControlsConfig_t *rcControlsConfig;
-static escAndServoConfig_t *escAndServoConfig;
+static motorConfig_t *motorConfig;
 
 void configureAltitudeHold(
         pidProfile_t *initialPidProfile,
         barometerConfig_t *intialBarometerConfig,
         rcControlsConfig_t *initialRcControlsConfig,
-        escAndServoConfig_t *initialEscAndServoConfig
+        motorConfig_t *initialMotorConfig
 )
 {
     pidProfile = initialPidProfile;
     barometerConfig = intialBarometerConfig;
     rcControlsConfig = initialRcControlsConfig;
-    escAndServoConfig = initialEscAndServoConfig;
+    motorConfig = initialMotorConfig;
 }
 
 #if defined(BARO) || defined(SONAR)
@@ -100,7 +100,7 @@ static void applyMultirotorAltHold(void)
                 AltHold = EstAlt;
                 isAltHoldChanged = 0;
             }
-            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
+            rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
         }
     } else {
         // slow alt changes, mostly used for aerial photography
@@ -114,7 +114,7 @@ static void applyMultirotorAltHold(void)
             velocityControl = 0;
             isAltHoldChanged = 0;
         }
-        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
+        rcCommand[THROTTLE] = constrain(initialThrottleHold + altHoldThrottleAdjustment, motorConfig->minthrottle, motorConfig->maxthrottle);
     }
 }
 
diff --git a/src/main/flight/altitudehold.h b/src/main/flight/altitudehold.h
index da16978814..b8d369b6db 100644
--- a/src/main/flight/altitudehold.h
+++ b/src/main/flight/altitudehold.h
@@ -25,10 +25,10 @@ void calculateEstimatedAltitude(uint32_t currentTime);
 struct pidProfile_s;
 struct barometerConfig_s;
 struct rcControlsConfig_s;
-struct escAndServoConfig_s;
-void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct escAndServoConfig_s *initialEscAndServoConfig);
+struct motorConfig_s;
+void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct motorConfig_s *initialMotorConfig);
 
-struct airplaneConfig_t;
+struct airplaneConfig_s;
 void applyAltHold(struct airplaneConfig_s *airplaneConfig);
 void updateAltHoldState(void);
 void updateSonarAltHoldState(void);
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index 86c8aef763..3df88b66ee 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -27,7 +27,7 @@
 #include "rx/rx.h"
 #include "drivers/system.h"
 #include "io/beeper.h"
-#include "io/escservo.h"
+#include "io/motors.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 76e5681673..09fcbe1f94 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -40,7 +40,8 @@
 #include "rx/rx.h"
 
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 
 #include "sensors/sensors.h"
@@ -64,7 +65,7 @@ int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
 static mixerConfig_t *mixerConfig;
 static flight3DConfig_t *flight3DConfig;
-static escAndServoConfig_t *escAndServoConfig;
+static motorConfig_t *motorConfig;
 static airplaneConfig_t *airplaneConfig;
 static rxConfig_t *rxConfig;
 static bool syncPwmWithPidLoop = false;
@@ -337,13 +338,13 @@ static motorMixer_t *customMixers;
 
 void mixerUseConfigs(
         flight3DConfig_t *flight3DConfigToUse,
-        escAndServoConfig_t *escAndServoConfigToUse,
+        motorConfig_t *motorConfigToUse,
         mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse,
         rxConfig_t *rxConfigToUse)
 {
     flight3DConfig = flight3DConfigToUse;
-    escAndServoConfig = escAndServoConfigToUse;
+    motorConfig = motorConfigToUse;
     mixerConfig = mixerConfigToUse;
     airplaneConfig = airplaneConfigToUse;
     rxConfig = rxConfigToUse;
@@ -548,7 +549,7 @@ void mixerResetDisarmedMotors(void)
     int i;
     // set disarmed motor values
     for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
-        motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
+        motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand;
 }
 
 #ifdef USE_SERVOS
@@ -659,7 +660,7 @@ void writeAllMotors(int16_t mc)
 
 void stopMotors(void)
 {
-    writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand);
+    writeAllMotors(feature(FEATURE_3D) ? flight3DConfig->neutral3d : motorConfig->mincommand);
 
     delay(50); // give the timers and ESCs a chance to react.
 }
@@ -798,25 +799,25 @@ void mixTable(void *pidProfilePtr)
 
         if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig->deadband3d_low;
-            throttleMin = escAndServoConfig->minthrottle;
+            throttleMin = motorConfig->minthrottle;
             throttlePrevious = rcCommand[THROTTLE];
             throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
         } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
-            throttleMax = escAndServoConfig->maxthrottle;
+            throttleMax = motorConfig->maxthrottle;
             throttleMin = flight3DConfig->deadband3d_high;
             throttlePrevious = rcCommand[THROTTLE];
             throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
         } else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttle = throttleMax = flight3DConfig->deadband3d_low;
-            throttleMin = escAndServoConfig->minthrottle;
+            throttleMin = motorConfig->minthrottle;
         } else {  // Deadband handling from positive to negative
-            throttleMax = escAndServoConfig->maxthrottle;
+            throttleMax = motorConfig->maxthrottle;
             throttle = throttleMin = flight3DConfig->deadband3d_high;
         }
     } else {
         throttle = rcCommand[THROTTLE];
-        throttleMin = escAndServoConfig->minthrottle;
-        throttleMax = escAndServoConfig->maxthrottle;
+        throttleMin = motorConfig->minthrottle;
+        throttleMax = motorConfig->maxthrottle;
     }
 
     throttleRange = throttleMax - throttleMin;
@@ -840,34 +841,34 @@ void mixTable(void *pidProfilePtr)
         motor[i] = rollPitchYawMix[i] + constrain(throttle * currentMixer[i].throttle, throttleMin, throttleMax);
 
         if (isFailsafeActive) {
-            motor[i] = constrain(motor[i], escAndServoConfig->mincommand, escAndServoConfig->maxthrottle);
+            motor[i] = constrain(motor[i], motorConfig->mincommand, motorConfig->maxthrottle);
         } else if (feature(FEATURE_3D)) {
             if (throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)) {
-                motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, flight3DConfig->deadband3d_low);
+                motor[i] = constrain(motor[i], motorConfig->minthrottle, flight3DConfig->deadband3d_low);
             } else {
-                motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
+                motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, motorConfig->maxthrottle);
             }
         } else {
-            motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
+            motor[i] = constrain(motor[i], motorConfig->minthrottle, motorConfig->maxthrottle);
         }
 
         // Motor stop handling
         if (feature(FEATURE_MOTOR_STOP) && ARMING_FLAG(ARMED) && !feature(FEATURE_3D) && !isAirmodeActive()) {
             if (((rcData[THROTTLE]) < rxConfig->mincheck)) {
-                motor[i] = escAndServoConfig->mincommand;
+                motor[i] = motorConfig->mincommand;
             }
         }
     }
 
     // Anti Desync feature for ESC's. Limit rapid throttle changes
-    if (escAndServoConfig->maxEscThrottleJumpMs) {
-        const int16_t maxThrottleStep = constrain(escAndServoConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
+    if (motorConfig->maxEscThrottleJumpMs) {
+        const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
 
         // Only makes sense when it's within the range
         if (maxThrottleStep < throttleRange) {
             static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
 
-            motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
+            motor[i] = constrain(motor[i], motorConfig->minthrottle, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
             motorPrevious[i] = motor[i];
         }
     }
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 980fabd031..10ab08a08a 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -178,7 +178,7 @@ typedef struct servoParam_s {
 } __attribute__ ((__packed__)) servoParam_t;
 
 struct gimbalConfig_s;
-struct escAndServoConfig_s;
+struct motorConfig_s;
 struct rxConfig_s;
 
 extern int16_t servo[MAX_SUPPORTED_SERVOS];
@@ -189,12 +189,12 @@ void filterServos(void);
 
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
-struct escAndServoConfig_s;
+struct motorConfig_s;
 struct rxConfig_s;
 
 void mixerUseConfigs(
         flight3DConfig_t *flight3DConfigToUse,
-        struct escAndServoConfig_s *escAndServoConfigToUse,
+        struct motorConfig_s *motorConfigToUse,
         mixerConfig_t *mixerConfigToUse,
         airplaneConfig_t *airplaneConfigToUse,
         struct rxConfig_s *rxConfigToUse);
diff --git a/src/main/flight/navigation.h b/src/main/flight/navigation.h
index 8adb9918d4..33bb184f23 100644
--- a/src/main/flight/navigation.h
+++ b/src/main/flight/navigation.h
@@ -52,7 +52,7 @@ void GPS_reset_home_position(void);
 void GPS_reset_nav(void);
 void GPS_set_next_wp(int32_t* lat, int32_t* lon);
 void gpsUseProfile(gpsProfile_t *gpsProfileToUse);
-void gpsUsePIDs(pidProfile_t *pidProfile);
+void gpsUsePIDs(struct pidProfile_s *pidProfile);
 void updateGpsStateForHomeAndHoldMode(void);
 void updateGpsWaypointsAndMode(void);
 
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 061fb4579d..412e462adf 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -55,7 +55,8 @@
 
 #include "io/ledstrip.h"
 #include "io/beeper.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/gps.h"
diff --git a/src/main/io/escservo.h b/src/main/io/motors.h
similarity index 87%
rename from src/main/io/escservo.h
rename to src/main/io/motors.h
index fe37d26445..91381b4025 100644
--- a/src/main/io/escservo.h
+++ b/src/main/io/motors.h
@@ -17,12 +17,11 @@
 
 #pragma once
 
-typedef struct escAndServoConfig_s {
+typedef struct motorConfig_s {
 
     // PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms)
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
     uint16_t maxEscThrottleJumpMs;
-} escAndServoConfig_t;
+} motorConfig_t;
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index cbb9f8c15b..e85cc9e8d6 100755
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -74,7 +74,8 @@
 #include "io/serial.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 2c8c5a1a68..62a0b1233c 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -51,7 +51,8 @@
 
 #include "drivers/buf_writer.h"
 
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
 #include "fc/rc_controls.h"
@@ -670,11 +671,13 @@ const clivalue_t valueTable[] = {
     { "max_aux_channels",           VAR_UINT8  | MASTER_VALUE,  &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0,  13 } },
     { "debug_mode",                 VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.debug_mode, .config.lookup = { TABLE_DEBUG } },
 
-    { "min_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "max_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "min_command",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
-    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.escAndServoConfig.maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
+    { "min_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
+    { "max_throttle",               VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
+    { "min_command",                VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.mincommand, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
+    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &masterConfig.motorConfig.maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
+#ifdef USE_SERVOS
+    { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &masterConfig.servoConfig.servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
+#endif
 
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &masterConfig.flight3DConfig.deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index d9498edf73..00aff0b5f0 100755
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -51,7 +51,8 @@
 #include "rx/msp.h"
 
 #include "io/beeper.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
@@ -110,7 +111,7 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
 extern uint16_t rssi; // FIXME dependency on mw.c
 extern void resetProfile(profile_t *profile);
 
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse);
 
 const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; // 4 UPPER CASE alpha numeric characters that identify the flight controller.
 static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
@@ -926,9 +927,9 @@ static bool processOutCommand(uint8_t cmdMSP)
         headSerialReply(2 * 5 + 3 + 3 + 2 + 4);
         serialize16(masterConfig.rxConfig.midrc);
 
-        serialize16(masterConfig.escAndServoConfig.minthrottle);
-        serialize16(masterConfig.escAndServoConfig.maxthrottle);
-        serialize16(masterConfig.escAndServoConfig.mincommand);
+        serialize16(masterConfig.motorConfig.minthrottle);
+        serialize16(masterConfig.motorConfig.maxthrottle);
+        serialize16(masterConfig.motorConfig.mincommand);
 
         serialize16(masterConfig.failsafeConfig.failsafe_throttle);
 
@@ -1425,7 +1426,7 @@ static bool processInCommand(void)
                 mac->range.startStep = read8();
                 mac->range.endStep = read8();
 
-                useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
+                useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
             } else {
                 headSerialError(0);
             }
@@ -1481,9 +1482,9 @@ static bool processInCommand(void)
         if (tmp < 1600 && tmp > 1400)
             masterConfig.rxConfig.midrc = tmp;
 
-        masterConfig.escAndServoConfig.minthrottle = read16();
-        masterConfig.escAndServoConfig.maxthrottle = read16();
-        masterConfig.escAndServoConfig.mincommand = read16();
+        masterConfig.motorConfig.minthrottle = read16();
+        masterConfig.motorConfig.maxthrottle = read16();
+        masterConfig.motorConfig.mincommand = read16();
 
         masterConfig.failsafeConfig.failsafe_throttle = read16();
 
diff --git a/src/main/io/servos.h b/src/main/io/servos.h
new file mode 100644
index 0000000000..6aca9ebc24
--- /dev/null
+++ b/src/main/io/servos.h
@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef struct servoConfig_s {
+    // PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms)
+    uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
+} servoConfig_t;
diff --git a/src/main/io/vtx.c b/src/main/io/vtx.c
index 6c6f6ab94e..91ae8a2329 100644
--- a/src/main/io/vtx.c
+++ b/src/main/io/vtx.c
@@ -49,7 +49,7 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/main.c b/src/main/main.c
index 4f2167480b..3f168f09d1 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -69,7 +69,8 @@
 #include "io/serial.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "io/gimbal.h"
 #include "io/ledstrip.h"
@@ -289,7 +290,7 @@ void init(void)
 #ifdef USE_SERVOS
     pwm_params.useServos = isMixerUsingServos();
     pwm_params.useChannelForwarding = feature(FEATURE_CHANNEL_FORWARDING);
-    pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
+    pwm_params.servoCenterPulse = masterConfig.servoConfig.servoCenterPulse;
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
 #endif
 
@@ -299,7 +300,7 @@ void init(void)
     pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
     pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
     pwm_params.motorPwmRate = use_unsyncedPwm ? masterConfig.motor_pwm_rate : 0;
-    pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
+    pwm_params.idlePulse = masterConfig.motorConfig.mincommand;
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
 
diff --git a/src/main/target/ALIENFLIGHTF1/config.c b/src/main/target/ALIENFLIGHTF1/config.c
index 4a6b684b98..df417c0766 100644
--- a/src/main/target/ALIENFLIGHTF1/config.c
+++ b/src/main/target/ALIENFLIGHTF1/config.c
@@ -47,7 +47,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/target/ALIENFLIGHTF3/config.c b/src/main/target/ALIENFLIGHTF3/config.c
index 4ffee53046..6268d31fc1 100644
--- a/src/main/target/ALIENFLIGHTF3/config.c
+++ b/src/main/target/ALIENFLIGHTF3/config.c
@@ -50,7 +50,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/target/ALIENFLIGHTF4/config.c b/src/main/target/ALIENFLIGHTF4/config.c
index 4a2d100f3d..914dbc8826 100644
--- a/src/main/target/ALIENFLIGHTF4/config.c
+++ b/src/main/target/ALIENFLIGHTF4/config.c
@@ -50,7 +50,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/target/BLUEJAYF4/config.c b/src/main/target/BLUEJAYF4/config.c
index b0b4dfca85..eaf989d546 100644
--- a/src/main/target/BLUEJAYF4/config.c
+++ b/src/main/target/BLUEJAYF4/config.c
@@ -50,7 +50,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
index eca3b79046..fd80365488 100644
--- a/src/main/target/COLIBRI/config.c
+++ b/src/main/target/COLIBRI/config.c
@@ -53,7 +53,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
@@ -84,8 +85,8 @@ void targetConfiguration(master_t *config)
     config->mixerMode = MIXER_HEX6X;
     config->rxConfig.serialrx_provider = 2;
 
-    config->escAndServoConfig.minthrottle = 1070;
-    config->escAndServoConfig.maxthrottle = 2000;
+    config->motorConfig.minthrottle = 1070;
+    config->motorConfig.maxthrottle = 2000;
 
     config->boardAlignment.pitchDegrees = 10;
     //config->rcControlsConfig.deadband = 10;
diff --git a/src/main/target/COLIBRI_RACE/config.c b/src/main/target/COLIBRI_RACE/config.c
index 63d4cd2a95..ab50da768e 100644
--- a/src/main/target/COLIBRI_RACE/config.c
+++ b/src/main/target/COLIBRI_RACE/config.c
@@ -50,7 +50,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
@@ -78,8 +79,8 @@
 
 // alternative defaults settings for COLIBRI RACE targets
 void targetConfiguration(master_t *config) {
-    config->escAndServoConfig.minthrottle = 1025;
-    config->escAndServoConfig.maxthrottle = 1980;
+    config->motorConfig.minthrottle = 1025;
+    config->motorConfig.maxthrottle = 1980;
     config->batteryConfig.vbatmaxcellvoltage = 45;
     config->batteryConfig.vbatmincellvoltage = 30;
 }
diff --git a/src/main/target/COLIBRI_RACE/i2c_bst.c b/src/main/target/COLIBRI_RACE/i2c_bst.c
index f2d2ba4085..afdff94005 100644
--- a/src/main/target/COLIBRI_RACE/i2c_bst.c
+++ b/src/main/target/COLIBRI_RACE/i2c_bst.c
@@ -31,7 +31,8 @@
 #include "rx/rx.h"
 #include "rx/msp.h"
 
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"
@@ -72,7 +73,7 @@
 #include "bus_bst.h"
 #include "i2c_bst.h"
 
-void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
+void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, motorConfig_t *motorConfigToUse, pidProfile_t *pidProfileToUse);
 
 #define BST_PROTOCOL_VERSION                0
 
@@ -749,9 +750,9 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
         case BST_MISC:
             bstWrite16(masterConfig.rxConfig.midrc);
 
-            bstWrite16(masterConfig.escAndServoConfig.minthrottle);
-            bstWrite16(masterConfig.escAndServoConfig.maxthrottle);
-            bstWrite16(masterConfig.escAndServoConfig.mincommand);
+            bstWrite16(masterConfig.motorConfig.minthrottle);
+            bstWrite16(masterConfig.motorConfig.maxthrottle);
+            bstWrite16(masterConfig.motorConfig.mincommand);
 
             bstWrite16(masterConfig.failsafeConfig.failsafe_throttle);
 
@@ -1062,7 +1063,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
                     mac->range.startStep = bstRead8();
                     mac->range.endStep = bstRead8();
 
-                    useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.escAndServoConfig, &currentProfile->pidProfile);
+                    useRcControlsConfig(masterConfig.modeActivationConditions, &masterConfig.motorConfig, &currentProfile->pidProfile);
                 } else {
                     ret = BST_FAILED;
                 }
@@ -1114,9 +1115,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
             if (tmp < 1600 && tmp > 1400)
                 masterConfig.rxConfig.midrc = tmp;
 
-            masterConfig.escAndServoConfig.minthrottle = bstRead16();
-            masterConfig.escAndServoConfig.maxthrottle = bstRead16();
-            masterConfig.escAndServoConfig.mincommand = bstRead16();
+            masterConfig.motorConfig.minthrottle = bstRead16();
+            masterConfig.motorConfig.maxthrottle = bstRead16();
+            masterConfig.motorConfig.mincommand = bstRead16();
 
             masterConfig.failsafeConfig.failsafe_throttle = bstRead16();
 
diff --git a/src/main/target/MOTOLAB/config.c b/src/main/target/MOTOLAB/config.c
index 5a38264fd6..e0314ad935 100755
--- a/src/main/target/MOTOLAB/config.c
+++ b/src/main/target/MOTOLAB/config.c
@@ -50,7 +50,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "io/ledstrip.h"
diff --git a/src/main/target/RACEBASE/config.c b/src/main/target/RACEBASE/config.c
index 65147d3db2..b1fb9c6107 100755
--- a/src/main/target/RACEBASE/config.c
+++ b/src/main/target/RACEBASE/config.c
@@ -54,7 +54,8 @@
 #include "io/beeper.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
-#include "io/escservo.h"
+#include "io/motors.h"
+#include "io/servos.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
 #include "io/osd.h"
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index 402bf6a4f4..2152a9096a 100644
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -31,7 +31,7 @@
 #include "rx/msp.h"
 
 #include "io/beeper.h"
-#include "io/escservo.h"
+#include "io/motors.h"
 #include "fc/rc_controls.h"
 #include "io/gps.h"
 #include "io/gimbal.h"