diff --git a/conf/airframes/booz.xml b/conf/airframes/booz.xml
index 21d5c20097..548de58962 100644
--- a/conf/airframes/booz.xml
+++ b/conf/airframes/booz.xml
@@ -19,14 +19,14 @@ ctl.TARGETDIR = ctl
 ctl.CFLAGS += -DCONTROLLER -DCONFIG=\"conf_booz.h\"
 ctl.srcs = main_booz.c
 
-ctl.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(5e-3)'
+ctl.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
 ctl.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 ctl.CFLAGS += -DLED
 
 ctl.srcs += $(SRC_ARCH)/armVIC.c
 
-ctl.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+ctl.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 ctl.srcs += $(SRC_ARCH)/uart_hw.c
 
 ctl.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
@@ -34,7 +34,8 @@ ctl.srcs += downlink.c pprz_transport.c
 
 ctl.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 
-ctl.srcs += link_imu.c
+ctl.CFLAGS += -DCONTROLLER -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x10
+ctl.srcs += spi.c $(SRC_ARCH)/spi_hw.c link_imu.c
 
 
 ctl.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
@@ -54,7 +55,7 @@ imu.srcs = main_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 imu.CFLAGS += -DLED
 
-imu.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+imu.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
 imu.srcs += $(SRC_ARCH)/uart_hw.c
 
 imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
@@ -106,6 +107,26 @@ mtt.srcs += imu_v3.c
 
 mtt.srcs += multitilt.c
 
+mtt.CFLAGS += -DIMU
+mtt.srcs += link_imu.c
+
+
+#
+# test link imu
+#
+
+tli.ARCHDIR = $(ARCHI)
+tli.ARCH = arm7tdmi
+tli.TARGET = tli
+tli.TARGETDIR = tli
+
+tli.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\"  -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
+tli.srcs = main_tli.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+tli.CFLAGS += -DIMU
+tli.srcs += link_imu.c
+
+
   </makefile>
 
 </airframe>
diff --git a/conf/messages.xml b/conf/messages.xml
index d98cf7ca32..f0f77efacb 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -388,6 +388,11 @@
     <field name="vmz" type="float" unit="adc"/>
   </message>
 
+  <message name="IMU_CAL" ID="209">
+    <field name="omega" type="float" unit="rad/s"/>
+  </message>
+
+
   <message name="AHRS_STATE" ID="210">
       <field name="q0" type="float"/>
       <field name="q1" type="float"/>
@@ -415,6 +420,20 @@
   <message name="AHRS_OVERRUN" ID="213">
   </message>
 
+  <message name="BOOZ_FD" ID="214">
+    <field name="p" type="int16"/>
+    <field name="q" type="int16"/>
+    <field name="r" type="int16"/>
+    <field name="phi" type="int16"/>
+    <field name="theta" type="int16"/>
+    <field name="psi" type="int16"/>
+  </message>
+
+  <message name="BOOZ_STATUS" ID="215">
+    <field name="link_imu_nb_err" type="uint32"/>
+    <field name="imu_status" type="uint8"/>
+  </message>
+
   <message name="ENOSE_STATUS" ID="218">
       <field name="val1" type="uint16"/>
       <field name="val2" type="uint16"/>