diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 2f4019f0cc..67f58b3f8e 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -40,7 +40,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <subsystem name="ahrs" type="float_dcm"/>
 
     <!-- Sensors -->
-    <subsystem name="imu" type="booz"/>
+    <subsystem name="imu" type="b2_v1.0"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
diff --git a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile b/conf/autopilot/subsystems/fixedwing/imu_booz.makefile
index 3a203f0da1..8efad96332 100644
--- a/conf/autopilot/subsystems/fixedwing/imu_booz.makefile
+++ b/conf/autopilot/subsystems/fixedwing/imu_booz.makefile
@@ -1,84 +1 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# Booz2 IMU booz2v1.2
-#
-#
-# required xml:
-#  <section name="IMU" prefix="IMU_">
-#
-#    <define name="GYRO_X_NEUTRAL" value="33924"/>
-#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
-#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
-#
-#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
-#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
-#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
-#
-#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
-#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
-#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
-#
-#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
-#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
-#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
-#
-#    <define name="MAG_X_NEUTRAL" value="2358"/>
-#    <define name="MAG_Y_NEUTRAL" value="2362"/>
-#    <define name="MAG_Z_NEUTRAL" value="2119"/>
-#
-#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
-#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
-#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
-#    <define name="MAG_45_HACK" value="1"/>
-#
-#  </section>
-#
-#
-
-#
-# param: MAX_1168_DRDY_PORT
-
-
-
-# imu Booz2 v1.0, v1.1, v1.2, YAI v1.0
-
-imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\" -DUSE_IMU
-imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
-imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-imu_srcs += peripherals/max1168.c
-imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
-
-#ifeq ($(ARCH), lpc21)
-imu_CFLAGS += -DSSP_VIC_SLOT=9
-imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-#else ifeq ($(ARCH), stm32)
-#imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-#imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-#imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-#imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
-#endif
-
-ap.srcs += $(imu_srcs)
-ap.CFLAGS += $(imu_CFLAGS)
-
-#
-# Simulator
-#
-
-sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-#FIXME, should be HMC5843
-sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-#FIXME, should be verision 1.2
-sim.CFLAGS += -DIMU_B2_VERSION_1_1
-sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
-sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-sim.srcs += peripherals/max1168.c
-sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
-
-sim.CFLAGS += -DUSE_AMI601
-sim.srcs   += peripherals/ami601.c
-sim.CFLAGS += -DUSE_I2C1
+$(error The imu_booz subsystem has been removed, please replace <subsystem name="imu" type="booz"/> with e.g. <subsystem name="imu" type="yai"/> or "b2_v1.0", "b2_v1.1", "b2_v1.2" as appropriate.)
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/shared/imu_b2_common.makefile
similarity index 80%
rename from conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
rename to conf/autopilot/subsystems/shared/imu_b2_common.makefile
index 0e435f803d..84548578b4 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+++ b/conf/autopilot/subsystems/shared/imu_b2_common.makefile
@@ -1,5 +1,6 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
-# Booz2 IMU booz2v1.0
+# Common part for all Booz2 IMUs
 #
 #
 # required xml:
@@ -34,29 +35,28 @@
 #
 #
 
-# imu Booz2 v1
+# for fixedwing firmware
+imu_CFLAGS += -DUSE_IMU
 
 imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-imu_CFLAGS += -DIMU_B2_VERSION_1_0
 imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
 imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
 imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-imu_CFLAGS += -DSSP_VIC_SLOT=9
 
 imu_srcs += peripherals/max1168.c
 imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
+
+
+ifeq ($(ARCH), lpc21)
+imu_CFLAGS += -DSSP_VIC_SLOT=9
 imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+else ifeq ($(ARCH), stm32)
+#FIXME: untested
+imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+endif
 
-imu_CFLAGS += -DUSE_AMI601
-imu_srcs += peripherals/ami601.c
-imu_CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
-
-
-# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
-ap.CFLAGS += $(imu_CFLAGS)
-ap.srcs += $(imu_srcs)
 
 #
 # Simulator
diff --git a/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile
new file mode 100644
index 0000000000..b3063437df
--- /dev/null
+++ b/conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile
@@ -0,0 +1,60 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Booz2 IMU booz2v1.0
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/>
+#
+#  </section>
+#
+#
+
+
+# common Booz2 IMU files
+include $(CFG_SHARED)/imu_b2_common.makefile
+
+# imu Booz2 v1.1
+imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+imu_CFLAGS += -DIMU_B2_VERSION_1_0
+
+# Magnetometer
+imu_CFLAGS += -DUSE_AMI601
+imu_srcs += peripherals/ami601.c
+
+ifeq ($(ARCH), lpc21)
+imu_CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
+else ifeq ($(ARCH), stm32)
+#FIXME: untested
+imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
+endif
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+ap.CFLAGS += $(imu_CFLAGS)
+ap.srcs += $(imu_srcs)
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile
similarity index 63%
rename from conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
rename to conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile
index afea1237dd..2e4fe5e444 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile
@@ -1,3 +1,4 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
 # Booz2 IMU booz2v1.1
 #
@@ -38,51 +39,23 @@
 # param: MAX_1168_DRDY_PORT
 
 
+# common Booz2 IMU files
+include $(CFG_SHARED)/imu_b2_common.makefile
 
 # imu Booz2 v1.1
-
-imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100
 imu_CFLAGS += -DIMU_B2_VERSION_1_1
-imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
-imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-imu_srcs += peripherals/max1168.c
-imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
 
+# Magnetometer
 imu_srcs += peripherals/ms2100.c
 imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
 
 ifeq ($(ARCH), lpc21)
-imu_CFLAGS += -DSSP_VIC_SLOT=9
-imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
 else ifeq ($(ARCH), stm32)
-imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
-
-#
-# Simulator
-#
-
-sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-sim.CFLAGS += -DIMU_B2_VERSION_1_1
-sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
-sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-sim.srcs += peripherals/max1168.c
-sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
-
-sim.CFLAGS += -DUSE_AMI601
-sim.srcs   += peripherals/ami601.c
-sim.CFLAGS += -DUSE_I2C1
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile b/conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile
similarity index 61%
rename from conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
rename to conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile
index 91ba3d16d4..e4775322c3 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
+++ b/conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile
@@ -1,3 +1,4 @@
+# Hey Emacs, this is a -*- makefile -*-
 #
 # Booz2 IMU booz2v1.2
 #
@@ -38,31 +39,21 @@
 # param: MAX_1168_DRDY_PORT
 
 
+# common Booz2 IMU files
+include $(CFG_SHARED)/imu_b2_common.makefile
 
 # imu Booz2 v1.2
-
-imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
 imu_CFLAGS += -DIMU_B2_VERSION_1_2
-imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
-imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-imu_srcs += peripherals/max1168.c
-imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
 
+# Magnetometer
 imu_srcs += peripherals/hmc5843.c
 imu_srcs += $(SRC_ARCH)/peripherals/hmc5843_arch.c
 
 ifeq ($(ARCH), lpc21)
-imu_CFLAGS += -DSSP_VIC_SLOT=9
-imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 #FIXME ms2100 not used on this imu
-imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
+#imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
 else ifeq ($(ARCH), stm32)
-imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
 imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
 endif
 
@@ -70,23 +61,3 @@ endif
 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
-
-#
-# Simulator
-#
-
-sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-#FIXME, should be HMC5843
-sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-#FIXME, should be verision 1.2
-sim.CFLAGS += -DIMU_B2_VERSION_1_1
-sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
-sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
-sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-
-sim.srcs += peripherals/max1168.c
-sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
-
-sim.CFLAGS += -DUSE_AMI601
-sim.srcs   += peripherals/ami601.c
-sim.CFLAGS += -DUSE_I2C1
diff --git a/conf/autopilot/subsystems/shared/imu_yai.makefile b/conf/autopilot/subsystems/shared/imu_yai.makefile
new file mode 100644
index 0000000000..6149c87795
--- /dev/null
+++ b/conf/autopilot/subsystems/shared/imu_yai.makefile
@@ -0,0 +1,50 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# YAI IMU
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/>
+#
+#  </section>
+#
+#
+
+#
+# param: MAX_1168_DRDY_PORT
+
+# common Booz2 IMU files
+include $(CFG_SHARED)/imu_b2_common.makefile
+
+# imu YAI v1.0
+# no default channels and signs defined yet
+
+# No Magnetometer
+
+ap.srcs += $(imu_srcs)
+ap.CFLAGS += $(imu_CFLAGS)