diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index d96be00ff0..2488412c15 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -118,11 +118,6 @@
    <define name="IGAIN" value="-0"/>
  </section>
 
- <section name="JOYSTICK" prefix="BOOZ2_JOYSTICK_">
-   <define name="SP_PHI_COEF" value="1400"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
-   <define name="SP_THETA_COEF" value="1400"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
- </section>
-
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
@@ -131,6 +126,8 @@
 
 
   <makefile>
+# prevents motors from ever starting
+ap.CFLAGS += -DKILL_MOTORS
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
diff --git a/conf/autopilot/booz2_autopilot.makefile b/conf/autopilot/booz2_autopilot.makefile
index 9df0d73cb1..c26e4fb681 100644
--- a/conf/autopilot/booz2_autopilot.makefile
+++ b/conf/autopilot/booz2_autopilot.makefile
@@ -40,7 +40,6 @@ ap.ARCH = arm7tdmi
 ap.TARGET = ap
 ap.TARGETDIR = ap
 
-#ap.CFLAGS += -DKILL_MOTORS
 
 ap.CFLAGS += -DCONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 ap.srcs += $(BOOZ_PRIV)/booz2_main.c
@@ -86,6 +85,7 @@ ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
 ap.CFLAGS += -DADC1_VIC_SLOT=2
 ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
 ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
+ap.srcs += $(BOOZ_PRIV)/booz2_analog.c $(BOOZ_PRIV_ARCH)/booz2_analog_hw.c
 
 
 ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
diff --git a/conf/autopilot/booz2_simulator.makefile b/conf/autopilot/booz2_simulator.makefile
index de380eb2d5..27f31dc9fb 100644
--- a/conf/autopilot/booz2_simulator.makefile
+++ b/conf/autopilot/booz2_simulator.makefile
@@ -3,17 +3,20 @@
 #
 
 SIM_TYPE = BOOZ
+SIM_PRIV_ARCH = $(BOOZ_PRIV)/sim
+#BOOZ_PRIV_ARCH = $(SIM_PRIV_ARCH)
+
 
 sim.ARCHDIR = $(ARCHI)
 sim.ARCH = sitl
 sim.TARGET = sim
 sim.TARGETDIR = sim
 
-sim.CFLAGS += -DITL
-sim.CFLAGS +=  `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
+sim.CFLAGS  += -DSITL
+sim.CFLAGS  += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
 sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
 
-sim.CFLAGS += -I$(BOOZ) -I$(BOOZ_PRIV) -I../simulator -DFLOAT_T=float
+sim.CFLAGS += -I $(BOOZ_PRIV) -I $(SIM_PRIV_ARCH) -I../simulator -DFLOAT_T=float
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2.h\"
 
 sim.srcs = $(SIMDIR)/booz2_sim_main.c                \
@@ -29,11 +32,30 @@ sim.srcs = $(SIMDIR)/booz2_sim_main.c                \
            $(SIMDIR)/booz_sensors_model_gps.c        \
            $(SIMDIR)/booz_wind_model.c               \
 
-sim.CFLAGS += -DSITL
-sim.CFLAGS += -DBOOZ_CONTROLLER_MCU
 sim.CFLAGS += -DCONFIG=\"booz2_board_v1_0.h\"
 
-sim.srcs += $(BOOZ_PRIV)/booz2_main.c
+sim.srcs   += $(BOOZ_PRIV)/booz2_main.c
+
+
+sim.srcs   += commands.c
+
+sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
+sim.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
+sim.srcs += $(SIM_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 
 
+
+sim.CFLAGS += -DBOOZ2_IMU_TYPE=IMU_B2
+sim.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += AMI601.c
+
+
+sim.CFLAGS += -DBOOZ2_FMS_TYPE=BOOZ2_FMS_TYPE_TEST_SIGNAL
+sim.srcs += $(BOOZ_PRIV)/booz2_fms_test_signal.c
\ No newline at end of file