diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index c7ae144ea7..932380943a 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -124,21 +124,21 @@ main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_I
 main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 
 #booz IMU
-#main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+#main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 #main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-#main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
+#main_stm32.srcs += $(SRC_BOOZ)/imu.c
 #main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-#main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+#main_stm32.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
 #main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 #main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 #main_stm32.srcs += math/pprz_trig_int.c
 
 #crista IMU
 main_stm32.srcs += math/pprz_trig_int.c
-main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c             \
-                        $(SRC_BOOZ)/imu/booz_imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
+main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
+main_stm32.srcs += $(SRC_BOOZ)/imu.c             \
+                        $(SRC_BOOZ)/imu/imu_crista.c \
+                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
 main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 3bc9acaf4b..81aeb4ee8d 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -48,7 +48,7 @@ SRC_BOOZ_TEST = $(SRC_BOOZ)/test
 #SRC_ROTORCRAFT=rotorcraft
 SRC_BOARD=boards/$(BOARD)
 
-
+SRC_FIRMWARE=firmwares/rotorcraft
 
 #
 # default configuration expected from the board files
@@ -232,8 +232,8 @@ test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
 #   MODEM_BAUD
 #
 test_imu_b2.ARCHDIR = $(ARCH)
-test_imu_b2.CFLAGS  =  -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_imu_b2.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_b2.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
 					$(SRC_ARCH)/stm32_exceptions.c   \
 					$(SRC_ARCH)/stm32_vector_table.c
@@ -254,13 +254,13 @@ test_imu_b2.srcs += downlink.c pprz_transport.c
 
 test_imu_b2.srcs += math/pprz_trig_int.c
 
-test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 -DIMU_B2_VERSION_1_1
-test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
+test_imu_b2.srcs += $(SRC_FIRMWARE)/imu.c
 test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
 test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
 test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
@@ -270,7 +270,7 @@ test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peri
 # test IMU aspirin
 #
 test_imu_aspirin.ARCHDIR = $(ARCH)
-test_imu_aspirin.CFLAGS  =  -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_aspirin.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_imu_aspirin.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
 test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
 					$(SRC_ARCH)/stm32_exceptions.c   \
@@ -291,10 +291,10 @@ test_imu_aspirin.srcs += downlink.c pprz_transport.c
 
 test_imu_aspirin.srcs += math/pprz_trig_int.c
 
-test_imu_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-test_imu_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c             \
-						$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
-						$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
+test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
+test_imu_aspirin.srcs += $(SRC_FIRMWARE)/imu.c             \
+						$(SRC_FIRMWARE)/imu/imu_aspirin.c \
+						$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_aspirin_arch.c
 
 test_imu_aspirin.CFLAGS += -DUSE_I2C2
 test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 700bfde743..006d573b0b 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -420,11 +420,11 @@ test_imu_b2.srcs += downlink.c pprz_transport.c
 
 test_imu_b2.srcs += math/pprz_trig_int.c
 
-test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
+test_imu_b2.srcs += $(SRC_BOOZ)/imu.c
 test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+test_imu_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
 test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
@@ -454,10 +454,10 @@ test_imu_crista.srcs += downlink.c pprz_transport.c
 
 test_imu_crista.srcs += math/pprz_trig_int.c
 
-test_imu_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-test_imu_crista.srcs += $(SRC_BOOZ)/booz_imu.c             \
-                        $(SRC_BOOZ)/imu/booz_imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
+test_imu_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
+test_imu_crista.srcs += $(SRC_BOOZ)/imu.c             \
+                        $(SRC_BOOZ)/imu/imu_crista.c \
+                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
 test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 
@@ -486,10 +486,10 @@ test_imu_aspirin.srcs += downlink.c pprz_transport.c
 
 test_imu_aspirin.srcs += math/pprz_trig_int.c
 
-test_imu_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-test_imu_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c             \
-                        $(SRC_BOOZ)/imu/booz_imu_aspirin.c \
-                        $(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
+test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
+test_imu_aspirin.srcs += $(SRC_BOOZ)/imu.c             \
+                        $(SRC_BOOZ)/imu/imu_aspirin.c \
+                        $(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
 
 test_imu_aspirin.CFLAGS += -DUSE_I2C2
 test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -498,7 +498,7 @@ test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
 test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ      # Accel Int on PD2
 test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 
-#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone -DI2C2_STOP_HANDLER_HEADER=\"imu/booz_imu_aspirin_arch.h\"
+#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone -DI2C2_STOP_HANDLER_HEADER=\"imu/imu_aspirin_arch.h\"
 #test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 
@@ -1091,11 +1091,11 @@ ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Ov
 ptw.srcs += downlink.c pprz_transport.c
 
 # IMU
-ptw.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ptw.srcs += $(SRC_BOOZ)/booz_imu.c
+ptw.srcs += $(SRC_BOOZ)/imu.c
 ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-ptw.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+ptw.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
 ptw.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 ptw.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 ptw.srcs += math/pprz_trig_int.c
@@ -1312,10 +1312,10 @@ hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
 
 hs_gyro_aspirin.srcs += math/pprz_trig_int.c
 
-hs_gyro_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-hs_gyro_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c             \
-                        $(SRC_BOOZ)/imu/booz_imu_aspirin.c \
-                        $(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
+hs_gyro_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
+hs_gyro_aspirin.srcs += $(SRC_BOOZ)/imu.c             \
+                        $(SRC_BOOZ)/imu/imu_aspirin.c \
+                        $(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
 
 hs_gyro_aspirin.CFLAGS += -DUSE_I2C2
 hs_gyro_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -1350,11 +1350,11 @@ hs_gyro_b2.srcs += downlink.c pprz_transport.c
 
 hs_gyro_b2.srcs += math/pprz_trig_int.c
 
-hs_gyro_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+hs_gyro_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-hs_gyro_b2.srcs += $(SRC_BOOZ)/booz_imu.c
+hs_gyro_b2.srcs += $(SRC_BOOZ)/imu.c
 hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
 hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
@@ -1383,10 +1383,10 @@ hs_gyro_crista.srcs += downlink.c pprz_transport.c
 
 hs_gyro_crista.srcs += math/pprz_trig_int.c
 
-hs_gyro_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-hs_gyro_crista.srcs += $(SRC_BOOZ)/booz_imu.c             \
-                        $(SRC_BOOZ)/imu/booz_imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
+hs_gyro_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
+hs_gyro_crista.srcs += $(SRC_BOOZ)/imu.c             \
+                        $(SRC_BOOZ)/imu/imu_crista.c \
+                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
 hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0
diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/mercury.makefile
index a54e693d49..7750ea88c1 100644
--- a/conf/autopilot/mercury.makefile
+++ b/conf/autopilot/mercury.makefile
@@ -70,8 +70,8 @@ ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 ap.srcs += $(SRC_CSC)/csc_datalink.c
 
 ap.CFLAGS += -DPPRZ_TRIG_CONST=const
-ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/booz_imu.c math/pprz_trig_int.c
-ap.CFLAGS += -DXSENS1_LINK=Uart0 -DBOOZ_IMU_TYPE_H=\"mercury_xsens.h\"
+ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/imu.c math/pprz_trig_int.c
+ap.CFLAGS += -DXSENS1_LINK=Uart0 -DIMU_TYPE_H=\"mercury_xsens.h\"
 
 ap.srcs += $(SRC_BOOZ)/ahrs/ahrs_cmpl_euler.c $(SRC_BOOZ)/ahrs/ahrs_aligner.c
 ap.CFLAGS += -DFLOAT_T=float
diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
index 961c00a7aa..030f9d2666 100644
--- a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
@@ -40,12 +40,12 @@
 
 
 # imu Booz2 v1.1
-$(TARGET).CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+$(TARGET).CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 $(TARGET).CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
 $(TARGET).CFLAGS += -DIMU_B2_VERSION_1_1
-$(TARGET).srcs += $(SRC_BOOZ)/booz_imu.c                   \
-		   $(SRC_BOOZ)/imu/booz_imu_b2.c            \
-		   $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+$(TARGET).srcs += $(SRC_BOOZ)/imu.c                   \
+		   $(SRC_BOOZ)/imu/imu_b2.c            \
+		   $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
 
 $(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
 		   $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
@@ -67,12 +67,12 @@ endif
 # Simulator
 #
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
-			$(SRC_BOOZ)/imu/booz_imu_b2.c          \
-			$(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+sim.srcs += $(SRC_BOOZ)/imu.c                 \
+			$(SRC_BOOZ)/imu/imu_b2.c          \
+			$(SRC_BOOZ_SIM)/imu/imu_b2_arch.c
 
 
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index 42ec0a2ee9..1a0642b4c6 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -85,7 +85,7 @@ sim.srcs += $(SRC_BOOZ)/booz2_battery.c
 
 sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
 
-#sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+#sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 #sim.CFLAGS += -DIMU_B2_VERSION_1_1
 
 sim.srcs += $(SRC_FIRMWARE)/autopilot.c
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
index 5c00d4ce6d..9784f93bc6 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
@@ -39,7 +39,7 @@
 # add imu arch to include directories
 ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
+ap.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 ap.CFLAGS += -DIMU_B2_VERSION_1_0
 ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 ap.CFLAGS += -DSSP_VIC_SLOT=9
@@ -63,7 +63,7 @@ ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
 # add imu arch to include directories
 sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_0
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
index 2c9a338e64..aed431018a 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
@@ -44,7 +44,7 @@
 # add imu arch to include directories
 ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
+imu_CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
 imu_CFLAGS += -DIMU_B2_VERSION_1_1
 ap.srcs += $(SRC_FIRMWARE)/imu.c                   \
@@ -79,7 +79,7 @@ ap.srcs += $(imu_srcs)
 # add imu arch to include directories
 sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
index 08b6138db6..5e64c6836d 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
@@ -63,7 +63,7 @@
 # add imu arch to include directories
 ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
+ap.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
 ap.srcs += $(SRC_FIRMWARE)/imu.c            \
            $(SRC_FIRMWARE)/imu/imu_crista.c \
            $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
@@ -80,7 +80,7 @@ ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2
 # add imu arch to include directories
 sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
 sim.srcs   += $(SRC_FIRMWARE)/imu.c                 \
               $(SRC_FIRMWARE)/imu/imu_crista.c     \
               $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c
index 6121178693..3b1e9a9e9a 100644
--- a/sw/airborne/booz/test/booz_test_imu.c
+++ b/sw/airborne/booz/test/booz_test_imu.c
@@ -1,6 +1,6 @@
 /*
  * $Id$
- *  
+ *
  * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
  *
  * This file is part of paparazzi.
@@ -18,7 +18,7 @@
  * You should have received a copy of the GNU General Public License
  * along with paparazzi; see the file COPYING.  If not, write to
  * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA. 
+ * Boston, MA 02111-1307, USA.
  */
 
 #include <inttypes.h>
@@ -74,16 +74,16 @@ static inline void main_periodic_task( void ) {
     });
 #ifdef USE_I2C2
   RunOnceEvery(111, {
-      DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, 
-			       &i2c2_errors.ack_fail_cnt,
-			       &i2c2_errors.miss_start_stop_cnt,
-			       &i2c2_errors.arb_lost_cnt,
-			       &i2c2_errors.over_under_cnt,
-			       &i2c2_errors.pec_recep_cnt,
-			       &i2c2_errors.timeout_tlow_cnt,
-			       &i2c2_errors.smbus_alert_cnt,
-			       &i2c2_errors.unexpected_event_cnt,
-			       &i2c2_errors.last_unexpected_event);
+      DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+                   &i2c2_errors.ack_fail_cnt,
+                   &i2c2_errors.miss_start_stop_cnt,
+                   &i2c2_errors.arb_lost_cnt,
+                   &i2c2_errors.over_under_cnt,
+                   &i2c2_errors.pec_recep_cnt,
+                   &i2c2_errors.timeout_tlow_cnt,
+                   &i2c2_errors.smbus_alert_cnt,
+                   &i2c2_errors.unexpected_event_cnt,
+                   &i2c2_errors.last_unexpected_event);
     });
 #endif
   if (cpu_time_sec > 1) imu_periodic();
@@ -107,25 +107,25 @@ static inline void on_gyro_accel_event(void) {
 
   if (cnt == 0) {
     DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
-			       &imu.gyro_unscaled.p,
-			       &imu.gyro_unscaled.q,
-			       &imu.gyro_unscaled.r);
-    
+                   &imu.gyro_unscaled.p,
+                   &imu.gyro_unscaled.q,
+                   &imu.gyro_unscaled.r);
+
     DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
-				&imu.accel_unscaled.x,
-				&imu.accel_unscaled.y,
-				&imu.accel_unscaled.z);
+                &imu.accel_unscaled.x,
+                &imu.accel_unscaled.y,
+                &imu.accel_unscaled.z);
   }
   else if (cnt == 7) {
     DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
-			     &imu.gyro.p,
-			     &imu.gyro.q,
-			     &imu.gyro.r);
-    
+                 &imu.gyro.p,
+                 &imu.gyro.q,
+                 &imu.gyro.r);
+
     DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
-			      &imu.accel.x,
-			      &imu.accel.y,
-			      &imu.accel.z);
+                  &imu.accel.x,
+                  &imu.accel.y,
+                  &imu.accel.z);
   }
 }
 
@@ -138,14 +138,14 @@ static inline void on_mag_event(void) {
 
   if (cnt%2) {
     DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
-			    &imu.mag.x,
-			    &imu.mag.y,
-			    &imu.mag.z);
+                &imu.mag.x,
+                &imu.mag.y,
+                &imu.mag.z);
   }
   else {
     DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
-			      &imu.mag_unscaled.x,
-			      &imu.mag_unscaled.y,
-			      &imu.mag_unscaled.z);
+                  &imu.mag_unscaled.x,
+                  &imu.mag_unscaled.y,
+                  &imu.mag_unscaled.z);
   }
 }
diff --git a/sw/airborne/firmwares/rotorcraft/imu.h b/sw/airborne/firmwares/rotorcraft/imu.h
index b029ebbcff..d5d2f22d86 100644
--- a/sw/airborne/firmwares/rotorcraft/imu.h
+++ b/sw/airborne/firmwares/rotorcraft/imu.h
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_H
-#define BOOZ_IMU_H
+#ifndef IMU_H
+#define IMU_H
 
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
@@ -60,8 +60,8 @@ struct ImuFloat {
 };
 
 /* underlying hardware */
-#ifdef BOOZ_IMU_TYPE_H
-#include BOOZ_IMU_TYPE_H
+#ifdef IMU_TYPE_H
+#include IMU_TYPE_H
 #endif
 
 extern struct Imu imu;
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
index d9e4de990f..b78edce613 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
@@ -21,8 +21,8 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_INT_HW_H
-#define BOOZ_IMU_INT_HW_H
+#ifndef IMU_INT_HW_H
+#define IMU_INT_HW_H
 
 #include "std.h"
 
@@ -34,4 +34,4 @@
 
 extern void ADS8344_start( void );
 
-#endif /* BOOZ_IMU_INT_HW_H */
+#endif /* IMU_INT_HW_H */
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
index 6f2f7d28c7..ff40503315 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
@@ -26,8 +26,8 @@
  * simulator plug for the crista imu arch dependant functions
  *
  */
-#ifndef BOOZ_IMU_CRISTA_ARCH_H
-#define BOOZ_IMU_CRISTA_ARCH_H
+#ifndef IMU_CRISTA_ARCH_H
+#define IMU_CRISTA_ARCH_H
 
 #include "imu.h"
 
@@ -38,4 +38,4 @@ extern void imu_feed_gyro_accel(void);
 extern void imu_feed_mag(void);
 
 
-#endif /* BOOZ_IMU_CRISTA_HW_H */
+#endif /* IMU_CRISTA_HW_H */
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
index 79787800e9..f63fc7412a 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
@@ -1,5 +1,5 @@
-#ifndef BOOZ_IMU_ASPIRIN_ARCH_H
-#define BOOZ_IMU_ASPIRIN_ARCH_H
+#ifndef IMU_ASPIRIN_ARCH_H
+#define IMU_ASPIRIN_ARCH_H
 
 #include "imu.h"
 
@@ -11,4 +11,4 @@ extern void adxl345_clear_rx_buf(void);
 extern void adxl345_start_reading_data(void);
 
 
-#endif /* BOOZ_IMU_ASPIRIN_ARCH_H */
+#endif /* IMU_ASPIRIN_ARCH_H */
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
index 59a894e985..143ef8017c 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
@@ -30,9 +30,9 @@
 #include <stm32/misc.h>
 #include <stm32/dma.h>
 
-#define BOOZ_IMU_SSP_STA_IDLE           0
-#define BOOZ_IMU_SSP_STA_BUSY_MAX1168   1
-#define BOOZ_IMU_SSP_STA_BUSY_MS2100    2
+#define IMU_SSP_STA_IDLE           0
+#define IMU_SSP_STA_BUSY_MAX1168   1
+#define IMU_SSP_STA_BUSY_MS2100    2
 
 volatile uint8_t imu_ssp_status;
 
@@ -70,13 +70,13 @@ void imu_b2_arch_init(void) {
   };
   NVIC_Init(&NVIC_init_structure_spi);
 
-  imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+  imu_ssp_status = IMU_SSP_STA_IDLE;
 }
 
 void imu_periodic(void) {
   // check ssp idle
-  // ASSERT((imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
-  imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
+  // ASSERT((imu_status == IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
+  imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
   Max1168ConfigureSPI();
   SPI_Cmd(SPI2, ENABLE);
   booz_max1168_read();
@@ -85,26 +85,26 @@ void imu_periodic(void) {
 
 void dma1_c4_irq_handler(void) {
   switch (imu_ssp_status) {
-  case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
+  case IMU_SSP_STA_BUSY_MAX1168:
     Max1168OnDmaIrq();
     SPI_Cmd(SPI2, DISABLE);
     if (ms2001_status == MS2001_IDLE) {
       Ms2001SendReq();
-      imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+      imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
     }
     else if (ms2001_status == MS2001_WAITING_EOC && Ms2001HasEOC()) {
       Ms2001ReadRes();
-      imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+      imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
     }
     else
-      imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+      imu_ssp_status = IMU_SSP_STA_IDLE;
     break;
-  case BOOZ_IMU_SSP_STA_BUSY_MS2100:
+  case IMU_SSP_STA_BUSY_MS2100:
     Ms2001OnDmaIrq();
     break;
   default:
     // POST_ERROR(DEBUG_IMU, IMU_ERR_SUPRIOUS_DMA1_C4_IRQ);
-    imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+    imu_ssp_status = IMU_SSP_STA_IDLE;
   }
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
index 804f398e05..bae3ba02a2 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
@@ -21,9 +21,9 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#ifndef BOOZ_IMU_B2_ARCH_H
-#define BOOZ_IMU_B2_ARCH_H
+#ifndef IMU_B2_ARCH_H
+#define IMU_B2_ARCH_H
 
 
 
-#endif /* BOOZ_IMU_B2_ARCH_H */
+#endif /* IMU_B2_ARCH_H */
diff --git a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
index 44e527b1ac..f45b33a638 100644
--- a/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
+++ b/sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
@@ -20,8 +20,8 @@
  * the Free Software Foundation, 59 Temple Place - Suite 330,
  * Boston, MA 02111-1307, USA.
  */
-#ifndef BOOZ_IMU_CRISTA_ARCH_H
-#define BOOZ_IMU_CRISTA_ARCH_H
+#ifndef IMU_CRISTA_ARCH_H
+#define IMU_CRISTA_ARCH_H
 
 
 #define ImuCristaArchPeriodic() {		\
@@ -31,4 +31,4 @@
 extern void ADS8344_start( void );
 
 
-#endif /* BOOZ_IMU_CRISTA_ARCH_H */
+#endif /* IMU_CRISTA_ARCH_H */