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/shared/imu_yai.makefile b/conf/autopilot/subsystems/shared/imu_yai.makefile
new file mode 100644
index 0000000000..09fd59e7c9
--- /dev/null
+++ b/conf/autopilot/subsystems/shared/imu_yai.makefile
@@ -0,0 +1,87 @@
+# 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 YAI v1.0
+
+#needed for fixedwing firmware
+imu_CFLAGS += -DUSE_IMU
+
+imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
+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 ($(ARCH), stm32)
+#FIXME: untested!
+imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+endif
+
+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