diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
index dd92ba3874..647b0d7c4d 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
@@ -12,7 +12,7 @@
 #    <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"/>
@@ -22,26 +22,26 @@
 #    <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_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"/> 
+#    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
 #
 #
 
 # imu Booz2 v1
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+ap.CFLAGS += -DBOOZ_IMU_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
-ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
-           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
-           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+ap.srcs += $(SRC_FIRMWARE)/imu.c                   \
+           $(SRC_FIRMWARE)/imu/imu_b2.c            \
+           $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
@@ -56,17 +56,16 @@ ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
 # Simulator
 #
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DBOOZ_IMU_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_BOOZ)/booz_imu.c                 \
-            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
-            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
-
+sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
+           $(SRC_FIRMWARE)/imu/imu_b2.c            \
+           $(SRC_FIRMWARE)/imu/imu_b2_arch.c
 
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
             $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
 
 sim.CFLAGS += -DUSE_AMI601
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
-sim.CFLAGS += -DUSE_I2C1
\ No newline at end of file
+sim.CFLAGS += -DUSE_I2C1
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
index 4ffea67bc4..f2bcd4367c 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
@@ -40,18 +40,18 @@
 
 
 # imu Booz2 v1.1
-imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
 imu_CFLAGS += -DIMU_B2_VERSION_1_1
-imu_srcs += $(SRC_BOOZ)/booz_imu.c                   \
-		   $(SRC_BOOZ)/imu/booz_imu_b2.c            \
-		   $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+ap.srcs += $(SRC_FIRMWARE)/imu.c                   \
+           $(SRC_FIRMWARE)/imu/imu_b2.c            \
+           $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-		   $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+            $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 
 imu_srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
-		   $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+            $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
 ifeq ($(ARCH), lpc21)
 imu_CFLAGS += -DSSP_VIC_SLOT=9
@@ -72,17 +72,16 @@ ap.srcs += $(imu_srcs)
 # Simulator
 #
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DBOOZ_IMU_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_FIRMWARE)/imu.c                   \
+            $(SRC_FIRMWARE)/imu/imu_b2.c            \
+            $(SRC_FIRMWARE)/imu/imu_b2_arch.c
 
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-			$(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
 
 sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
 sim.CFLAGS += -DUSE_I2C1
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
index 575fe22e9f..944ad3794c 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
@@ -20,10 +20,10 @@
 #    <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_CHAN" value="3"/>
 #    <define name="ACCEL_Y_CHAN" value="5"/>
-#    <define name="ACCEL_Z_CHAN" value="6"/>    
+#    <define name="ACCEL_Z_CHAN" value="6"/>
 #
 #    <define name="ACCEL_X_SIGN" value="1"/>
 #    <define name="ACCEL_Y_SIGN" value="1"/>
@@ -46,13 +46,13 @@
 #    <define name="MAG_Z_SIGN" value="1"/>
 #
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
-#    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+#    <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"/> 
+#    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
 #
@@ -60,21 +60,22 @@
 
 
 
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\"
-ap.srcs += $(SRC_BOOZ)/booz_imu.c            \
-           $(SRC_BOOZ)/imu/booz_imu_crista.c \
-           $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
+ap.CFLAGS += -DBOOZ_IMU_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
 
 ap.CFLAGS += -DUSE_AMI601
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+ap.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
 ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
 
 
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\"
-sim.srcs += $(SRC_BOOZ)/booz_imu.c            \
-            $(SRC_BOOZ)/imu/booz_imu_crista.c \
-            $(SRC_BOOZ_SIM)/imu/booz_imu_crista_arch.c
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
+sim.srcs   += $(SRC_FIRMWARE)/imu.c                 \
+              $(SRC_FIRMWARE)/imu/imu_christa.c     \
+              $(SRC_FIRMWARE)/imu/imu_christa_arch.c
+
 sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
-sim.CFLAGS += -DUSE_I2C1
\ No newline at end of file
+sim.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1