diff --git a/sw/airborne/boards/krooz_sd.h b/sw/airborne/boards/krooz_sd.h
index eec414cc2c..dc24cbda4a 100644
--- a/sw/airborne/boards/krooz_sd.h
+++ b/sw/airborne/boards/krooz_sd.h
@@ -1,5 +1,5 @@
-#ifndef CONFIG_KROOZ_1_0_H
-#define CONFIG_KROOZ_1_0_H
+#ifndef CONFIG_KROOZ_SD_H
+#define CONFIG_KROOZ_SD_H
 
 #define BOARD_KROOZ
 
@@ -100,6 +100,14 @@
 #define UART5_GPIO_TX GPIO12
 
 /* SPI */
+#define SPI1_GPIO_AF GPIO_AF5
+#define SPI1_GPIO_PORT_MISO GPIOA
+#define SPI1_GPIO_MISO GPIO6
+#define SPI1_GPIO_PORT_MOSI GPIOA
+#define SPI1_GPIO_MOSI GPIO7
+#define SPI1_GPIO_PORT_SCK GPIOA
+#define SPI1_GPIO_SCK GPIO5
+
 #define SPI2_GPIO_AF GPIO_AF5
 #define SPI2_GPIO_PORT_MISO GPIOB
 #define SPI2_GPIO_MISO GPIO14
@@ -108,7 +116,12 @@
 #define SPI2_GPIO_PORT_SCK GPIOB
 #define SPI2_GPIO_SCK GPIO13
 
-//TODO slave configuration
+#define SPI_SELECT_SLAVE0_PORT GPIOA
+#define SPI_SELECT_SLAVE0_PIN GPIO4
+#define SPI_SELECT_SLAVE1_PORT GPIOB
+#define SPI_SELECT_SLAVE1_PIN GPIO12
+#define SPI_SELECT_SLAVE2_PORT GPIOB
+#define SPI_SELECT_SLAVE2_PIN GPIO2
 
 /* I2C mapping */
 #define I2C1_GPIO_PORT GPIOB
@@ -119,6 +132,10 @@
 #define I2C2_GPIO_SCL GPIO10
 #define I2C2_GPIO_SDA GPIO11
 
+#define I2C3_GPIO_PORT_SCL GPIOA
+#define I2C3_GPIO_PORT_SDA GPIOC
+#define I2C3_GPIO_SCL GPIO8
+#define I2C3_GPIO_SDA GPIO9
 
 /* Onboard ADCs */
 #define USE_AD_TIM1 1
@@ -207,15 +224,6 @@
   }
 #endif // USE_AD1
 
-
-/* I2C mapping */
-#define GPIO_I2C1_SCL GPIO8
-#define GPIO_I2C1_SDA GPIO9
-#define GPIO_I2C2_SCL GPIO10
-#define GPIO_I2C2_SDA GPIO11
-#define GPIO_I2C3_SCL GPIO8 //PA8
-#define GPIO_I2C3_SDA GPIO9 //PC9
-
 /* Activate onboard baro */
 #define BOARD_HAS_BARO 1
 
@@ -247,12 +255,12 @@
 #if USE_PWM0
 #define PWM_SERVO_0 0
 #define PWM_SERVO_0_TIMER TIM3
-#define PWM_SERVO_0_RCC_IOP RCC_AHB1ENR_IOPCEN
-#define PWM_SERVO_0_GPIO GPIOC
-#define PWM_SERVO_0_PIN GPIO6
-#define PWM_SERVO_0_AF GPIO_AF1
-#define PWM_SERVO_0_OC TIM_OC1
-#define PWM_SERVO_0_OC_BIT (1<<0)
+#define PWM_SERVO_0_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_0_GPIO GPIOB
+#define PWM_SERVO_0_PIN GPIO1
+#define PWM_SERVO_0_AF GPIO_AF2
+#define PWM_SERVO_0_OC TIM_OC4
+#define PWM_SERVO_0_OC_BIT (1<<3)
 #else
 #define PWM_SERVO_0_OC_BIT 0
 #endif
@@ -262,10 +270,10 @@
 #define PWM_SERVO_1_TIMER TIM3
 #define PWM_SERVO_1_RCC_IOP RCC_AHB1ENR_IOPCEN
 #define PWM_SERVO_1_GPIO GPIOC
-#define PWM_SERVO_1_PIN GPIO7
-#define PWM_SERVO_1_AF GPIO_AF1
-#define PWM_SERVO_1_OC TIM_OC2
-#define PWM_SERVO_1_OC_BIT (1<<1)
+#define PWM_SERVO_1_PIN GPIO8
+#define PWM_SERVO_1_AF GPIO_AF2
+#define PWM_SERVO_1_OC TIM_OC3
+#define PWM_SERVO_1_OC_BIT (1<<2)
 #else
 #define PWM_SERVO_1_OC_BIT 0
 #endif
@@ -275,23 +283,23 @@
 #define PWM_SERVO_2_TIMER TIM3
 #define PWM_SERVO_2_RCC_IOP RCC_AHB1ENR_IOPCEN
 #define PWM_SERVO_2_GPIO GPIOC
-#define PWM_SERVO_2_PIN GPIO8
-#define PWM_SERVO_2_AF GPIO_AF1
-#define PWM_SERVO_2_OC TIM_OC3
-#define PWM_SERVO_2_OC_BIT (1<<2)
+#define PWM_SERVO_2_PIN GPIO7
+#define PWM_SERVO_2_AF GPIO_AF2
+#define PWM_SERVO_2_OC TIM_OC2
+#define PWM_SERVO_2_OC_BIT (1<<1)
 #else
 #define PWM_SERVO_2_OC_BIT 0
 #endif
 
 #if USE_PWM3
-#define PWM_SERVO_3_IDX 3
+#define PWM_SERVO_3 3
 #define PWM_SERVO_3_TIMER TIM3
-#define PWM_SERVO_3_RCC_IOP RCC_AHB1ENR_IOPCEN
-#define PWM_SERVO_3_GPIO GPIOC
-#define PWM_SERVO_3_PIN GPIO9
-#define PWM_SERVO_3_AF GPIO_AF1
-#define PWM_SERVO_3_OC TIM_OC4
-#define PWM_SERVO_3_OC_BIT (1<<3)
+#define PWM_SERVO_3_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_3_GPIO GPIOB
+#define PWM_SERVO_3_PIN GPIO4
+#define PWM_SERVO_3_AF GPIO_AF2
+#define PWM_SERVO_3_OC TIM_OC1
+#define PWM_SERVO_3_OC_BIT (1<<0)
 #else
 #define PWM_SERVO_3_OC_BIT 0
 #endif
@@ -301,10 +309,10 @@
 #define PWM_SERVO_4_TIMER TIM4
 #define PWM_SERVO_4_RCC_IOP RCC_AHB1ENR_IOPBEN
 #define PWM_SERVO_4_GPIO GPIOB
-#define PWM_SERVO_4_PIN GPIO6
-#define PWM_SERVO_4_AF GPIO_AF1
-#define PWM_SERVO_4_OC TIM_OC1
-#define PWM_SERVO_4_OC_BIT (1<<0)
+#define PWM_SERVO_4_PIN GPIO7
+#define PWM_SERVO_4_AF GPIO_AF2
+#define PWM_SERVO_4_OC TIM_OC2
+#define PWM_SERVO_4_OC_BIT (1<<1)
 #else
 #define PWM_SERVO_4_OC_BIT 0
 #endif
@@ -314,10 +322,10 @@
 #define PWM_SERVO_5_TIMER TIM4
 #define PWM_SERVO_5_RCC_IOP RCC_AHB1ENR_IOPBEN
 #define PWM_SERVO_5_GPIO GPIOB
-#define PWM_SERVO_5_PIN GPIO7
-#define PWM_SERVO_5_AF GPIO_AF1
-#define PWM_SERVO_5_OC TIM_OC2
-#define PWM_SERVO_5_OC_BIT (1<<1)
+#define PWM_SERVO_5_PIN GPIO6
+#define PWM_SERVO_5_AF GPIO_AF2
+#define PWM_SERVO_5_OC TIM_OC1
+#define PWM_SERVO_5_OC_BIT (1<<0)
 #else
 #define PWM_SERVO_5_OC_BIT 0
 #endif
@@ -327,10 +335,10 @@
 #define PWM_SERVO_6_TIMER TIM5
 #define PWM_SERVO_6_RCC_IOP RCC_AHB1ENR_IOPAEN
 #define PWM_SERVO_6_GPIO GPIOA
-#define PWM_SERVO_6_PIN GPIO0
-#define PWM_SERVO_6_AF GPIO_AF1
-#define PWM_SERVO_6_OC TIM_OC1
-#define PWM_SERVO_6_OC_BIT (1<<0)
+#define PWM_SERVO_6_PIN GPIO3
+#define PWM_SERVO_6_AF GPIO_AF2
+#define PWM_SERVO_6_OC TIM_OC4
+#define PWM_SERVO_6_OC_BIT (1<<3)
 #else
 #define PWM_SERVO_6_OC_BIT 0
 #endif
@@ -340,10 +348,10 @@
 #define PWM_SERVO_7_TIMER TIM5
 #define PWM_SERVO_7_RCC_IOP RCC_AHB1ENR_IOPAEN
 #define PWM_SERVO_7_GPIO GPIOA
-#define PWM_SERVO_7_PIN GPIO1
-#define PWM_SERVO_7_AF GPIO_AF1
-#define PWM_SERVO_7_OC TIM_OC2
-#define PWM_SERVO_7_OC_BIT (1<<1)
+#define PWM_SERVO_7_PIN GPIO2
+#define PWM_SERVO_7_AF GPIO_AF2
+#define PWM_SERVO_7_OC TIM_OC3
+#define PWM_SERVO_7_OC_BIT (1<<2)
 #else
 #define PWM_SERVO_7_OC_BIT 0
 #endif
@@ -353,10 +361,10 @@
 #define PWM_SERVO_8_TIMER TIM5
 #define PWM_SERVO_8_RCC_IOP RCC_AHB1ENR_IOPAEN
 #define PWM_SERVO_8_GPIO GPIOA
-#define PWM_SERVO_8_PIN GPIO2
-#define PWM_SERVO_8_AF GPIO_AF1
-#define PWM_SERVO_8_OC TIM_OC3
-#define PWM_SERVO_8_OC_BIT (1<<2)
+#define PWM_SERVO_8_PIN GPIO1
+#define PWM_SERVO_8_AF GPIO_AF2
+#define PWM_SERVO_8_OC TIM_OC2
+#define PWM_SERVO_8_OC_BIT (1<<1)
 #else
 #define PWM_SERVO_8_OC_BIT 0
 #endif
@@ -366,10 +374,10 @@
 #define PWM_SERVO_9_TIMER TIM5
 #define PWM_SERVO_9_RCC_IOP RCC_AHB1ENR_IOPAEN
 #define PWM_SERVO_9_GPIO GPIOA
-#define PWM_SERVO_9_PIN GPIO3
-#define PWM_SERVO_9_AF GPIO_AF1
-#define PWM_SERVO_9_OC TIM_OC4
-#define PWM_SERVO_9_OC_BIT (1<<3)
+#define PWM_SERVO_9_PIN GPIO0
+#define PWM_SERVO_9_AF GPIO_AF2
+#define PWM_SERVO_9_OC TIM_OC1
+#define PWM_SERVO_9_OC_BIT (1<<0)
 #else
 #define PWM_SERVO_9_OC_BIT 0
 #endif
@@ -414,4 +422,4 @@
 #define SPEKTRUM_BIND_PIN GPIO9
 #define SPEKTRUM_BIND_PIN_PORT GPIOA
 
-#endif /* CONFIG_KROOZ_1_0_H */
+#endif /* CONFIG_KROOZ_SD_H */