diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 7b91b601f8..829ba8cbf8 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -31,25 +31,27 @@
     <target name="tunnel" board="lisa_m_1.0"/>
   </firmware>
 
-  <firmware name="lisa_m_test_progs">
-    <target name="test_sys_time"       board="lisa_m_1.0"/>
-    <target name="test_led"	           board="lisa_m_1.0"/>
-    <target name="test_uart_lisam"     board="lisa_m_1.0"/>
-    <target name="test_servos"         board="lisa_m_1.0"/>
-    <target name="test_telemetry"      board="lisa_m_1.0"/>
-    <target name="test_imu_aspirin"    board="lisa_m_1.0"/>
-    <target name="test_rc_spektrum"    board="lisa_m_1.0"/>
-    <target name="test_baro"           board="lisa_m_1.0"/>
-    <!--<target name="test_imu"           board="lisa_m_1.0"/>
-    <target name="test_rc_ppm"			board="lisa_m_1.0"/>
-    <target name="test_adc"			board="lisa_m_1.0"/>
-    <target name="test_hmc5843"			board="lisa_m_1.0"/>
-    <target name="test_itg3200"			board="lisa_m_1.0"/>
-    <target name="test_adxl345"			board="lisa_m_1.0"/>
-    <target name="test_esc_mkk_simple"		board="lisa_m_1.0"/>
-    <target name="test_esc_asctecv1_simple"	board="lisa_m_1.0"/>
-    <target name="test_actuators_mkk"		board="lisa_m_1.0"/>
-    <target name="test_actuators_asctecv1"	board="lisa_m_1.0"/-->
+  <firmware name="lisa_test_progs">
+    <target name="test_led"	                board="lisa_m_1.0"/>
+    <target name="test_sys_time"            board="lisa_m_1.0"/>
+    <target name="test_uart"                board="lisa_m_1.0"/>
+    <target name="test_servos"              board="lisa_m_1.0"/>
+    <target name="test_telemetry"           board="lisa_m_1.0"/>
+    <target name="test_baro"                board="lisa_m_1.0"/>
+    <target name="test_rc_spektrum"         board="lisa_m_1.0"/>
+    <target name="test_rc_ppm"              board="lisa_m_1.0"/>
+    <target name="test_adc"                 board="lisa_m_1.0"/>
+    <target name="test_imu_b2"              board="lisa_m_1.0"/>
+    <target name="test_imu_b2_2"            board="lisa_m_1.0"/>
+    <target name="test_imu_aspirin"         board="lisa_m_1.0"/>
+    <target name="test_ahrs"                board="lisa_m_1.0"/>
+    <target name="test_hmc5843"	            board="lisa_m_1.0"/>
+    <target name="test_itg3200"             board="lisa_m_1.0"/>
+    <target name="test_adxl345"	            board="lisa_m_1.0"/>
+    <target name="test_esc_mkk_simple"      board="lisa_m_1.0"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_m_1.0"/>
+    <target name="test_actuators_mkk"       board="lisa_m_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_m_1.0"/>
   </firmware>
 
   <modules main_freq="512">
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
deleted file mode 100644
index 4030f38e08..0000000000
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ /dev/null
@@ -1,830 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# $Id$
-# Copyright (C) 2010 The Paparazzi Team
-#
-# This file is part of Paparazzi.
-#
-# Paparazzi is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-#
-# Paparazzi is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# 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.
-#
-#
-
-
-
-
-################################################################################
-#
-#
-#  Test program for the lisa_L board
-#
-#
-#
-#
-# every "firmware" makefile should have a description of available targets
-# possible options for each of them, susbsystems and associated params for each of them
-#
-#
-#
-#
-################################################################################
-
-ARCH=stm32
-SRC_ARCH=arch/$(ARCH)
-SRC_LISA=lisa
-SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
-SRC_BOOZ=booz
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-SRC_BOOZ_TEST = $(SRC_BOOZ)/test
-#SRC_ROTORCRAFT=rotorcraft
-SRC_BOARD=boards/$(BOARD)
-
-SRC_FIRMWARE=firmwares/rotorcraft
-SRC_SUBSYSTEMS=subsystems
-SRC_AIRBORNE=.
-
-#
-# default configuration expected from the board files
-#
-# SYS_TIME_LED = 1
-# MODEM_PORT   = UART2
-# MODEM_BAUD   = B57600
-
-#
-# test leds
-#
-test_led.ARCHDIR = $(ARCH)
-test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_LISA)/test_led.c           \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_led.CFLAGS += -DUSE_LED
-test_led.srcs += $(SRC_ARCH)/led_hw.c
-
-#
-# test uart
-#
-test_uart.ARCHDIR = $(ARCH)
-test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_uart.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_LISA)/test_uart.c         \
-                 $(SRC_ARCH)/stm32_exceptions.c  \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_uart.CFLAGS += -DUSE_LED -DUSE_UART
-test_uart.srcs += $(SRC_ARCH)/led_hw.c
-test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_uart.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
-test_uart.srcs += mcu_periph/uart.c
-test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-
-
-#
-# test servos
-#
-
-SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-
-test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS  = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_servos.LDFLAGS += -lm
-test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
-                    $(SRC_ARCH)/mcu_arch.c \
-                    $(SRC_LISA)/test_servos.c   \
-                    $(SRC_ARCH)/stm32_exceptions.c   \
-                    $(SRC_ARCH)/stm32_vector_table.c
-test_servos.CFLAGS += -DUSE_LED
-test_servos.srcs += $(SRC_ARCH)/led_hw.c
-test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_servos.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_servos.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-
-
-#
-# test_telemetry : Sends ALIVE telemetry messages
-#
-# configuration
-#   MODEM_PORT :
-#   MODEM_BAUD :
-#
-test_telemetry.ARCHDIR = $(ARCH)
-test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
-test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_telemetry.c            \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_telemetry.CFLAGS += -DUSE_LED
-test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
-test_telemetry.CFLAGS += -DUSE_SYS_TIME
-test_telemetry.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
-test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_telemetry.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_telemetry.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-
-#
-# test_baro : reads barometers and sends values over telemetry
-#
-# configuration
-#   SYS_TIME_LED
-#   MODEM_PORT
-#   MODEM_BAUD
-#
-test_baro.ARCHDIR = $(ARCH)
-test_baro.CFLAGS  = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
-test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_BOARD)/test_baro.c         \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_baro.CFLAGS += -DUSE_LED
-test_baro.srcs   += $(SRC_ARCH)/led_hw.c
-test_baro.CFLAGS += -DUSE_SYS_TIME
-test_baro.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_baro.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_baro.srcs   += mcu_periph/uart.c
-test_baro.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_baro.srcs   += $(SRC_BOARD)/baro_board.c
-test_baro.CFLAGS += -DUSE_I2C2
-test_baro.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-
-
-#
-# test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
-#
-# configuration
-#   SYS_TIME_LED
-#   MODEM_PORT
-#   MODEM_BAUD
-#   RADIO_CONTROL_LED
-#   RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
-#
-test_rc_spektrum.ARCHDIR   = $(ARCH)
-
-test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_rc_spektrum.srcs   += $(SRC_AIRBORNE)/mcu.c                \
-                           $(SRC_ARCH)/mcu_arch.c               \
-                           test/subsystems/test_radio_control.c \
-                           $(SRC_ARCH)/stm32_exceptions.c       \
-                           $(SRC_ARCH)/stm32_vector_table.c
-
-test_rc_spektrum.CFLAGS += -DUSE_LED
-test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
-test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
-test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_spektrum.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_rc_spektrum.srcs   += mcu_periph/uart.c
-test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_rc_spektrum.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
-ifdef RADIO_CONTROL_LED
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-endif
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c                                 \
-               subsystems/radio_control/spektrum.c          \
-               $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
-
-
-#
-# test_rc_ppm
-#
-# configuration
-#   SYS_TIME_LED
-#   MODEM_PORT
-#   MODEM_BAUD
-#   RADIO_CONTROL_LED
-#
-test_rc_ppm.ARCHDIR   = $(ARCH)
-
-test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
-test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_rc_ppm.srcs   += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_BOOZ)/test/booz2_test_radio_control.c \
-                      $(SRC_ARCH)/stm32_exceptions.c              \
-                      $(SRC_ARCH)/stm32_vector_table.c
-
-test_rc_ppm.CFLAGS += -DUSE_LED
-test_rc_ppm.srcs   += $(SRC_ARCH)/led_hw.c
-test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
-test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_ppm.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_rc_ppm.srcs   += mcu_periph/uart.c
-test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_rc_ppm.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-test_rc_ppm.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c \
-                      $(SRC_SUBSYSTEMS)/radio_control/ppm.c \
-                      $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
-test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
-
-#
-# test_adc
-#
-# configuration
-#   SYS_TIME_LED
-#   MODEM_PORT
-#   MODEM_BAUD
-#
-test_adc.ARCHDIR = $(ARCH)
-test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-
-test_adc.srcs =  $(SRC_LISA)/test_adc.c \
-		 $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_ARCH)/stm32_exceptions.c \
-                 $(SRC_ARCH)/stm32_vector_table.c
-
-test_adc.CFLAGS += -DUSE_LED
-test_adc.srcs   += $(SRC_ARCH)/led_hw.c
-
-test_adc.CFLAGS += -DUSE_SYS_TIME
-test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED)
-test_adc.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_adc.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_adc.srcs   += mcu_periph/uart.c
-test_adc.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
-
-test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_adc.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_adc.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
-test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
-#test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_3
-test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
-
-
-
-#
-# common test
-#
-# configuration
-#   SYS_TIME_LED
-#   MODEM_PORT
-#   MODEM_BAUD
-#
-PERIODIC_FREQUENCY = 512
-
-COMMON_TEST_CFLAGS  = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-COMMON_TEST_SRCS    = $(SRC_AIRBORNE)/mcu.c            \
-                      $(SRC_ARCH)/mcu_arch.c           \
-                      $(SRC_ARCH)/stm32_exceptions.c   \
-                      $(SRC_ARCH)/stm32_vector_table.c
-COMMON_TEST_CFLAGS += -DUSE_LED
-COMMON_TEST_SRCS   += $(SRC_ARCH)/led_hw.c
-COMMON_TEST_CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
-COMMON_TEST_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-COMMON_TEST_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-COMMON_TEST_SRCS   += mcu_periph/uart.c
-COMMON_TEST_SRCS   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-COMMON_TEST_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-COMMON_TEST_SRCS   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-COMMON_TEST_SRCS   += math/pprz_trig_int.c
-
-
-#
-# test IMU b2 v1.1
-#
-IMU_B2_CFLAGS  = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-IMU_B2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1
-IMU_B2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
-IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-IMU_B2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-IMU_B2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-IMU_B2_SRCS   += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-IMU_B2_SRCS   += peripherals/ms2100.c  $(SRC_ARCH)/peripherals/ms2100_arch.c
-
-test_imu_b2.ARCHDIR = $(ARCH)
-test_imu_b2.srcs    = test/subsystems/test_imu.c
-test_imu_b2.CFLAGS  = $(COMMON_TEST_CFLAGS)
-test_imu_b2.srcs   += $(COMMON_TEST_SRCS)
-test_imu_b2.CFLAGS += $(IMU_B2_CFLAGS)
-test_imu_b2.srcs   += $(IMU_B2_SRCS)
-
-
-
-
-#
-# test IMU b2 v1.2
-#
-IMU_B2_2_CFLAGS  = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-IMU_B2_2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
-IMU_B2_2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
-IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-IMU_B2_2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-IMU_B2_2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-IMU_B2_2_SRCS   += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-IMU_B2_2_CFLAGS += -DUSE_I2C2
-IMU_B2_2_SRCS   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-IMU_B2_2_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-IMU_B2_2_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
-
-test_imu_b2_2.ARCHDIR = $(ARCH)
-test_imu_b2_2.srcs    = test/subsystems/test_imu.c
-test_imu_b2_2.CFLAGS  = $(COMMON_TEST_CFLAGS)
-test_imu_b2_2.srcs   += $(COMMON_TEST_SRCS)
-test_imu_b2_2.CFLAGS += $(IMU_B2_2_CFLAGS)
-test_imu_b2_2.srcs   += $(IMU_B2_2_SRCS)
-
-
-
-
-
-#
-# test IMU aspirin
-#
-IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
-IMU_ASPIRIN_SRCS   = $(SRC_SUBSYSTEMS)/imu.c             \
-                     $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
-                     $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
-IMU_ASPIRIN_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
-IMU_ASPIRIN_SRCS   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ      # Accel Int on PD2
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
-
-test_imu_aspirin.ARCHDIR = $(ARCH)
-test_imu_aspirin.srcs    = test/subsystems/test_imu.c
-test_imu_aspirin.CFLAGS  = $(COMMON_TEST_CFLAGS)
-test_imu_aspirin.srcs   += $(COMMON_TEST_SRCS)
-test_imu_aspirin.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-test_imu_aspirin.srcs   += $(IMU_ASPIRIN_SRCS)
-
-
-#
-# test AHRS
-#
-test_ahrs.ARCHDIR = $(ARCH)
-test_ahrs.srcs    = test/subsystems/test_ahrs.c
-test_ahrs.CFLAGS  = $(COMMON_TEST_CFLAGS)
-test_ahrs.srcs   += $(COMMON_TEST_SRCS)
-test_ahrs.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-test_ahrs.srcs   += $(IMU_ASPIRIN_SRCS)
-
-#AHRS = ice
-AHRS = icq
-#AHRS = flq
-#AHRS = fcr
-#AHRS = fcr2
-#AHRS = fcq
-
-test_ahrs.srcs += subsystems/ahrs.c                      \
-                  subsystems/ahrs/ahrs_aligner.c
-
-ifeq ($(AHRS), ice)
-test_ahrs.CFLAGS += -DFACE_REINJ_1=1024
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
-test_ahrs.srcs += subsystems/ahrs/ahrs_int_cmpl_euler.c  \
-                  lisa/plug_sys.c
-endif
-
-ifeq ($(AHRS), icq)
-#test_ahrs.CFLAGS += -DAHRS_TYPE=\"ICQ\"
-test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
-test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl.c
-endif
-
-ifeq ($(AHRS), flq)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"
-test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
-test_ahrs.srcs += subsystems/ahrs/ahrs_float_lkf_quat.c
-endif
-
-ifeq ($(AHRS), fcr)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-test_ahrs.CFLAGS += -DINS_ROLL_NEUTRAL_DEFAULT=0
-test_ahrs.CFLAGS += -DINS_PITCH_NEUTRAL_DEFAULT=0
-test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
-test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
-endif
-
-ifeq ($(AHRS), fcr2)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
-test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
-test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_rmat.c
-endif
-
-ifeq ($(AHRS), fcq)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
-test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
-test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
-endif
-
-
-
-
-
-
-
-
-#
-# test hmc5843
-#
-test_hmc5843.ARCHDIR = $(ARCH)
-test_hmc5843.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
-test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_hmc5843.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 lisa/test/lisa_test_hmc5843.c         \
-                    $(SRC_ARCH)/stm32_exceptions.c   \
-                    $(SRC_ARCH)/stm32_vector_table.c
-test_hmc5843.CFLAGS += -DUSE_LED
-test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
-test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_hmc5843.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_hmc5843.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_hmc5843.srcs += mcu_periph/uart.c
-test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_hmc5843.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_hmc5843.CFLAGS += -DUSE_I2C2
-test_hmc5843.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
-
-
-#
-# test ITG3200
-#
-test_itg3200.ARCHDIR = $(ARCH)
-test_itg3200.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_itg3200.srcs += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 lisa/test/lisa_test_itg3200.c \
-                       $(SRC_ARCH)/stm32_exceptions.c   \
-                       $(SRC_ARCH)/stm32_vector_table.c
-
-test_itg3200.CFLAGS += -DUSE_LED
-test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
-
-test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_itg3200.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_itg3200.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_itg3200.srcs += mcu_periph/uart.c
-test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_itg3200.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_itg3200.CFLAGS += -DUSE_I2C2
-test_itg3200.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ   # Gyro Int on PC14
-
-
-#
-# test adxl345 with DMA
-#
-test_adxl345.ARCHDIR = $(ARCH)
-test_adxl345.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_adxl345.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
-test_adxl345.srcs += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 lisa/test/lisa_test_adxl345_dma.c \
-                     $(SRC_ARCH)/stm32_exceptions.c   \
-		     $(SRC_ARCH)/stm32_vector_table.c
-
-test_adxl345.CFLAGS += -DUSE_LED
-test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
-
-test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_adxl345.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adxl345.srcs += mcu_periph/uart.c
-test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-test_adxl345.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ   # Accel Int on PD2
-test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
-
-
-
-#
-# simple test of mikrokopter motor controllers
-#
-test_esc_mkk_simple.ARCHDIR = $(ARCH)
-test_esc_mkk_simple.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_esc_mkk_simple.srcs    = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_esc_mkk_simple.c		\
-			      $(SRC_ARCH)/stm32_exceptions.c   \
-			      $(SRC_ARCH)/stm32_vector_table.c
-test_esc_mkk_simple.CFLAGS += -DUSE_LED
-test_esc_mkk_simple.srcs   += $(SRC_ARCH)/led_hw.c
-test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_esc_mkk_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_esc_mkk_simple.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
-test_esc_mkk_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
-
-
-#
-# simple test of asctec v1 motor controllers
-#
-test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
-test_esc_asctecv1_simple.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_esc_asctecv1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_esc_asctecv1_simple.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_esc_asctecv1_simple.c  \
-                                $(SRC_ARCH)/stm32_exceptions.c   \
-                                $(SRC_ARCH)/stm32_vector_table.c
-test_esc_asctecv1_simple.CFLAGS += -DUSE_LED
-test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c
-test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_esc_asctecv1_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
-test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-
-
-#
-# test actuators mkk
-#
-test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
-test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_actuators_mkk.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_actuators.c \
-                          $(SRC_ARCH)/stm32_exceptions.c   \
-                          $(SRC_ARCH)/stm32_vector_table.c
-
-test_actuators_mkk.CFLAGS += -DUSE_LED
-test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
-
-test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_mkk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_actuators_mkk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_mkk.srcs += mcu_periph/uart.c
-test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-test_actuators_mkk.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/commands.c
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
-test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-test_actuators_mkk.CFLAGS += -DUSE_I2C1
-test_actuators_mkk.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-
-#
-# test actuators asctecv1
-#
-test_actuators_asctecv1.ARCHDIR = $(ARCH)
-test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
-test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_actuators_asctecv1.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_actuators.c            \
-                               $(SRC_ARCH)/stm32_exceptions.c   \
-                               $(SRC_ARCH)/stm32_vector_table.c
-
-test_actuators_asctecv1.CFLAGS += -DUSE_LED
-test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c
-
-test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_asctecv1.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_actuators_asctecv1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_asctecv1.srcs += mcu_periph/uart.c
-test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-test_actuators_asctecv1.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/commands.c
-test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
-test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-
-
-#
-# test bmp085
-#
-test_bmp085.ARCHDIR = $(ARCH)
-test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_bmp085.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 lisa/test/lisa_test_bmp085.c     \
-           $(SRC_ARCH)/stm32_exceptions.c   \
-           $(SRC_ARCH)/stm32_vector_table.c
-test_bmp085.CFLAGS += -DUSE_LED
-test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
-test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_bmp085.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_bmp085.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_bmp085.srcs += mcu_periph/uart.c
-test_bmp085.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_bmp085.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_bmp085.CFLAGS += -DUSE_I2C2
-test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
-
-
-
-
-#
-# Test manual : a simple test with rc and servos - I want to fly lisa/M
-#
-test_manual.ARCHDIR = $(ARCH)
-test_manual.CFLAGS  = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_manual.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_manual.srcs    = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_manual.c               \
-              $(SRC_ARCH)/stm32_exceptions.c   \
-              $(SRC_ARCH)/stm32_vector_table.c
-test_manual.CFLAGS += -DUSE_LED
-test_manual.srcs   += $(SRC_ARCH)/led_hw.c
-test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_manual.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_manual.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_manual.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_manual.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-
-test_manual.srcs += $(SRC_FIRMWARE)/commands.c
-
-test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
-#test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
-test_manual.srcs   += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_heli.c
-
-
-test_manual.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ)/arch/$(ARCH)
-test_manual.CFLAGS += -DRADIO_CONTROL
-ifdef RADIO_CONTROL_LED
-test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-endif
-test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-test_manual.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c                                 \
-                  subsystems/radio_control/spektrum.c          \
-                  $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
-
-
-
-#
-# tunnel sw
-#
-tunnel_sw.ARCHDIR = $(ARCH)
-tunnel_sw.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-tunnel_sw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-tunnel_sw.srcs   += $(SRC_AIRBORNE)/mcu.c            \
-                    $(SRC_ARCH)/mcu_arch.c           \
-                    $(SRC_LISA)/tunnel_hw.c          \
-                    $(SRC_ARCH)/stm32_exceptions.c   \
-                    $(SRC_ARCH)/stm32_vector_table.c
-tunnel_sw.CFLAGS += -DUSE_LED
-tunnel_sw.srcs   += $(SRC_ARCH)/led_hw.c
-tunnel_sw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel_sw.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-tunnel_sw.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-
-#
-# tunnel hw
-#
-tunnel_hw.ARCHDIR = $(ARCH)
-tunnel_hw.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-tunnel_hw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-tunnel_hw.srcs   += lisa/test/lisa_tunnel.c          \
-                    $(SRC_AIRBORNE)/mcu.c            \
-                    $(SRC_ARCH)/mcu_arch.c           \
-                    $(SRC_ARCH)/stm32_exceptions.c   \
-                    $(SRC_ARCH)/stm32_vector_table.c
-tunnel_hw.CFLAGS += -DUSE_LED
-tunnel_hw.srcs   += $(SRC_ARCH)/led_hw.c
-tunnel_hw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel_hw.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-tunnel_hw.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-tunnel_hw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-tunnel_hw.srcs   += mcu_periph/uart.c
-tunnel_hw.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-
-
-#
-# test_settings :
-#
-# configuration
-#   MODEM_PORT :
-#   MODEM_BAUD :
-#
-test_settings.ARCHDIR = $(ARCH)
-test_settings.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
-test_settings.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_settings.srcs =  test/subsystems/test_settings.c  \
-		      $(SRC_AIRBORNE)/mcu.c            \
-                      $(SRC_ARCH)/mcu_arch.c           \
-                      $(SRC_ARCH)/stm32_exceptions.c   \
-                      $(SRC_ARCH)/stm32_vector_table.c
-test_settings.CFLAGS += -DUSE_LED
-test_settings.srcs   += $(SRC_ARCH)/led_hw.c
-test_settings.CFLAGS += -DUSE_SYS_TIME
-test_settings.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_settings.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_settings.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_settings.CFLAGS += -DUSE_$(MODEM_PORT)
-test_settings.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_settings.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_settings.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_settings.srcs   += mcu_periph/uart.c
-test_settings.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_settings.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
-test_settings.srcs   += subsystems/settings.c
-test_settings.srcs   += $(SRC_ARCH)/subsystems/settings_arch.c
-test_settings.CFLAGS += -DUSE_PERSISTENT_SETTINGS
diff --git a/conf/autopilot/lisa_m_test_progs.makefile b/conf/autopilot/lisa_m_test_progs.makefile
deleted file mode 100644
index 59e2c0a6aa..0000000000
--- a/conf/autopilot/lisa_m_test_progs.makefile
+++ /dev/null
@@ -1,734 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# $Id$
-# Copyright (C) 2010 The Paparazzi Team
-#
-# This file is part of Paparazzi.
-#
-# Paparazzi is free software; you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation; either version 2, or (at your option)
-# any later version.
-#
-# Paparazzi is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# 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.
-#
-#
-
-
-
-
-################################################################################
-#
-#
-#  Test program for the Lisa/M board
-#
-#
-#
-#
-# every "firmware" makefile should have a description of available targets
-# possible options for each of them, susbsystems and associated params for each of them
-#
-#
-#
-#
-################################################################################
-
-ARCH=stm32
-SRC_ARCH=arch/$(ARCH)
-SRC_LISA=lisa
-SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
-#SRC_ROTORCRAFT=rotorcraft
-SRC_BOARD=boards/$(BOARD)
-
-SRC_FIRMWARE=firmwares/rotorcraft
-SRC_SUBSYSTEMS=subsystems
-SRC_AIRBORNE=.
-
-#
-# default configuration expected from the board files
-#
-SYS_TIME_LED = 1
-# MODEM_PORT   = UART2
-# MODEM_BAUD   = B57600
-
-#
-# test leds
-#
-test_led.ARCHDIR = $(ARCH)
-test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_AIRBORNE)/mcu_periph/sys_time.c \
-                 $(SRC_ARCH)/mcu_periph/sys_time_arch.c \
-                 $(SRC_LISA)/test_led.c           \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_led.CFLAGS += -DUSE_LED
-test_led.srcs += $(SRC_ARCH)/led_hw.c
-
-#
-# test sys_time
-#
-test_sys_time.ARCHDIR = $(ARCH)
-test_sys_time.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_sys_time.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_sys_time.srcs += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time.c           \
-                 $(SRC_AIRBORNE)/mcu_periph/sys_time.c \
-                 $(SRC_ARCH)/mcu_periph/sys_time_arch.c \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_sys_time.CFLAGS += -DUSE_LED -DUSE_SYS_TIME -DSYS_TIME_LED=1 -DLED_RED=2 -DLED_BLUE=3
-test_sys_time.srcs += $(SRC_ARCH)/led_hw.c
-
-#
-# test uart
-#
-test_uart_lisam.ARCHDIR = $(ARCH)
-test_uart_lisam.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_uart_lisam.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_uart_lisam.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_LISA)/test_uart_lisam.c         \
-                 $(SRC_ARCH)/stm32_exceptions.c  \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_uart_lisam.CFLAGS += -DUSE_LED -DUSE_UART
-test_uart_lisam.srcs += $(SRC_ARCH)/led_hw.c
-test_uart_lisam.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_uart_lisam.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_uart_lisam.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_uart_lisam.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_uart_lisam.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_uart_lisam.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
-test_uart_lisam.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
-test_uart_lisam.srcs += mcu_periph/uart.c
-test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-
-
-##
-## test servos
-##
-#
-#SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
-#
-test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS  = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_servos.LDFLAGS += -lm
-test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
-                    $(SRC_ARCH)/mcu_arch.c \
-                    $(SRC_LISA)/test_servos.c   \
-                    $(SRC_ARCH)/stm32_exceptions.c   \
-                    $(SRC_ARCH)/stm32_vector_table.c
-test_servos.CFLAGS += -DUSE_LED
-test_servos.srcs += $(SRC_ARCH)/led_hw.c
-test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) -DUSE_SERVOS_7AND8
-test_servos.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_servos.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-
-test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-#
-#
-##
-## test_telemetry : Sends ALIVE telemetry messages
-##
-## configuration
-##   MODEM_PORT :
-##   MODEM_BAUD :
-##
-test_telemetry.ARCHDIR = $(ARCH)
-test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
-test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 test/test_telemetry.c            \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_telemetry.CFLAGS += -DUSE_LED
-test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
-test_telemetry.CFLAGS += -DUSE_SYS_TIME
-test_telemetry.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
-test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_telemetry.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_telemetry.srcs   += mcu_periph/uart.c
-test_telemetry.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#
-##
-## test_baro : reads barometers and sends values over telemetry
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   MODEM_BAUD
-##
-test_baro.ARCHDIR = $(ARCH)
-test_baro.CFLAGS  = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
-test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_BOARD)/test_baro.c         \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-test_baro.CFLAGS += -DUSE_LED
-test_baro.srcs   += $(SRC_ARCH)/led_hw.c
-test_baro.CFLAGS += -DUSE_SYS_TIME
-test_baro.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_baro.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_baro.srcs   += mcu_periph/uart.c
-test_baro.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_baro.srcs   += $(SRC_BOARD)/baro_board.c
-test_baro.CFLAGS += -DUSE_I2C2
-test_baro.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#
-#
-##
-## test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   MODEM_BAUD
-##   RADIO_CONTROL_LED
-##   RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
-##
-test_rc_spektrum.ARCHDIR   = $(ARCH)
-
-test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_rc_spektrum.srcs   += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 booz/test/booz2_test_radio_control.c \
-               $(SRC_ARCH)/stm32_exceptions.c              \
-               $(SRC_ARCH)/stm32_vector_table.c
-
-test_rc_spektrum.CFLAGS += -DUSE_LED
-test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
-test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
-test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_spektrum.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_rc_spektrum.srcs   += mcu_periph/uart.c
-test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_rc_spektrum.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
-ifdef RADIO_CONTROL_LED
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-endif
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
-test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
-test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c                                 \
-               subsystems/radio_control/spektrum.c          \
-               $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
-
-
-##
-## test_rc_ppm
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   MODEM_BAUD
-##   RADIO_CONTROL_LED
-##
-#test_rc_ppm.ARCHDIR   = $(ARCH)
-#
-#test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
-#test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
-#test_rc_ppm.srcs   += $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 $(SRC_BOOZ)/test/booz2_test_radio_control.c \
-#                      $(SRC_ARCH)/stm32_exceptions.c              \
-#                      $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_rc_ppm.CFLAGS += -DUSE_LED
-#test_rc_ppm.srcs   += $(SRC_ARCH)/led_hw.c
-#test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
-#test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_rc_ppm.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_rc_ppm.srcs   += mcu_periph/uart.c
-#test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_rc_ppm.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#test_rc_ppm.CFLAGS += -DRADIO_CONTROL
-#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
-#test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
-#test_rc_ppm.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c \
-#                      $(SRC_SUBSYSTEMS)/radio_control/ppm.c \
-#                      $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
-#test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
-#
-##
-## test_adc
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   MODEM_BAUD
-##
-#test_adc.ARCHDIR = $(ARCH)
-#test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-#test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#
-#test_adc.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 $(SRC_LISA)/test_adc.c \
-#                $(SRC_ARCH)/stm32_exceptions.c \
-#                $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_adc.CFLAGS += -DUSE_LED
-#test_adc.srcs   += $(SRC_ARCH)/led_hw.c
-#
-#test_adc.CFLAGS += -DUSE_SYS_TIME
-#test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_adc.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_adc.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_adc.srcs   += mcu_periph/uart.c
-#test_adc.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
-#
-#test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_adc.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_adc.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
-#test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
-#test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
-#
-##
-## test IMU b2
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   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.srcs += $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 $(SRC_BOOZ_TEST)/booz_test_imu.c \
-#                    $(SRC_ARCH)/stm32_exceptions.c   \
-#                    $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_imu_b2.CFLAGS += -DUSE_LED
-#test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_imu_b2.CFLAGS += -DUSE_SYS_TIME
-#test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_imu_b2.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_imu_b2.srcs += mcu_periph/uart.c
-#test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-#test_imu_b2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_imu_b2.srcs += math/pprz_trig_int.c
-#
-#test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"subsystems/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 += $(SRC_SUBSYSTEMS)/imu.c
-#test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(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_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-#test_imu_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-#test_imu_b2.srcs += peripherals/ms2001.c  $(SRC_ARCH)/peripherals/ms2001_arch.c
-#
-##
-## test IMU b2 1.2
-##
-## configuration
-##   SYS_TIME_LED
-##   MODEM_PORT
-##   MODEM_BAUD
-##
-#test_imu_b2_2.ARCHDIR = $(ARCH)
-#test_imu_b2_2.CFLAGS  = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-#test_imu_b2_2.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
-#test_imu_b2_2.srcs += $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 $(SRC_BOOZ_TEST)/booz_test_imu.c \
-#                    $(SRC_ARCH)/stm32_exceptions.c   \
-#                    $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_imu_b2_2.CFLAGS += -DUSE_LED
-#test_imu_b2_2.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_imu_b2_2.CFLAGS += -DUSE_SYS_TIME
-#test_imu_b2_2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_imu_b2_2.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_imu_b2_2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_imu_b2_2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_imu_b2_2.srcs += mcu_periph/uart.c
-#test_imu_b2_2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_imu_b2_2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-#test_imu_b2_2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_imu_b2_2.srcs += math/pprz_trig_int.c
-#
-#test_imu_b2_2.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
-#test_imu_b2_2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
-#test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu.c
-#test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-#test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-#test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-#test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
-#test_imu_b2_2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
-#test_imu_b2_2.CFLAGS += -DUSE_I2C2
-#test_imu_b2_2.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-#test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
-#
-#
-##
-## test_imu_aspirin : test aspirin imu
-##
-## configuration
-##   MODEM_PORT :
-##   MODEM_BAUD :
-##
-test_imu_aspirin.ARCHDIR = $(ARCH)
-test_imu_aspirin.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
-test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_imu_aspirin.srcs = $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c\
-								 test/subsystems/test_imu.c
-
-test_imu_aspirin.CFLAGS += -DUSE_LED
-test_imu_aspirin.srcs   += $(SRC_ARCH)/led_hw.c
-test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME
-test_imu_aspirin.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-test_imu_aspirin.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_imu_aspirin.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT)
-test_imu_aspirin.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_imu_aspirin.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-test_imu_aspirin.srcs   += mcu_periph/uart.c
-test_imu_aspirin.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-test_imu_aspirin.srcs   += math/pprz_trig_int.c
-test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_ASPIRIN_VERSION_1_0
-test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c             \
-                        $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
-                        $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
-test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-
-test_imu_aspirin.CFLAGS += -DUSE_I2C2
-test_imu_aspirin.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
-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 hmc5843
-##
-#test_hmc5843.ARCHDIR = $(ARCH)
-#test_hmc5843.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
-#test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_hmc5843.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 lisa/test/lisa_test_hmc5843.c         \
-#                    $(SRC_ARCH)/stm32_exceptions.c   \
-#                    $(SRC_ARCH)/stm32_vector_table.c
-#test_hmc5843.CFLAGS += -DUSE_LED
-#test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
-#test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_hmc5843.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_hmc5843.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_hmc5843.srcs += mcu_periph/uart.c
-#test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_hmc5843.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_hmc5843.CFLAGS += -DUSE_I2C2
-#test_hmc5843.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
-#
-#
-##
-## test ITG3200
-##
-#test_itg3200.ARCHDIR = $(ARCH)
-#test_itg3200.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-#test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_itg3200.srcs += $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 lisa/test/lisa_test_itg3200.c \
-#                       $(SRC_ARCH)/stm32_exceptions.c   \
-#                       $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_itg3200.CFLAGS += -DUSE_LED
-#test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_itg3200.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_itg3200.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_itg3200.srcs += mcu_periph/uart.c
-#test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_itg3200.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_itg3200.CFLAGS += -DUSE_I2C2
-#test_itg3200.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ   # Gyro Int on PC14
-#
-#
-##
-## test adxl345 with DMA
-##
-#test_adxl345.ARCHDIR = $(ARCH)
-#test_adxl345.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-#test_adxl345.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
-#test_adxl345.srcs += $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 lisa/test/lisa_test_adxl345_dma.c \
-#                     $(SRC_ARCH)/stm32_exceptions.c   \
-#		     $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_adxl345.CFLAGS += -DUSE_LED
-#test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_adxl345.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-#test_adxl345.srcs += mcu_periph/uart.c
-#test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-#test_adxl345.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ   # Accel Int on PD2
-#test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
-#
-#
-#
-##
-## simple test of mikrokopter motor controllers
-##
-#test_esc_mkk_simple.ARCHDIR = $(ARCH)
-#test_esc_mkk_simple.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-#test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_esc_mkk_simple.srcs    = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 test/test_esc_mkk_simple.c		\
-#			      $(SRC_ARCH)/stm32_exceptions.c   \
-#			      $(SRC_ARCH)/stm32_vector_table.c
-#test_esc_mkk_simple.CFLAGS += -DUSE_LED
-#test_esc_mkk_simple.srcs   += $(SRC_ARCH)/led_hw.c
-#test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_esc_mkk_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_esc_mkk_simple.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
-#test_esc_mkk_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
-#
-#
-##
-## simple test of asctec v1 motor controllers
-##
-#test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
-#test_esc_asctecv1_simple.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-#test_esc_asctecv1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_esc_asctecv1_simple.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 test/test_esc_asctecv1_simple.c  \
-#                                $(SRC_ARCH)/stm32_exceptions.c   \
-#                                $(SRC_ARCH)/stm32_vector_table.c
-#test_esc_asctecv1_simple.CFLAGS += -DUSE_LED
-#test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c
-#test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_esc_asctecv1_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
-#test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#
-#
-##
-## test actuators mkk
-##
-#test_actuators_mkk.ARCHDIR = $(ARCH)
-#test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
-#test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_actuators_mkk.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 test/test_actuators.c \
-#                          $(SRC_ARCH)/stm32_exceptions.c   \
-#                          $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_actuators_mkk.CFLAGS += -DUSE_LED
-#test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_actuators_mkk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_actuators_mkk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-#test_actuators_mkk.srcs += mcu_periph/uart.c
-#test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-#test_actuators_mkk.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
-#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-#test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
-#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-#test_actuators_mkk.CFLAGS += -DUSE_I2C1
-#test_actuators_mkk.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#
-##
-## test actuators asctecv1
-##
-#test_actuators_asctecv1.ARCHDIR = $(ARCH)
-#test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
-#test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_actuators_asctecv1.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 test/test_actuators.c            \
-#                               $(SRC_ARCH)/stm32_exceptions.c   \
-#                               $(SRC_ARCH)/stm32_vector_table.c
-#
-#test_actuators_asctecv1.CFLAGS += -DUSE_LED
-#test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c
-#
-#test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_actuators_asctecv1.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_actuators_asctecv1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-#test_actuators_asctecv1.srcs += mcu_periph/uart.c
-#test_actuators_asctecv1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
-#test_actuators_asctecv1.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c
-#test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-#test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-#test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
-#test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-#
-#
-##
-## test bmp085
-##
-#test_bmp085.ARCHDIR = $(ARCH)
-#test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-#test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_bmp085.srcs = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 lisa/test/lisa_test_bmp085.c     \
-#           $(SRC_ARCH)/stm32_exceptions.c   \
-#           $(SRC_ARCH)/stm32_vector_table.c
-#test_bmp085.CFLAGS += -DUSE_LED
-#test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
-#test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_bmp085.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_bmp085.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_bmp085.srcs += mcu_periph/uart.c
-#test_bmp085.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_bmp085.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_bmp085.CFLAGS += -DUSE_I2C2
-#test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-##test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
-#
-#
-#
-##
-## Test manual : a simple test with rc and servos - I want to fly lisa/M
-##
-#test_manual.ARCHDIR = $(ARCH)
-#test_manual.CFLAGS  = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-#test_manual.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-#test_manual.srcs    = $(SRC_AIRBORNE)/mcu.c \
-#                 $(SRC_ARCH)/mcu_arch.c \
-#                 test/test_manual.c               \
-#              $(SRC_ARCH)/stm32_exceptions.c   \
-#              $(SRC_ARCH)/stm32_vector_table.c
-#test_manual.CFLAGS += -DUSE_LED
-#test_manual.srcs   += $(SRC_ARCH)/led_hw.c
-#test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_manual.CFLAGS += -DPERIODIC_FREQUENCY='512.'
-#test_manual.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
-#
-#test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-#test_manual.srcs   += mcu_periph/uart.c
-#test_manual.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
-#
-#test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
-#test_manual.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
-#
-#test_manual.srcs += $(SRC_BOOZ)/booz2_commands.c
-#
-#test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
-##test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
-#test_manual.srcs   += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
-#test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_heli.c
-#
-#
-#test_manual.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ)/arch/$(ARCH)
-#test_manual.CFLAGS += -DRADIO_CONTROL
-#ifdef RADIO_CONTROL_LED
-#test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
-#endif
-#test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
-#test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
-#test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-#test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
-#test_manual.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c                                 \
-#                  subsystems/radio_control/spektrum.c          \
-#                  $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
-
diff --git a/conf/autopilot/lisa_m_test_progs.xml b/conf/autopilot/lisa_m_test_progs.xml
deleted file mode 100644
index 5a7712caed..0000000000
--- a/conf/autopilot/lisa_m_test_progs.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<firmware name="lisa_m_test_progs" boards="lisa_m_1.0"
-  description="test programs for lisa_m boards">
-
-   <!--target name="test telemetry" description="Sends ALIVE telemetry messages">
-     <param name="MODEM_PORT" values="UART1,UART2,UART3"    default="UART2"/>
-     <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
-   </target>
-
-   <target name="test baro" description="reads barometers and sends values over telemetry">
-     <param name="MODEM_PORT" values="UART1,UART2,UART3"    default="UART2"/>
-     <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
-   </target>
-
-   <target name="test imu b2" description="reads imu values over telemetry">
-     <param name="MODEM_PORT" values="UART1,UART2,UART3"    default="UART2"/>
-     <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
-   </target>
-
-  <target name="test spektrum" description="sends RADIO_CONTROL messages on telemetry">
-     <param name="MODEM_PORT"         values="UART1,UART2,UART3"    default="UART2"/>
-     <param name="MODEM_BAUD"         values="B9600,B57600,B115200" default="B57600"/>
-     <param name="RADIO_CONTROL_LINK" values="UART1,UART2,UART3|UART5" default="UART3"/>
-  </target-->
-
-</firmware>
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
new file mode 100644
index 0000000000..31199813a3
--- /dev/null
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -0,0 +1,582 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# $Id$
+# Copyright (C) 2010 The Paparazzi Team
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# Paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# 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.
+#
+#
+
+
+
+
+################################################################################
+#
+#
+#  Test program for the Lisa/M and Lisa/L boards
+#
+#
+#
+#
+# every "firmware" makefile should have a description of available targets
+# possible options for each of them, susbsystems and associated params for each of them
+#
+#
+#
+#
+################################################################################
+
+ARCH=stm32
+SRC_ARCH=arch/$(ARCH)
+SRC_LISA=lisa
+SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+#SRC_ROTORCRAFT=rotorcraft
+SRC_BOARD=boards/$(BOARD)
+
+SRC_FIRMWARE=firmwares/rotorcraft
+SRC_SUBSYSTEMS=subsystems
+SRC_AIRBORNE=.
+
+
+#
+# common test
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+PERIODIC_FREQUENCY = 512
+
+COMMON_TEST_CFLAGS  = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+COMMON_TEST_SRCS    = $(SRC_AIRBORNE)/mcu.c            \
+                      $(SRC_ARCH)/mcu_arch.c           \
+                      $(SRC_ARCH)/stm32_exceptions.c   \
+                      $(SRC_ARCH)/stm32_vector_table.c
+COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
+ifneq ($(SYS_TIME_LED),none)
+  COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
+COMMON_TEST_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+
+COMMON_TEST_CFLAGS += -DUSE_LED
+COMMON_TEST_SRCS   += $(SRC_ARCH)/led_hw.c
+
+COMMON_TELEMETRY_CFLAGS  = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+COMMON_TELEMETRY_SRCS    = mcu_periph/uart.c
+COMMON_TELEMETRY_SRCS   += $(SRC_ARCH)/mcu_periph/uart_arch.c
+COMMON_TELEMETRY_SRCS   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+
+#COMMON_TEST_SRCS   += math/pprz_trig_int.c
+
+
+#
+# test leds
+#
+test_led.ARCHDIR = $(ARCH)
+test_led.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_led.srcs    = $(COMMON_TEST_SRCS)
+
+test_led.CFLAGS += -I$(SRC_LISA)
+test_led.srcs   += $(SRC_LISA)/test_led.c
+
+
+#
+# test sys_time
+#
+test_sys_time.ARCHDIR = $(ARCH)
+test_sys_time.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_sys_time.srcs    = $(COMMON_TEST_SRCS)
+
+test_sys_time.CFLAGS += -DLED_RED=2 -DLED_BLUE=3
+test_sys_time.srcs   += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time.c
+
+
+
+#
+# test uart
+#
+test_uart.ARCHDIR = $(ARCH)
+test_uart.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_uart.srcs    = $(COMMON_TEST_SRCS)
+
+test_uart.CFLAGS += -I$(SRC_LISA) -DUSE_UART
+test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+test_uart.srcs += mcu_periph/uart.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
+ifeq ($(BOARD), lisa_m)
+  test_uart.srcs += $(SRC_LISA)/test_uart_lisam.c
+  test_uart.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
+else ifeq ($(BOARD), lisa_l)
+  test_uart.srcs += $(SRC_LISA)/test_uart_lisal.c
+endif
+
+
+#
+# test servos
+#
+test_servos.ARCHDIR = $(ARCH)
+test_servos.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_servos.srcs    = $(COMMON_TEST_SRCS)
+
+test_servos.CFLAGS  += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA)
+test_servos.LDFLAGS += -lm
+test_servos.srcs    += $(SRC_LISA)/test_servos.c
+test_servos.srcs    += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
+test_servos.srcs    += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+ifeq ($(BOARD), lisa_m)
+  test_servos.CFLAGS += -DUSE_SERVOS_7AND8
+endif
+
+
+#
+# test_telemetry : Sends ALIVE telemetry messages
+#
+# configuration
+#   MODEM_PORT :
+#   MODEM_BAUD :
+#
+test_telemetry.ARCHDIR = $(ARCH)
+test_telemetry.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_telemetry.srcs    = $(COMMON_TEST_SRCS)
+test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_telemetry.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_telemetry.CFLAGS += -I$(SRC_LISA)
+test_telemetry.srcs   += test/test_telemetry.c
+
+
+#
+# test_baro : reads barometers and sends values over telemetry
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+test_baro.ARCHDIR = $(ARCH)
+test_baro.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_baro.srcs    = $(COMMON_TEST_SRCS)
+test_baro.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_baro.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_baro.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOARD)
+test_baro.srcs   += $(SRC_BOARD)/test_baro.c
+test_baro.srcs   += $(SRC_BOARD)/baro_board.c
+test_baro.CFLAGS += -DUSE_I2C2
+test_baro.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+
+
+#
+# test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#   RADIO_CONTROL_LED
+#   RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
+#
+test_rc_spektrum.ARCHDIR   = $(ARCH)
+test_rc_spektrum.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_rc_spektrum.srcs    = $(COMMON_TEST_SRCS)
+test_rc_spektrum.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_rc_spektrum.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_rc_spektrum.srcs   += test/subsystems/test_radio_control.c
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
+ifneq ($(RADIO_CONTROL_LED),none)
+  test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
+test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
+test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
+test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
+test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control/spektrum.c
+test_rc_spektrum.srcs   += $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
+
+
+#
+# test_rc_ppm
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#   RADIO_CONTROL_LED
+#
+test_rc_ppm.ARCHDIR   = $(ARCH)
+test_rc_ppm.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_rc_ppm.srcs    = $(COMMON_TEST_SRCS)
+test_rc_ppm.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_rc_ppm.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_rc_ppm.srcs   += test/subsystems/test_radio_control.c
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL
+ifneq ($(RADIO_CONTROL_LED),none)
+  test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
+test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+test_rc_ppm.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
+test_rc_ppm.srcs   += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
+test_rc_ppm.srcs   += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
+test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
+
+
+
+#
+# test_adc
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+test_adc.ARCHDIR = $(ARCH)
+test_adc.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_adc.srcs    = $(COMMON_TEST_SRCS)
+test_adc.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_adc.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_adc.CFLAGS += -I$(SRC_LISA)
+test_adc.srcs   += $(SRC_LISA)/test_adc.c
+test_adc.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
+test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
+test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
+
+
+
+#
+# test IMU b2 v1.1
+#
+IMU_B2_CFLAGS  = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
+IMU_B2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1
+IMU_B2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_B2_SRCS   += math/pprz_trig_int.c
+IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+IMU_B2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+IMU_B2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
+IMU_B2_SRCS   += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+IMU_B2_SRCS   += peripherals/ms2100.c  $(SRC_ARCH)/peripherals/ms2100_arch.c
+
+test_imu_b2.ARCHDIR = $(ARCH)
+test_imu_b2.srcs    = test/subsystems/test_imu.c
+test_imu_b2.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_imu_b2.srcs   += $(COMMON_TEST_SRCS)
+test_imu_b2.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_imu_b2.srcs   += $(COMMON_TELEMETRY_SRCS)
+test_imu_b2.CFLAGS += $(IMU_B2_CFLAGS)
+test_imu_b2.srcs   += $(IMU_B2_SRCS)
+
+
+
+
+#
+# test IMU b2 v1.2
+#
+IMU_B2_2_CFLAGS  = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
+IMU_B2_2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
+IMU_B2_2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_B2_2_SRCS   += math/pprz_trig_int.c
+IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+IMU_B2_2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+IMU_B2_2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
+IMU_B2_2_SRCS   += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
+IMU_B2_2_CFLAGS += -DUSE_I2C2
+IMU_B2_2_SRCS   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+IMU_B2_2_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
+IMU_B2_2_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
+
+test_imu_b2_2.ARCHDIR = $(ARCH)
+test_imu_b2_2.srcs    = test/subsystems/test_imu.c
+test_imu_b2_2.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_imu_b2_2.srcs   += $(COMMON_TEST_SRCS)
+test_imu_b2_2.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_imu_b2_2.srcs   += $(COMMON_TELEMETRY_SRCS)
+test_imu_b2_2.CFLAGS += $(IMU_B2_2_CFLAGS)
+test_imu_b2_2.srcs   += $(IMU_B2_2_SRCS)
+
+
+
+
+
+#
+# test IMU aspirin
+#
+IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_ASPIRIN_VERSION_1_0
+IMU_ASPIRIN_SRCS   = $(SRC_SUBSYSTEMS)/imu.c             \
+                     $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
+                     $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
+IMU_ASPIRIN_SRCS   += math/pprz_trig_int.c
+IMU_ASPIRIN_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
+IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
+IMU_ASPIRIN_SRCS   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ      # Accel Int on PD2
+IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
+
+test_imu_aspirin.ARCHDIR = $(ARCH)
+test_imu_aspirin.srcs    = test/subsystems/test_imu.c
+test_imu_aspirin.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_imu_aspirin.srcs   += $(COMMON_TEST_SRCS)
+test_imu_aspirin.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_imu_aspirin.srcs   += $(COMMON_TELEMETRY_SRCS)
+test_imu_aspirin.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_imu_aspirin.srcs   += $(IMU_ASPIRIN_SRCS)
+
+
+#
+# test AHRS
+#
+test_ahrs.ARCHDIR = $(ARCH)
+test_ahrs.srcs    = test/subsystems/test_ahrs.c
+test_ahrs.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_ahrs.srcs   += $(COMMON_TEST_SRCS)
+test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_ahrs.srcs   += $(COMMON_TELEMETRY_SRCS)
+test_ahrs.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+test_ahrs.srcs   += $(IMU_ASPIRIN_SRCS)
+
+#AHRS = ice
+AHRS = icq
+#AHRS = flq
+#AHRS = fcr
+#AHRS = fcr2
+#AHRS = fcq
+
+test_ahrs.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
+test_ahrs.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+
+ifeq ($(AHRS), ice)
+test_ahrs.CFLAGS += -DFACE_REINJ_1=1024
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
+test_ahrs.srcs += subsystems/ahrs/ahrs_int_cmpl_euler.c  \
+                  lisa/plug_sys.c
+endif
+
+ifeq ($(AHRS), icq)
+#test_ahrs.CFLAGS += -DAHRS_TYPE=\"ICQ\"
+test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
+test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl.c
+endif
+
+ifeq ($(AHRS), flq)
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"
+test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
+test_ahrs.srcs += subsystems/ahrs/ahrs_float_lkf_quat.c
+endif
+
+ifeq ($(AHRS), fcr)
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+test_ahrs.CFLAGS += -DINS_ROLL_NEUTRAL_DEFAULT=0
+test_ahrs.CFLAGS += -DINS_PITCH_NEUTRAL_DEFAULT=0
+test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
+test_ahrs.CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
+test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
+endif
+
+ifeq ($(AHRS), fcr2)
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
+test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
+test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_rmat.c
+endif
+
+ifeq ($(AHRS), fcq)
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
+test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
+test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
+endif
+
+
+
+
+
+
+
+
+#
+# test hmc5843
+#
+test_hmc5843.ARCHDIR = $(ARCH)
+test_hmc5843.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_hmc5843.srcs    = $(COMMON_TEST_SRCS)
+test_hmc5843.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_hmc5843.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_hmc5843.CFLAGS += -I$(SRC_LISA)
+test_hmc5843.srcs   += lisa/test/lisa_test_hmc5843.c
+test_hmc5843.CFLAGS += -DUSE_I2C2
+test_hmc5843.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
+
+
+#
+# test ITG3200
+#
+test_itg3200.ARCHDIR = $(ARCH)
+test_itg3200.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_itg3200.srcs    = $(COMMON_TEST_SRCS)
+test_itg3200.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_itg3200.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_itg3200.CFLAGS += -I$(SRC_LISA)
+test_itg3200.srcs   += lisa/test/lisa_test_itg3200.c
+test_itg3200.CFLAGS += -DUSE_I2C2
+test_itg3200.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ   # Gyro Int on PC14
+
+
+#
+# test adxl345 with DMA
+#
+test_adxl345.ARCHDIR = $(ARCH)
+test_adxl345.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_adxl345.srcs    = $(COMMON_TEST_SRCS)
+test_adxl345.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_adxl345.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_adxl345.CFLAGS += -I$(SRC_LISA)
+test_adxl345.srcs   += lisa/test/lisa_test_adxl345_dma.c
+test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ   # Accel Int on PD2
+test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
+
+
+
+#
+# simple test of mikrokopter motor controllers
+#
+test_esc_mkk_simple.ARCHDIR = $(ARCH)
+test_esc_mkk_simple.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_esc_mkk_simple.srcs    = $(COMMON_TEST_SRCS)
+test_esc_mkk_simple.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_esc_mkk_simple.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_esc_mkk_simple.srcs   += test/test_esc_mkk_simple.c
+test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
+test_esc_mkk_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
+
+
+#
+# simple test of asctec v1 motor controllers
+#
+test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
+test_esc_asctecv1_simple.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_esc_asctecv1_simple.srcs    = $(COMMON_TEST_SRCS)
+test_esc_asctecv1_simple.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_esc_asctecv1_simple.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_esc_asctecv1_simple.srcs   += test/test_esc_asctecv1_simple.c
+test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
+test_esc_asctecv1_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+
+
+#
+# test actuators mkk
+#
+test_actuators_mkk.ARCHDIR = $(ARCH)
+test_actuators_mkk.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_actuators_mkk.srcs    = $(COMMON_TEST_SRCS)
+test_actuators_mkk.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_actuators_mkk.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_actuators_mkk.srcs   += test/test_actuators.c
+test_actuators_mkk.srcs   += $(SRC_FIRMWARE)/commands.c
+test_actuators_mkk.srcs   += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
+test_actuators_mkk.srcs   += $(SRC_FIRMWARE)/actuators/supervision.c
+test_actuators_mkk.CFLAGS += -DUSE_I2C1
+test_actuators_mkk.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+
+
+#
+# test actuators asctecv1
+#
+test_actuators_asctecv1.ARCHDIR = $(ARCH)
+test_actuators_asctecv1.CFLAGS  = $(COMMON_TEST_CFLAGS)
+test_actuators_asctecv1.srcs    = $(COMMON_TEST_SRCS)
+test_actuators_asctecv1.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+test_actuators_asctecv1.srcs   += $(COMMON_TELEMETRY_SRCS)
+
+test_actuators_asctecv1.srcs   += $(SRC_FIRMWARE)/commands.c
+test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+test_actuators_asctecv1.srcs   += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
+test_actuators_asctecv1.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+
+
+##
+## test bmp085
+##
+#test_bmp085.ARCHDIR = $(ARCH)
+#test_bmp085.CFLAGS  = $(COMMON_TEST_CFLAGS)
+#test_bmp085.srcs    = $(COMMON_TEST_SRCS)
+#test_bmp085.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+#test_bmp085.srcs   += $(COMMON_TELEMETRY_SRCS)
+#
+#test_bmp085.CFLAGS += -I$(SRC_LISA)
+#test_bmp085.srcs   += lisa/test/lisa_test_bmp085.c
+#test_bmp085.CFLAGS += -DUSE_I2C2
+#test_bmp085.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
+##test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
+
+
+
+##
+## Test manual : a simple test with rc and servos - I want to fly lisa/M
+##
+#test_manual.ARCHDIR = $(ARCH)
+#test_manual.CFLAGS  = $(COMMON_TEST_CFLAGS)
+#test_manual.srcs    = $(COMMON_TEST_SRCS)
+#test_manual.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
+#test_manual.srcs   += $(COMMON_TELEMETRY_SRCS)
+#
+#test_manual.srcs   += test/test_manual.c
+#test_manual.srcs   += $(SRC_FIRMWARE)/commands.c
+#test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
+##test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
+#test_manual.srcs   += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
+#test_manual.srcs   += $(SRC_FIRMWARE)/actuators/actuators_heli.c
+#
+#test_manual.CFLAGS += -DRADIO_CONTROL
+#ifneq ($(RADIO_CONTROL_LED),none)
+#test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+#endif
+#test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
+#test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
+#test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
+#test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
+#test_manual.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
+#test_manual.srcs   += $(SRC_SUBSYSTEMS)/radio_control/spektrum.c
+#test_manual.srcs   += $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
+
diff --git a/conf/autopilot/lisa_l_test_progs.xml b/conf/autopilot/lisa_test_progs.xml
similarity index 85%
rename from conf/autopilot/lisa_l_test_progs.xml
rename to conf/autopilot/lisa_test_progs.xml
index 8063313631..99567d05ce 100644
--- a/conf/autopilot/lisa_l_test_progs.xml
+++ b/conf/autopilot/lisa_test_progs.xml
@@ -1,5 +1,5 @@
-<firmware name="lisa_l_test_progs" boards="lisa_l_1.0,lisa_l_1.1"
-  description="test programs for lisa_l boards">
+<firmware name="lisa_test_progs" boards="lisa_m_1.0, lisa_l_1.0,lisa_l_1.1"
+  description="test programs for lisa_m and lisa_l boards">
 
    <target name="test telemetry" description="Sends ALIVE telemetry messages">
      <param name="MODEM_PORT" values="UART1,UART2,UART3"    default="UART2"/>
@@ -22,4 +22,6 @@
      <param name="RADIO_CONTROL_LINK" values="UART1,UART2,UART3|UART5" default="UART3"/>
   </target>
 
+  <!-- FIXME! add descriptions for all targets -->
+
 </firmware>
diff --git a/sw/airborne/boards/lisa_m/test_baro.c b/sw/airborne/boards/lisa_m/test_baro.c
index 9808020358..bb8d09d242 100644
--- a/sw/airborne/boards/lisa_m/test_baro.c
+++ b/sw/airborne/boards/lisa_m/test_baro.c
@@ -32,6 +32,7 @@
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
+#include "led.h"
 
 #include "subsystems/datalink/downlink.h"
 
@@ -50,7 +51,7 @@ int main(void) {
   main_init();
 
   while(1) {
-    if (sys_time_periodic())
+    if (sys_time_check_and_ack_timer(0))
       main_periodic_task();
     main_event_task();
   }
@@ -60,7 +61,7 @@ int main(void) {
 
 static inline void main_init( void ) {
   mcu_init();
-  sys_time_init();
+  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
   baro_init();
 
   //  DEBUG_SERVO1_INIT();
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
index 7c3373438a..b15021caa1 100644
--- a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
+++ b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
@@ -31,6 +31,7 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
+#include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "peripherals/adxl345.h"
diff --git a/sw/airborne/lisa/test_uart.c b/sw/airborne/lisa/test_uart_lisal.c
similarity index 100%
rename from sw/airborne/lisa/test_uart.c
rename to sw/airborne/lisa/test_uart_lisal.c
diff --git a/sw/airborne/test/subsystems/test_radio_control.c b/sw/airborne/test/subsystems/test_radio_control.c
index 837f2d59d3..bf6b76007a 100644
--- a/sw/airborne/test/subsystems/test_radio_control.c
+++ b/sw/airborne/test/subsystems/test_radio_control.c
@@ -79,7 +79,7 @@ static inline void main_periodic_task( void ) {
 				       &radio_control.status);});
 #ifdef RADIO_CONTROL_TYPE_PPM
   RunOnceEvery(10,
-	       {uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel, DefaultDevice,&blaa, 8, booz_radio_control_ppm_pulses);});
+	       {uint8_t blaa = 0; DOWNLINK_SEND_PPM(DefaultChannel, DefaultDevice,&blaa, 8, ppm_pulses);});
 #endif
 
   LED_PERIODIC();