diff --git a/conf/airframes/booz.xml b/conf/airframes/booz.xml
index 7003dc6c38..f3314c51de 100644
--- a/conf/airframes/booz.xml
+++ b/conf/airframes/booz.xml
@@ -88,6 +88,39 @@ ctl.srcs += commands.c
 
 ctl.srcs += booz_telemetry.c
 
+
+#
+# multitilt
+#
+
+mtt.ARCHDIR = $(ARCHI)
+mtt.ARCH = arm7tdmi
+mtt.TARGET = mtt
+mtt.TARGETDIR = mtt
+
+mtt.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\"  -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
+mtt.srcs = main_mtt.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+mtt.CFLAGS += -DLED
+
+mtt.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+mtt.srcs += $(SRC_ARCH)/uart_hw.c
+
+mtt.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
+mtt.srcs += downlink.c pprz_transport.c
+
+mtt.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
+mtt.srcs += $(SRC_ARCH)/adc_hw.c
+
+mtt.srcs += $(SRC_ARCH)/max1167.c
+
+mtt.srcs += imu_v3.c $(SRC_ARCH)/imu_v3_hw.c
+
+mtt.srcs += multitilt.c
+
+mtt.CFLAGS += -DIMU
+mtt.srcs += link_imu.c
+
 #
 # AHRS CPU
 #
@@ -125,39 +158,6 @@ imu.CFLAGS += -DEKF_UPDATE_CONTINUOUS
 
 imu.srcs += link_imu.c
 
-#
-# multitilt
-#
-
-mtt.ARCHDIR = $(ARCHI)
-mtt.ARCH = arm7tdmi
-mtt.TARGET = mtt
-mtt.TARGETDIR = mtt
-
-mtt.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\"  -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
-mtt.srcs = main_mtt.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-mtt.CFLAGS += -DLED
-
-mtt.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-mtt.srcs += $(SRC_ARCH)/uart_hw.c
-
-mtt.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
-mtt.srcs += downlink.c pprz_transport.c
-
-mtt.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
-mtt.srcs += $(SRC_ARCH)/adc_hw.c
-
-mtt.srcs += $(SRC_ARCH)/max1167.c
-
-mtt.srcs += imu_v3.c
-
-mtt.srcs += multitilt.c
-
-mtt.CFLAGS += -DIMU
-mtt.srcs += link_imu.c
-
-
   </makefile>
 
 </airframe>
diff --git a/sw/airborne/arm7/actuators_buss_twi_blmc_hw.c b/sw/airborne/arm7/actuators_buss_twi_blmc_hw.c
index bd99640489..341f61f247 100644
--- a/sw/airborne/arm7/actuators_buss_twi_blmc_hw.c
+++ b/sw/airborne/arm7/actuators_buss_twi_blmc_hw.c
@@ -2,8 +2,8 @@
 
 uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
 volatile bool_t  buss_twi_blmc_status;
-volatile bool_t  buss_twi_blmc_i2c_done;
 volatile uint8_t buss_twi_blmc_nb_err;
+volatile bool_t  buss_twi_blmc_i2c_done;
 volatile uint8_t buss_twi_blmc_idx;
 
 const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = { 0x52, 0x54, 0x56, 0x58 };
@@ -13,6 +13,6 @@ void actuators_init ( void ) {
   for (i=0; i<BUSS_TWI_BLMC_NB;i++)
     buss_twi_blmc_motor_power[i] = 0;
   buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_IDLE;
-  buss_twi_blmc_i2c_done = TRUE;
   buss_twi_blmc_nb_err = 0;
+  buss_twi_blmc_i2c_done = TRUE;
 }
diff --git a/sw/airborne/arm7/actuators_buss_twi_blmc_hw.h b/sw/airborne/arm7/actuators_buss_twi_blmc_hw.h
index f0fc38f939..7bab47091c 100644
--- a/sw/airborne/arm7/actuators_buss_twi_blmc_hw.h
+++ b/sw/airborne/arm7/actuators_buss_twi_blmc_hw.h
@@ -28,8 +28,8 @@
 #define BUSS_TWI_BLMC_NB 4
 extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
 extern volatile bool_t  buss_twi_blmc_status;
-extern volatile bool_t  buss_twi_blmc_i2c_done;
 extern volatile uint8_t buss_twi_blmc_nb_err;
+extern volatile bool_t  buss_twi_blmc_i2c_done;
 extern volatile uint8_t buss_twi_blmc_idx;
 extern const uint8_t buss_twi_blmc_addr[];
 
diff --git a/sw/airborne/arm7/imu_v3_hw.c b/sw/airborne/arm7/imu_v3_hw.c
new file mode 100644
index 0000000000..4efc5fd2e7
--- /dev/null
+++ b/sw/airborne/arm7/imu_v3_hw.c
@@ -0,0 +1,52 @@
+#include "imu_v3.h"
+
+#include "max1167.h"
+
+
+static void SPI1_ISR(void) __attribute__((naked));
+
+#define SPI_SLAVE_NONE 0
+#define SPI_SLAVE_MAX  1
+
+uint8_t spi_cur_slave = SPI_SLAVE_NONE;
+
+
+/* SSPCR0 settings */
+#define SSP_DDS  0x07 << 0  /* data size         : 8 bits        */
+#define SSP_FRF  0x00 << 4  /* frame format      : SPI           */
+#define SSP_CPOL 0x00 << 6  /* clock polarity    : data captured on first clock transition */  
+#define SSP_CPHA 0x00 << 7  /* clock phase       : SCK idles low */
+#define SSP_SCR  0x0F << 8  /* serial clock rate : divide by 16  */
+
+/* SSPCR1 settings */
+#define SSP_LBM  0x00 << 0  /* loopback mode     : disabled                  */
+#define SSP_SSE  0x00 << 1  /* SSP enable        : disabled                  */
+#define SSP_MS   0x00 << 2  /* master slave mode : master                    */
+#define SSP_SOD  0x00 << 3  /* slave output disable : don't care when master */
+
+void imu_v3_hw_init(void) {
+
+  
+  max1167_init();
+
+  /* setup pins for SSP (SCK, MISO, MOSI) */
+  PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
+  
+  /* setup SSP */
+  SSPCR0 = SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
+  SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
+  SSPCPSR = 0x20;
+  
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT(VIC_SPI1);   // SPI1 selected as IRQ
+  VICIntEnable = VIC_BIT(VIC_SPI1);     // SPI1 interrupt enabled
+  VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
+  VICVectAddr7 = (uint32_t)SPI1_ISR;    // address of the ISR 
+}
+
+void SPI1_ISR(void) {
+ ISR_ENTRY();
+ Max1167OnSpiInt();
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
diff --git a/sw/airborne/arm7/imu_v3_hw.h b/sw/airborne/arm7/imu_v3_hw.h
new file mode 100644
index 0000000000..b4815a70ac
--- /dev/null
+++ b/sw/airborne/arm7/imu_v3_hw.h
@@ -0,0 +1,9 @@
+#ifndef IMU_V3_HW_H
+#define IMU_V3_HW_H
+
+
+extern void imu_v3_hw_init(void);
+
+
+
+#endif /* IMU_V3_HW_H */
diff --git a/sw/airborne/booz_telemetry.h b/sw/airborne/booz_telemetry.h
index cc005afd4a..2a228b573f 100644
--- a/sw/airborne/booz_telemetry.h
+++ b/sw/airborne/booz_telemetry.h
@@ -19,7 +19,7 @@
 
 #include "downlink.h"
 
-#define PERIODIC_SEND_BOOZ_STATUS() DOWNLINK_SEND_BOOZ_STATUS(&link_imu_nb_err, &link_imu_status, &rc_status, &booz_autopilot_mode, &buss_twi_blmc_idx, &cpu_time_sec, &buss_twi_blmc_nb_err)
+#define PERIODIC_SEND_BOOZ_STATUS() DOWNLINK_SEND_BOOZ_STATUS(&link_imu_nb_err, &link_imu_status, &rc_status, &booz_autopilot_mode, &booz_autopilot_mode, &cpu_time_sec, &buss_twi_blmc_nb_err)
 #define PERIODIC_SEND_BOOZ_FD()     DOWNLINK_SEND_BOOZ_FD(&booz_estimator_p, &booz_estimator_q, &booz_estimator_r,\
 							  &booz_estimator_phi, &booz_estimator_theta, &booz_estimator_psi); 
 #define PERIODIC_SEND_BOOZ_DEBUG() DOWNLINK_SEND_BOOZ_DEBUG(&booz_control_p_sp, &booz_control_q_sp, &booz_control_r_sp, &booz_control_power_sp); 
diff --git a/sw/airborne/i2c.h b/sw/airborne/i2c.h
index ae2c1f4dca..eccc28d3a0 100644
--- a/sw/airborne/i2c.h
+++ b/sw/airborne/i2c.h
@@ -3,9 +3,9 @@
 
 #include "std.h"
 
-#ifndef SITL
+//#ifndef SITL
 #include "i2c_hw.h"
-#endif
+//#endif
 
 extern void i2c_init(void);
 extern void i2c_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
diff --git a/sw/airborne/imu_v3.c b/sw/airborne/imu_v3.c
index ce58f12d7c..9385089f75 100644
--- a/sw/airborne/imu_v3.c
+++ b/sw/airborne/imu_v3.c
@@ -1,5 +1,7 @@
 #include "imu_v3.h"
 
+#include "imu_v3_hw.h"
+
 #include CONFIG
 #include "adc.h"
 
@@ -51,7 +53,10 @@ static bool_t imu_vs_buf_filled;
 #define IMU_VS_ACCEL_RAW_VAR_MAX 7000.
 
 
-void imu_init(void) {
+void imu_v3_init(void) {
+
+  imu_v3_hw_init();
+
   adc_buf_channel(ADC_CHANNEL_AX, &buf_ax, DEFAULT_AV_NB_SAMPLE);
   adc_buf_channel(ADC_CHANNEL_AY, &buf_ay, DEFAULT_AV_NB_SAMPLE);
   adc_buf_channel(ADC_CHANNEL_AZ, &buf_az, DEFAULT_AV_NB_SAMPLE);
@@ -76,7 +81,7 @@ void imu_init(void) {
 }
 
 
-void imu_detect_vehicle_still(void) {
+void imu_v3_detect_vehicle_still(void) {
 
   /* update the sliding average of sensors readings */
   imu_vs_buf_head++;
diff --git a/sw/airborne/imu_v3.h b/sw/airborne/imu_v3.h
index 85eb6ca367..d2c60b5b50 100644
--- a/sw/airborne/imu_v3.h
+++ b/sw/airborne/imu_v3.h
@@ -4,6 +4,8 @@
 #include "std.h"
 #include "6dof.h"
 
+#include "imu_v3_hw.h"
+
 /* calibrated sensor readings */
 extern float   imu_accel[AXIS_NB]; /* accelerometers in arbitrary unit */
 extern float   imu_gyro[AXIS_NB];  /* gyros in rad/s                   */
@@ -17,8 +19,8 @@ extern uint16_t imu_accel_raw[AXIS_NB];
 extern uint16_t imu_gyro_raw[AXIS_NB];
 extern int16_t  imu_mag_raw[AXIS_NB];
 
-extern void imu_init(void);
-extern void imu_detect_vehicle_still(void);
+extern void imu_v3_init(void);
+extern void imu_v3_detect_vehicle_still(void);
 extern bool_t imu_vehicle_still;
 extern float imu_vs_gyro_initial_bias[AXIS_NB];
 extern float imu_vs_gyro_unbiased[AXIS_NB]; /* unbiased gyros in rad/s */
diff --git a/sw/airborne/led.h b/sw/airborne/led.h
index ca0cbe7513..4ed8da4904 100644
--- a/sw/airborne/led.h
+++ b/sw/airborne/led.h
@@ -78,6 +78,7 @@ static inline void led_init ( void ) {
 }
 
 #else /* LED */
+static inline void led_init ( void ) {}
 #define LED_ON(i) {}
 #define LED_OFF(i) {}
 #define LED_TOGGLE(i) {}
diff --git a/sw/airborne/main_booz.c b/sw/airborne/main_booz.c
index 3318e5e9a1..93012f98b2 100644
--- a/sw/airborne/main_booz.c
+++ b/sw/airborne/main_booz.c
@@ -1,3 +1,5 @@
+#include "main_booz.h"
+
 #include "std.h"
 #include "init_hw.h"
 #include "interrupt_hw.h"
@@ -22,26 +24,32 @@
 #include "datalink.h"
 
 
-static inline void main_init( void );
-static inline void main_periodic_task( void );
-static inline void main_event_task( void );
 
 int16_t trim_p = 0;
 int16_t trim_q = 0;
 int16_t trim_r = 0;
 uint8_t vbat = 0;
 
+//FIXME
+#ifdef SITL
+uint32_t link_imu_nb_err;
+uint8_t  link_imu_status;
+#endif
+
+#ifndef SITL
 int main( void ) {
-  main_init();
+  booz_main_init();
   while(1) {
     if (sys_time_periodic())
-      main_periodic_task();
-    main_event_task();
+      booz_main_periodic_task();
+    booz_main_event_task();
   }
   return 0;
 }
+#endif
+
+STATIC_INLINE void booz_main_init( void ) {
 
-static inline void main_init( void ) {
   hw_init();
   led_init();
   sys_time_init();
@@ -53,23 +61,31 @@ static inline void main_init( void ) {
   ppm_init();
   radio_control_init();
 
+#ifndef SITL
   spi_init();
   link_imu_init();
+#endif
   
   booz_estimator_init();
   booz_control_init();
   booz_autopilot_init();
 
+  //FIXME
+#ifndef SITL
   uart1_init_tx();
+#endif
 
   int_enable();
 
   DOWNLINK_SEND_BOOT(&cpu_time_sec);
 }
 
-static inline void main_periodic_task( void ) {
+STATIC_INLINE void booz_main_periodic_task( void ) {
   
+  // FIXME
+#ifndef SITL
   link_imu_periodic_task();
+#endif
   
   booz_autopilot_periodic_task();
 
@@ -80,7 +96,6 @@ static inline void main_periodic_task( void ) {
   if (_50hz > 5) _50hz = 0;
   switch (_50hz) {
   case 0:
-    LED_TOGGLE(1);
     break;
   case 1:
     radio_control_periodic_task();
@@ -99,11 +114,14 @@ static inline void main_periodic_task( void ) {
 
 }
 
-static inline  void main_event_task( void ) {
+STATIC_INLINE void booz_main_event_task( void ) {
   
+  // FIXME
+#ifndef SITL
   DlEventCheckAndHandle();
 
   LinkImuEventCheckAndHandle();
+#endif
 
   if (ppm_valid) {
     ppm_valid = FALSE;
diff --git a/sw/airborne/main_booz.h b/sw/airborne/main_booz.h
new file mode 100644
index 0000000000..efe7309fa8
--- /dev/null
+++ b/sw/airborne/main_booz.h
@@ -0,0 +1,14 @@
+#ifndef MAIN_BOOZ_H
+#define MAIN_BOOZ_H
+
+#ifdef SITL
+#define STATIC_INLINE
+#else
+#define STATIC_INLINE static inline
+#endif
+
+STATIC_INLINE void booz_main_init( void );
+STATIC_INLINE void booz_main_periodic_task( void );
+STATIC_INLINE void booz_main_event_task( void );
+
+#endif /* MAIN_BOOZ_H */
diff --git a/sw/airborne/main_mtt.c b/sw/airborne/main_mtt.c
index 3b810e39ef..6c8f5a211d 100644
--- a/sw/airborne/main_mtt.c
+++ b/sw/airborne/main_mtt.c
@@ -8,7 +8,6 @@
 #include "print.h"
 
 #include "adc.h"
-#include "max1167.h"
 #include "imu_v3.h"
 #include "multitilt.h"
 
@@ -32,14 +31,6 @@ static inline void main_event_task( void);
 
 static inline void ahrs_task( void );
 
-static void main_init_spi1( void );
-
-static void SPI1_ISR(void) __attribute__((naked));
-
-#define SPI_SLAVE_NONE 0
-#define SPI_SLAVE_MAX  1
-
-uint8_t spi_cur_slave = SPI_SLAVE_NONE;
 
 int main( void ) {
   main_init();
@@ -56,9 +47,8 @@ static inline void main_init( void ) {
   sys_time_init();
   uart1_init_tx();
   adc_init();
-  imu_init();
-  main_init_spi1();
-  max1167_init();
+  imu_v3_init();
+
   multitilt_init();
   link_imu_init();
   int_enable();
@@ -105,7 +95,7 @@ static inline void ahrs_task( void ) {
   switch (mtt_status) {
 
   case MT_STATUS_UNINIT : {
-    imu_detect_vehicle_still();
+    imu_v3_detect_vehicle_still();
 #ifdef SEND_GYRO_RAW_AVG
     DOWNLINK_SEND_IMU_GYRO_RAW_AVG(&imu_vs_gyro_raw_avg[AXIS_X], &imu_vs_gyro_raw_avg[AXIS_Y], &imu_vs_gyro_raw_avg[AXIS_Z], \
 				   &imu_vs_gyro_raw_var[AXIS_X], &imu_vs_gyro_raw_var[AXIS_Y], &imu_vs_gyro_raw_var[AXIS_Z]);
@@ -144,42 +134,3 @@ static inline void ahrs_task( void ) {
   }
 
 }
-
-/* SSPCR0 settings */
-#define SSP_DDS  0x07 << 0  /* data size         : 8 bits        */
-#define SSP_FRF  0x00 << 4  /* frame format      : SPI           */
-#define SSP_CPOL 0x00 << 6  /* clock polarity    : data captured on first clock transition */  
-#define SSP_CPHA 0x00 << 7  /* clock phase       : SCK idles low */
-#define SSP_SCR  0x0F << 8  /* serial clock rate : divide by 16  */
-
-/* SSPCR1 settings */
-#define SSP_LBM  0x00 << 0  /* loopback mode     : disabled                  */
-#define SSP_SSE  0x00 << 1  /* SSP enable        : disabled                  */
-#define SSP_MS   0x00 << 2  /* master slave mode : master                    */
-#define SSP_SOD  0x00 << 3  /* slave output disable : don't care when master */
-
-static void main_init_spi1( void ) {
-   /* setup pins for SSP (SCK, MISO, MOSI) */
-  PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
-  
-  /* setup SSP */
-  SSPCR0 = SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
-  SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
-  SSPCPSR = 0x20;
-  
-  /* initialize interrupt vector */
-  VICIntSelect &= ~VIC_BIT(VIC_SPI1);   // SPI1 selected as IRQ
-  VICIntEnable = VIC_BIT(VIC_SPI1);     // SPI1 interrupt enabled
-  VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
-  VICVectAddr7 = (uint32_t)SPI1_ISR;    // address of the ISR 
-}
-
-void SPI1_ISR(void) {
- ISR_ENTRY();
- Max1167OnSpiInt();
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-
-
diff --git a/sw/airborne/sim/actuators_buss_twi_blmc_hw.c b/sw/airborne/sim/actuators_buss_twi_blmc_hw.c
new file mode 100644
index 0000000000..bad8394983
--- /dev/null
+++ b/sw/airborne/sim/actuators_buss_twi_blmc_hw.c
@@ -0,0 +1,6 @@
+#include "actuators.h"
+
+volatile bool_t  buss_twi_blmc_status;
+volatile uint8_t buss_twi_blmc_nb_err;
+
+void actuators_init ( void ) {}
diff --git a/sw/airborne/sim/actuators_buss_twi_blmc_hw.h b/sw/airborne/sim/actuators_buss_twi_blmc_hw.h
new file mode 100644
index 0000000000..1106ca9725
--- /dev/null
+++ b/sw/airborne/sim/actuators_buss_twi_blmc_hw.h
@@ -0,0 +1,14 @@
+#ifndef ACTUATORS_BUSS_TWI_BLMC_HW_H
+#define ACTUATORS_BUSS_TWI_BLMC_HW_H
+
+#include "std.h"
+
+extern volatile bool_t  buss_twi_blmc_status;
+extern volatile uint8_t buss_twi_blmc_nb_err;
+
+#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
+#define ChopServo(x,a,b) Chop(x, a, b)
+#define Actuator(i) actuators[i]
+#define ActuatorsCommit() {}
+
+#endif /* ACTUATORS_BUSS_TWI_BLMC_HW_H */
diff --git a/sw/airborne/sim/adc_hw.c b/sw/airborne/sim/adc_hw.c
new file mode 100644
index 0000000000..71d7901746
--- /dev/null
+++ b/sw/airborne/sim/adc_hw.c
@@ -0,0 +1,3 @@
+#include "adc.h"
+
+void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample) {}
diff --git a/sw/airborne/sim/i2c_hw.c b/sw/airborne/sim/i2c_hw.c
new file mode 100644
index 0000000000..386cffa0e2
--- /dev/null
+++ b/sw/airborne/sim/i2c_hw.c
@@ -0,0 +1,4 @@
+#include "i2c.h"
+
+void i2c_hw_init ( void ) {}
+
diff --git a/sw/airborne/sim/i2c_hw.h b/sw/airborne/sim/i2c_hw.h
new file mode 100644
index 0000000000..50b2a78d00
--- /dev/null
+++ b/sw/airborne/sim/i2c_hw.h
@@ -0,0 +1,9 @@
+#ifndef I2C_HW_H
+#define I2C_HW_H
+
+#define I2cSendStart() {}
+
+extern void i2c_hw_init(void);
+
+
+#endif /* I2C_HW_H */
diff --git a/sw/airborne/sim/imu_v3_hw.c b/sw/airborne/sim/imu_v3_hw.c
new file mode 100644
index 0000000000..d22b6ad389
--- /dev/null
+++ b/sw/airborne/sim/imu_v3_hw.c
@@ -0,0 +1,5 @@
+#include "imu_v3.h"
+
+void imu_v3_hw_init(void) {
+
+}
diff --git a/sw/airborne/sim/imu_v3_hw.h b/sw/airborne/sim/imu_v3_hw.h
new file mode 100644
index 0000000000..bfd1d52837
--- /dev/null
+++ b/sw/airborne/sim/imu_v3_hw.h
@@ -0,0 +1,7 @@
+#ifndef IMU_V3_HW_H
+#define IMU_V3_HW_H
+
+extern void imu_v3_hw_init(void);
+
+
+#endif /* IMU_V3_HW_H */
diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile
index 4992bdf1de..f93cffcf40 100644
--- a/sw/simulator/Makefile
+++ b/sw/simulator/Makefile
@@ -147,7 +147,7 @@ BOOZ_AB_SRCS += $(AB)/booz_autopilot.c
 BOOZ_AB_SRCS += $(AB)/commands.c
 
 CFLAGS += -DADC_CHANNEL_AX=1 -DADC_CHANNEL_AY=2 -DADC_CHANNEL_AZ=3 -DADC_CHANNEL_BAT=4
-BOOZ_AB_SRCS  += $(AB)/imu_v3.c $(AB_ARCH)/imu_v3_hw.c
+BOOZ_AB_SRCS  += $(AB)/imu_v3.c $(AB_ARCH)/imu_v3_hw.c $(AB_ARCH)/adc_hw.c
 
 
 booz_sim: $(BOOZ_SIM_SRCS) $(BOOZ_AB_SRCS)
diff --git a/sw/simulator/main_booz_sim.c b/sw/simulator/main_booz_sim.c
index 057d792be1..23eb39c503 100644
--- a/sw/simulator/main_booz_sim.c
+++ b/sw/simulator/main_booz_sim.c
@@ -26,7 +26,8 @@ double disp_time;
 
 double foo_commands[] = {0., 0., 0., 0.};
 
-static gboolean timeout_callback(gpointer data);
+static gboolean booz_sim_periodic(gpointer data);
+static inline void booz_sim_display(void);
 
 #ifdef SIM_UART
 static void sim_uart_init(void);
@@ -43,21 +44,13 @@ static void on_DL_SETTING(IvyClientPtr app, void *user_data, int argc, char *arg
 volatile bool_t ppm_valid;
 #define RPM_OF_RAD_S(a) ((a)*60./M_PI)
 
-static gboolean timeout_callback(gpointer data) {
+static gboolean booz_sim_periodic(gpointer data) {
 
   booz_flight_model_run(DT, foo_commands);
   booz_sensors_model_run();
   sim_time += DT;
 
-  if (sim_time >= disp_time) {
-    disp_time+= DT_DISPLAY;
-    booz_flightgear_send();
-    IvySendMsg("148 BOOZ_RPMS %f %f %f %f",  
-	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_F]), 
-	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_B]), 
-	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_L]),
-	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_R]) );
-  }
+  booz_sim_display();
 
   booz_estimator_p = bfm.state->ve[BFMS_P];
   booz_estimator_q = bfm.state->ve[BFMS_Q];
@@ -118,7 +111,7 @@ int main ( int argc, char** argv) {
 
   GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
   
-  g_timeout_add(TIMEOUT_PERIOD, timeout_callback, NULL);
+  g_timeout_add(TIMEOUT_PERIOD, booz_sim_periodic, NULL);
 
   g_main_loop_run(ml);
  
@@ -130,6 +123,24 @@ int main ( int argc, char** argv) {
 // Helpers
 ////////////////////
 
+
+static inline void booz_sim_display(void) {
+  if (sim_time >= disp_time) {
+    disp_time+= DT_DISPLAY;
+    booz_flightgear_send();
+    IvySendMsg("148 BOOZ_RPMS %f %f %f %f",  
+	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_F]), 
+	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_B]), 
+	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_L]),
+	       RPM_OF_RAD_S(bfm.state->ve[BFMS_OM_R]) );
+  }
+}
+
+
+
+
+
+
 #if defined DOWNLINK_TRANSPORT && DOWNLINK_TRANSPORT == IvyTransport
 
 static void ivy_transport_init(void) {