diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index 835aa0f73a..6c0f5994c0 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -4,68 +4,69 @@
 #
 #
 
-pt.ARCHDIR = stm32
-pt.TARGET = pt
-pt.TARGETDIR = pt
-pt.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
-pt.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-pt.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
-          $(SRC_ARCH)/stm32_exceptions.c   \
-          $(SRC_ARCH)/stm32_vector_table.c
+stm_passthrough.ARCHDIR = stm32
+stm_passthrough.TARGET = stm_passthrough
+stm_passthrough.TARGETDIR = stm_passthrough
+stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
+                       $(SRC_ARCH)/stm32_exceptions.c          \
+                       $(SRC_ARCH)/stm32_vector_table.c
 
 # Leds
-pt.CFLAGS += -DUSE_LED
-pt.srcs += $(SRC_ARCH)/led_hw.c
+stm_passthrough.CFLAGS += -DUSE_LED
+stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
 
 # Sys time
-pt.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-pt.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-pt.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+stm_passthrough.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 # Telemetry
-pt.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-pt.srcs += $(SRC_ARCH)/uart_hw.c
-pt.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
-pt.srcs += downlink.c pprz_transport.c
+stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
+stm_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
+stm_passthrough.srcs += downlink.c pprz_transport.c
 
 # Link Overo
-pt.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
-pt.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
-pt.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
+stm_passthrough.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
+stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
+stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c           \
+			$(SRC_LISA_ARCH)/lisa_overo_link_arch.c
 
 # IMU
-pt.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-pt.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-pt.srcs += $(SRC_BOOZ)/booz_imu.c
-pt.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-pt.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
-pt.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-pt.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
-pt.srcs += math/pprz_trig_int.c
+stm_passthrough.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+stm_passthrough.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_imu.c
+stm_passthrough.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+stm_passthrough.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+stm_passthrough.srcs += math/pprz_trig_int.c
 
-pt.srcs += $(SRC_BOOZ)/booz2_commands.c
+stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c
 
 # Radio control
-pt.CFLAGS += -DUSE_RADIO_CONTROL
-pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
-pt.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
-pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-           $(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
-pt.CFLAGS += -DRADIO_CONTROL_LED=6
-pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+#
+# include subsystem/lisa_passthrough/radio_control_joby.makefile
+# or
+# include subsystem/lisa_passthrough/radio_control_spektrum.makefile
+#
+
 
 # Actuators
-#pt.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-#pt.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-#pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
-#pt.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
+#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+#stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 #
-#pt.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-#pt.CFLAGS += -DUSE_I2C1
+#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+#stm_passthrough.CFLAGS += -DUSE_I2C1
 
 # PWM actuator
-pt.CFLAGS += -DSERVO_HZ=200
-#pt.CFLAGS += -DSERVO_HZ=50
-pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
-pt.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_hw.c
+ifndef SERVOS_REFRESH_FREQ
+SERVOS_REFRESH_FREQ 50
+endif
+stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ)
+stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
+stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_hw.c
diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile b/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
index 80c3cba91c..01beb1f246 100644
--- a/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
+++ b/conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
@@ -1,13 +1,13 @@
 
 
 # Radio control
-pt.CFLAGS += -DUSE_RADIO_CONTROL
-pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
-pt.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
-pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
            $(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
-pt.CFLAGS += -DRADIO_CONTROL_LED=6
-pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=6
+stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
 
 
diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile b/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
index 5b246969dc..a9854deb40 100644
--- a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
+++ b/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
@@ -5,13 +5,13 @@ ifndef RADIO_CONTROL_SPEKTRUM_MODEL
 RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\"
 endif
 
-pt.CFLAGS += -DUSE_RADIO_CONTROL
-pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
-pt.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
-pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-           $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
-pt.CFLAGS += -DRADIO_CONTROL_LED=4
-pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+                        $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=4
+stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3