diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index b9eaffb7ac..f4a1355d79 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -15,6 +15,13 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
+  <servos>
+    <servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
+    <servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
+    <servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
+    <servo name="AILERON_LEFT" no="4" min="1000" neutral="1508" max="2000"/>
+    <servo name="AILERON_RIGHT" no="5" min="1000" neutral="1527" max="2000"/>
+  </servos>
 
 
   <section name="IMU" prefix="IMU_">
@@ -81,7 +88,7 @@ main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
                   $(SRC_ARCH)/stm32_vector_table.c
 main_stm32.CFLAGS += -DUSE_LED
 main_stm32.srcs += $(SRC_ARCH)/led_hw.c
-main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=2
 main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
@@ -90,9 +97,9 @@ main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
 main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
 main_stm32.srcs += downlink.c pprz_transport.c
 
-main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
-main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
-main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
+#main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
+#main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
+#main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 
 main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
 main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
@@ -116,7 +123,8 @@ main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 main_stm32.CFLAGS += -DUSE_I2C2
 main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
 
-
+main_stm32.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
+main_stm32.srcs += can.c $(SRC_ARCH)/can_hw.c
 
 #
 # Coders handled by a Olimex stm32h103 dev board
@@ -125,7 +133,8 @@ main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
 main_coders.ARCHDIR = stm32
 main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
 main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
-main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
+#main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
+main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
 
 main_coders.TARGET = main_coders
 main_coders.TARGETDIR = main_coders
@@ -135,9 +144,9 @@ main_coders.srcs = $(SRC_BETH)/main_coders.c \
                    $(SRC_ARCH)/stm32_vector_table.c
 main_coders.CFLAGS += -DUSE_LED
 main_coders.srcs += $(SRC_ARCH)/led_hw.c
-main_coders.CFLAGS += -DUSE_SYS_TIME
-# -DSYS_TIME_LED=1
+main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
 main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+#main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./10.)'
 main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -145,7 +154,11 @@ main_coders.srcs += $(SRC_ARCH)/uart_hw.c
 main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
 main_coders.srcs += downlink.c pprz_transport.c
 
-main_coders.CFLAGS += -DUSE_I2C2
+#main_coders.CFLAGS += -DUSE_I2C2
+#main_coders.srcs += $(SRC_ARCH)/i2c_hw.c
+
+main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
+main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c
 
 
 #