diff --git a/conf/autopilot/conf_booz.makefile b/conf/autopilot/conf_booz.makefile
index 50a4ca9569..d4868afde2 100644
--- a/conf/autopilot/conf_booz.makefile
+++ b/conf/autopilot/conf_booz.makefile
@@ -31,7 +31,7 @@ flt.srcs += max1167.c $(SRC_ARCH)/max1167_hw.c
 flt.CFLAGS += -DDISABLE_MAGNETOMETER
 flt.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
 flt.CFLAGS += -I2C_BUF_LEN=32 -DI2C_SCLL=150 -DI2C_SCLH=150 -DI2C_VIC_SLOT=10
-flt.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
+#flt.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
 flt.srcs += imu_v3.c $(SRC_ARCH)/imu_v3_hw.c
 
 flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_MULTITILT
diff --git a/sw/airborne/arm7/uart_hw.h b/sw/airborne/arm7/uart_hw.h
index 2ab93e7a75..5739753298 100644
--- a/sw/airborne/arm7/uart_hw.h
+++ b/sw/airborne/arm7/uart_hw.h
@@ -13,6 +13,7 @@
 #define UART_BAUD(baud) (uint16_t)((PCLK / ((baud) * 16.0)) + 0.5)
 
 #define B1200         UART_BAUD(1200)
+#define B2400         UART_BAUD(2400)
 #define B9600         UART_BAUD(9600)
 #define B19200        UART_BAUD(19200)
 #define B38400        UART_BAUD(38400)
diff --git a/sw/airborne/booz_filter_main.c b/sw/airborne/booz_filter_main.c
index d135bbea62..8dccc93af7 100644
--- a/sw/airborne/booz_filter_main.c
+++ b/sw/airborne/booz_filter_main.c
@@ -44,8 +44,8 @@ STATIC_INLINE void booz_filter_main_init( void ) {
   uart1_init_tx();
   adc_init();
 
-  i2c_init();
-  ami601_init();
+  //  i2c_init();
+  //  ami601_init();
 #endif
   imu_v3_init();