diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 52fc9314ee..92004d757d 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -129,27 +129,8 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-# mikrokopter controllers
-ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
-ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
-
-# supervision
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
-
-# imu Booz2 v1
-ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
-ap.CFLAGS += -DSSP_VIC_SLOT=9
-ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
-ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
-ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
-#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-ap.CFLAGS += -DUSE_AMI601
-ap.srcs += AMI601.c
-ap.CFLAGS += -DFLOAT_T=float
-ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
-
-
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index b9577a326d..a881aedbd4 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -126,25 +126,9 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-# asctec controllers
-ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
-ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
 
-# supervision
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
-
-# imu Booz2 v1
-ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
-ap.CFLAGS += -DSSP_VIC_SLOT=9
-ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
-ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
-ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
-#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-ap.CFLAGS += -DUSE_AMI601
-ap.srcs += AMI601.c
-ap.CFLAGS += -DFLOAT_T=float
-ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
 
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 04213c7ae0..2c084c42cd 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -130,30 +130,15 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-# mikrokopter controllers
-ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
-ap.srcs += actuators.c $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
 
-# supervision
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
-
-# IMU v3
-ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_v3.h\"
-ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
-ap.CFLAGS += -DFLOAT_T=float
-# IXME: remove that, uneeded
-ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
-ap.CFLAGS += -DUSE_AMI601
-ap.srcs += AMI601.c
-
-ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
-
-
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_v3.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
 
+
+
   </makefile>
 
 </airframe>
diff --git a/conf/autopilot/booz2_actuators_asctec.makefile b/conf/autopilot/booz2_actuators_asctec.makefile
new file mode 100644
index 0000000000..9342618911
--- /dev/null
+++ b/conf/autopilot/booz2_actuators_asctec.makefile
@@ -0,0 +1,13 @@
+# asctec controllers
+ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
+ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
+# supervision
+ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
+
+
+# asctec controllers
+sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
+sim.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
+# supervision
+sim.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
+
diff --git a/conf/autopilot/booz2_actuators_buss.makefile b/conf/autopilot/booz2_actuators_buss.makefile
new file mode 100644
index 0000000000..359c0e4f08
--- /dev/null
+++ b/conf/autopilot/booz2_actuators_buss.makefile
@@ -0,0 +1,5 @@
+# mikrokopter controllers
+ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
+ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+# supervision
+ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
diff --git a/conf/autopilot/booz2_imu_b2v1.makefile b/conf/autopilot/booz2_imu_b2v1.makefile
new file mode 100644
index 0000000000..9e325be3fc
--- /dev/null
+++ b/conf/autopilot/booz2_imu_b2v1.makefile
@@ -0,0 +1,12 @@
+# imu Booz2 v1
+ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
+ap.CFLAGS += -DSSP_VIC_SLOT=9
+ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
+ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
+ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.CFLAGS += -DUSE_AMI601
+ap.srcs += AMI601.c
+ap.CFLAGS += -DFLOAT_T=float
+ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
diff --git a/conf/autopilot/booz2_imu_v3.makefile b/conf/autopilot/booz2_imu_v3.makefile
index 6aa6d92159..093d8ffb99 100644
--- a/conf/autopilot/booz2_imu_v3.makefile
+++ b/conf/autopilot/booz2_imu_v3.makefile
@@ -22,109 +22,13 @@
 #
 #
 
-ARCHI=arm7
-
-FLASH_MODE = IAP
-
-BOOZ=booz
-BOOZ_PRIV=booz_priv
-BOOZ_PRIV_ARCH=booz_priv/arm7
-BOOZ_PRIV_TEST=booz_priv/test
-BOOZ_ARCH=booz/arm7
-
-
-
-
-#
-# IMU V3 MCU
-#
-
-imu.ARCHDIR = $(ARCHI)
-imu.ARCH = arm7tdmi
-imu.TARGET = imu
-imu.TARGETDIR = imu
-
-imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c
-imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-# -DTIME_LED=1
-imu.CFLAGS += -DLED
-imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-imu.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
-imu.srcs += $(SRC_ARCH)/uart_hw.c
-
-imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
-imu.srcs   += downlink.c pprz_transport.c $(BOOZ_PRIV)/imu_v3_telemetry.c
-
-imu.CFLAGS += -DIMU_SENSORS_SPI1_VIC_SLOT=7
-imu.srcs   += $(BOOZ_PRIV)/imu_v3_sensors.c $(BOOZ_PRIV_ARCH)/imu_v3_sensors_hw.c
-imu.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DAD0_VIC_SLOT=2
-imu.srcs   += $(SRC_ARCH)/adc_hw.c
-imu.CFLAGS += -DMAX1167_EOC_VIC_SLOT=8
-imu.srcs   += max1167.c  $(SRC_ARCH)/max1167_hw.c 
-imu.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9
-imu.srcs   += micromag.c $(SRC_ARCH)/micromag_hw.c
-
-imu.CFLAGS += -DIMU_CLIENT_LINK_SPI0_VIC_SLOT=3
-imu.srcs   += $(BOOZ_PRIV)/imu_v3_client_link.c $(BOOZ_PRIV_ARCH)/imu_v3_client_link_hw.c
-
-
-
-#
-# IMU V3 MCU tests
-#
-
-#
-# test micromag
-#
-imu_test_micromag.ARCHDIR = $(ARCHI)
-imu_test_micromag.ARCH = arm7tdmi
-imu_test_micromag.TARGET = imu_test_micromag
-imu_test_micromag.TARGETDIR = imu_test_micromag
-
-imu_test_micromag.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
-imu_test_micromag.srcs += $(BOOZ_PRIV_TEST)/imu_v3_test_micromag.c
-imu_test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-# -DTIME_LED=1
-imu_test_micromag.CFLAGS += -DLED
-imu_test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-imu_test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
-imu_test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
-
-imu_test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
-imu_test_micromag.srcs   += downlink.c pprz_transport.c
-
-imu_test_micromag.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9
-imu_test_micromag.srcs   += micromag.c $(SRC_ARCH)/micromag_hw.c
-
-
-
-
-
-#
-# Controller MCU tests
-#
-
-#
-# test GPS, aka tunnel
-#
-
-tunnel.ARCHDIR = $(ARCHI)
-tunnel.ARCH = arm7tdmi
-tunnel.TARGET = tunnel
-tunnel.TARGETDIR = tunnel
-
-tunnel.CFLAGS += -DCONFIG=\"booz2_board_proto.h\" -I$(BOOZ_PRIV_ARCH)
-tunnel.srcs += $(BOOZ_PRIV_TEST)/booz2_tunnel.c
-tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-tunnel.CFLAGS += -DLED
-tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
-tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-tunnel.srcs += $(SRC_ARCH)/uart_hw.c
-
-
+# IMU v3
+ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_v3.h\"
+ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
+ap.CFLAGS += -DFLOAT_T=float
+# IXME: remove that, uneeded
+ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+ap.CFLAGS += -DUSE_AMI601
+ap.srcs += AMI601.c
 
+ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
diff --git a/conf/autopilot/booz2_simulator.makefile b/conf/autopilot/booz2_simulator.makefile
index 8b4560b0ff..2634d20e8d 100644
--- a/conf/autopilot/booz2_simulator.makefile
+++ b/conf/autopilot/booz2_simulator.makefile
@@ -64,7 +64,7 @@ sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 
 
-sim.CFLAGS += -DBOOZ2_IMU_TYPE=IMU_B2
+sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
 sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
 	    $(BOOZ_PRIV)/booz2_imu_b2.c \
             $(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \