diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile
index 0928e9472b..401d0262fc 100644
--- a/conf/autopilot/booz2_test_progs.makefile
+++ b/conf/autopilot/booz2_test_progs.makefile
@@ -415,6 +415,33 @@ test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 
+
+#
+# test BUSS BLDC
+#
+test_buss_bldc.ARCHDIR = $(ARCHI)
+test_buss_bldc.ARCH = arm7tdmi
+test_buss_bldc.TARGET = test_buss_bldc
+test_buss_bldc.TARGETDIR = test_buss_bldc
+
+test_buss_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
+test_buss_bldc.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc.c
+test_buss_bldc.CFLAGS += -DUSE_LED
+test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
+test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_buss_bldc.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
+test_buss_bldc.srcs += downlink.c pprz_transport.c
+
+test_buss_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+test_buss_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+
 #
 # test asctec BLMC
 #
diff --git a/sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h b/sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h
index ec69e15144..75af8fddb1 100644
--- a/sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h
+++ b/sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h
@@ -70,7 +70,7 @@
     ActuatorsBussTwiBlmcSend();						\
 }
 #else
-#define ActuatorsCommit() {			                \
+#define ActuatorsCommit() {						\
     if ( buss_twi_blmc_status == BUSS_TWI_BLMC_STATUS_IDLE) {		\
       buss_twi_blmc_idx = 0;						\
       buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_BUSY;			\
diff --git a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
new file mode 100644
index 0000000000..709a2d5e61
--- /dev/null
+++ b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
@@ -0,0 +1,67 @@
+/*
+ * $Id: booz2_test_mc.c 3701 2009-07-13 09:57:55Z poine $
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include <inttypes.h>
+
+#include "init_hw.h"
+#include "sys_time.h"
+#include "interrupt_hw.h"
+
+//static uint8_t addr = 0x52; /* 1 : back right   */
+//static uint8_t addr = 0x54; /* 2 : back left   bad balanced */
+//static uint8_t addr = 0x56; /* 3 : center right  not so well balanced */
+static uint8_t addr = 0x58; /* 4 : center left  */
+//static uint8_t addr = 0x5A; /* 5 : front right  */
+//static uint8_t addr = 0x5C; /* 6 : front left   */
+static bool_t  i2c_done;
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+int main( void ) {
+  main_init();
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task();
+  }
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  uint8_t thrust = 20;
+  i2c0_buf[0] = thrust;
+  i2c0_transmit(addr, 1, &i2c_done);
+}
+
+static inline void main_event_task( void ) {
+
+}
+