diff --git a/Makefile b/Makefile
index 3730842a9f..d05bac78a7 100644
--- a/Makefile
+++ b/Makefile
@@ -47,7 +47,7 @@ MISC=sw/ground_segment/misc
 LOGALIZER=sw/logalizer
 SIMULATOR=sw/simulator
 EXT=sw/ext
-MAKE:=$(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
+MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
 CONF=$(PAPARAZZI_SRC)/conf
 STATICINCLUDE =$(PAPARAZZI_HOME)/var/include
 MESSAGES_H=$(STATICINCLUDE)/messages.h
@@ -252,7 +252,7 @@ cleanspaces:
 
 distclean : dist_clean
 dist_clean :
-	@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: $(MAKE) dist_clean_irreversible"
+	@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
 
 dist_clean_irreversible: clean
 	rm -rf conf/srtm_data
@@ -270,7 +270,7 @@ test_all_example_airframes:
 	$(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim
 
 test_all_example_airframes2:
-	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; $(MAKE) -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1;   done
+	for ap in `grep name conf/conf.xml.example | sed -e 's/.*name=\"//' | sed -e 's/"//'`; do echo "Making $$ap"; make -C ./ AIRCRAFT=$$ap clean_ac ap.compile || exit 1;   done
 
 commands: paparazzi sw/simulator/launchsitl
 
diff --git a/Makefile.ac b/Makefile.ac
index d738526d7f..3d04b1aa22 100644
--- a/Makefile.ac
+++ b/Makefile.ac
@@ -51,7 +51,7 @@ SETTINGS_FILE=$(SETTINGS:settings%=%)
 #TUNING_FILE=$(subst   ,_,$(SETTINGS:settings/%.xml=%)).h
 TUNING_H=$(AC_GENERATED)/tuning.h
 SUPERVISION=./paparazzi
-MAKE:=$(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
+MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
 MODULES_H=$(AC_GENERATED)/modules.h
 AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5
 
@@ -138,7 +138,7 @@ $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/
 $(SETTINGS_MODULES) : $(MODULES_H)
 
 %.ac_h : $(TOOLS)/gen_aircraft.out
-	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type '$(MAKE) AIRCRAFT=AircraftName ...'"; exit 1; fi
+	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
 	@echo BUILD $(AIRCRAFT), TARGET $*
 	+$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) TARGET=$* Q=$(Q) $(TOOLS)/gen_aircraft.out $(AIRCRAFT)
 
@@ -187,5 +187,5 @@ check_fuses_fbw: fbw.check_fuses
 hard_ac ac: ac_h fbw ap
 
 clean_ac :
-	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type '$(MAKE) AIRCRAFT=AircraftName ...'"; exit 1; fi
+	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
 	rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
diff --git a/conf/Makefile.sim b/conf/Makefile.sim
index 34db63a13d..8097438bdf 100644
--- a/conf/Makefile.sim
+++ b/conf/Makefile.sim
@@ -56,15 +56,10 @@ CFLAGS += $(INCLUDES)
 CFLAGS += $($(TARGET).CFLAGS)
 CFLAGS += $(LOCAL_CFLAGS)
 CFLAGS += -O2
-CFLAGS += -std=gnu99
 
-# meschach prototypes trigger numerous warnings
-ifneq ($(SIM_TYPE),BOOZ)
 ifneq ($(SIM_TYPE),JSBSIM)
-CFLAGS	+= -Wstrict-prototypes
+CFLAGS += -std=gnu99
 endif
-endif
-
 
 LDFLAGS		=	-lm
 
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index 967a538355..97901aa1d7 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -50,7 +50,7 @@ ap.srcs   += $(SRC_ARCH)/mcu_arch.c
 #
 # Math functions
 #
-$(TARGET).srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
+ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
 
 ifeq ($(ARCH), stm32)
 ap.srcs += lisa/plug_sys.c
@@ -74,7 +74,7 @@ endif
 ifndef PERIODIC_FREQUENCY
 PERIODIC_FREQUENCY = 512
 endif
-$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
+ap.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
 #
 # Systime
 #
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 4d4b89a45c..cec39b5688 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -56,8 +56,9 @@ $(TARGET).CFLAGS 	+= -DTRAFFIC_INFO
 #
 # LEDs
 #
-
-$(TARGET).CFLAGS 	+= -DUSE_LED
+ifneq ($(ARCH), jsbsim)
+  $(TARGET).CFLAGS 	+= -DUSE_LED
+endif
 ifneq ($(ARCH), lpc21)
   ifneq ($(ARCH), jsbsim)
     $(TARGET).srcs 	+= $(SRC_ARCH)/led_hw.c
@@ -71,7 +72,8 @@ ifndef PERIODIC_FREQUENCY
 PERIODIC_FREQUENCY = 60
 endif
 $(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
-$(TARGET).srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+$(TARGET).srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+$(TARGET).CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_RESOLUTION='(1./$(PERIODIC_FREQUENCY).)'
 
 #
 # InterMCU & Commands
@@ -119,11 +121,6 @@ ifneq ($(SYS_TIME_LED),none)
   ns_CFLAGS 	+= -DSYS_TIME_LED=$(SYS_TIME_LED)
 endif
 
-#
-# Sys-time
-#
-ns_CFLAGS 		+= -DUSE_SYS_TIME -DSYS_TIME_RESOLUTION='(1./$(PERIODIC_FREQUENCY).)'
-
 
 #
 # UARTS
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index a40b082b65..4ae5663642 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -51,7 +51,7 @@ sim.srcs += $(NPSDIR)/nps_main.c                      \
        $(NPSDIR)/nps_radio_control.c             \
        $(NPSDIR)/nps_radio_control_joystick.c    \
        $(NPSDIR)/nps_radio_control_spektrum.c    \
-       $(NPSDIR)/nps_autopilot_booz.c            \
+       $(NPSDIR)/nps_autopilot_rotorcraft.c            \
        $(NPSDIR)/nps_ivy.c                       \
        $(NPSDIR)/nps_flightgear.c                \
 
@@ -68,7 +68,7 @@ ifeq ($(TARGET), sim)
 endif
 
 
-sim.CFLAGS += -DPERIODIC_FREQUENCY='512.'
+sim.CFLAGS += -DPERIODIC_FREQUENCY=512
 #sim.CFLAGS += -DUSE_LED
 sim.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
@@ -85,9 +85,9 @@ sim.srcs   += $(SRC_FIRMWARE)/commands.c
 sim.srcs += $(SRC_FIRMWARE)/datalink.c
 
 #
+# Math functions
 #
-#
-
+sim.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
 
 sim.CFLAGS += -DROTORCRAFT_BARO_LED=2
 sim.srcs += $(SRC_BOARD)/baro_board.c
diff --git a/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile b/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
index 913a57cf12..b017d4e366 100644
--- a/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
+++ b/conf/autopilot/subsystems/shared/imu_aspirin_common.makefile
@@ -36,7 +36,11 @@
 
 # imu aspirin
 
-IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+endif
+
 IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\"
 IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
                       $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index 69d70d82b6..8998d5adba 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -37,16 +37,6 @@
    settings="settings/settings_booz2.xml"
    gui_color="white"
   />
-  <aircraft
-   name="BOOZ2_A8"
-   ac_id="160"
-   airframe="airframes/Poine/booz2_a8.xml"
-   radio="radios/cockpitSX.xml"
-   telemetry="telemetry/telemetry_test_passthrough.xml"
-   flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_test_passthrough.xml"
-   gui_color="white"
-  />
   <aircraft
    name="LISA_ASCTEC_PIOTR"
    ac_id="161"
diff --git a/conf/settings/settings_booz2_sim.xml b/conf/settings/settings_booz2_sim.xml
index 4c49b24815..d4b2b93c89 100644
--- a/conf/settings/settings_booz2_sim.xml
+++ b/conf/settings/settings_booz2_sim.xml
@@ -4,7 +4,7 @@
   <dl_settings>
 
     <dl_settings NAME="Sim">
-       <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot_booz" shortname="bypass_ahrs" values="No|Yes"/>
+       <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot_rotorcraft" shortname="bypass_ahrs" values="No|Yes"/>
     </dl_settings>
 
   </dl_settings>
diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
index b06954aa48..b42eefcd95 100644
--- a/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
+++ b/sw/airborne/arch/lpc21/subsystems/radio_control/ppm_arch.h
@@ -28,6 +28,8 @@
 #include "LPC21xx.h"
 #include BOARD_CONFIG
 
+#include "mcu_periph/sys_time.h"
+
 /**
  * On tiny (and booz) the ppm counter is running at the same speed as
  * the systic counter. There is no reason for this to be true.
diff --git a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c
index d516657fed..83ccbdfe27 100644
--- a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c
+++ b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.c
@@ -26,3 +26,21 @@
 void sys_time_arch_init( void ) {
 
 }
+
+void sys_tick_handler( void ) {
+
+  sys_time.nb_tick++;
+  sys_time.nb_sec_rem += SYS_TIME_RESOLUTION_CPU_TICKS;
+  if (sys_time.nb_sec_rem >= CPU_TICKS_PER_SEC) {
+    sys_time.nb_sec_rem -= CPU_TICKS_PER_SEC;
+    sys_time.nb_sec++;
+  }
+  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
+    if (sys_time.timer[i].in_use &&
+        sys_time.nb_tick >= sys_time.timer[i].end_time) {
+      sys_time.timer[i].end_time += sys_time.timer[i].duration;
+      sys_time.timer[i].elapsed = TRUE;
+      if (sys_time.timer[i].cb) sys_time.timer[i].cb(i);
+    }
+  }
+}
diff --git a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h
index a47b23f9da..da431f45bb 100644
--- a/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h
+++ b/sw/airborne/arch/sim/mcu_periph/sys_time_arch.h
@@ -21,22 +21,24 @@
  *
  */
 
-/*
- *\brief simulator dummy timing functions
- *
+/** @file arch/sim/mcu_periph/sys_time_arch.h
+ * Simulator timing functions
  */
 
 #ifndef SYS_TIME_ARCH_H
 #define SYS_TIME_ARCH_H
 
-#include <unistd.h>
+#include "std.h"
 
-#define CPU_TICKS_OF_SEC(x) (x)
-#define SIGNED_CPU_TICKS_OF_SEC(x) (x)
+extern void sys_tick_handler(void);
 
-#define SEC_OF_CPU_TICKS(st) (st)
-#define MSEC_OF_CPU_TICKS(st) (st)
-#define USEC_OF_CPU_TICKS(st) (st)
+// simulate 1us cpu ticks
+#define CPU_TICKS_OF_SEC(s)        (uint32_t)((s) * 1e6 + 0.5)
+#define SIGNED_CPU_TICKS_OF_SEC(s)  (int32_t)((s) * 1e6 + 0.5)
+
+#define SEC_OF_CPU_TICKS(t)  ((t) / 1e6)
+#define MSEC_OF_CPU_TICKS(t) ((t) / 1e3)
+#define USEC_OF_CPU_TICKS(t) (t)
 
 #define SysTimeTimerStart(_t) { }
 #define SysTimeTimer(_t) (_t)
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
index f1be912ecd..c3eebdec23 100644
--- a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
+++ b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h
@@ -29,6 +29,8 @@
 #ifndef PPM_ARCH_H
 #define PPM_ARCH_H
 
+#include "mcu_periph/sys_time.h"
+
 /**
  * On tiny (and booz) the ppm counter is running at the same speed as
  * the systic counter. There is no reason for this to be true.
diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h
index 2d6d2a5b8a..95048428e7 100644
--- a/sw/airborne/boards/booz_1.0.h
+++ b/sw/airborne/boards/booz_1.0.h
@@ -142,7 +142,7 @@
 #define PWM1_PINSEL_BIT 14
 
 
-#define BOARD_HAS_BARO
+#define BOARD_HAS_BARO 1
 
 /*
  * Modem
diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h
index e9652741ad..b7cb6171fd 100644
--- a/sw/airborne/boards/lisa_l_1.0.h
+++ b/sw/airborne/boards/lisa_l_1.0.h
@@ -34,6 +34,6 @@
 #define BOARD_ADC_CHANNEL_3 ADC_Channel_0
 #define BOARD_ADC_CHANNEL_4 ADC_Channel_15
 
-#define BOARD_HAS_BARO
+#define BOARD_HAS_BARO 1
 
 #endif /* CONFIG_LISA_L_1_0_H */
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h
index 5d56e7bb6b..5d4549aa6e 100644
--- a/sw/airborne/boards/lisa_m_1.0.h
+++ b/sw/airborne/boards/lisa_m_1.0.h
@@ -56,7 +56,7 @@
 #define BOARD_ADC_CHANNEL_3 ADC_Channel_14
 #define BOARD_ADC_CHANNEL_4 ADC_Channel_11
 
-#define BOARD_HAS_BARO
+#define BOARD_HAS_BARO 1
 
 #define USE_OPENCM3 1
 
diff --git a/sw/airborne/boards/navgo_1.0.h b/sw/airborne/boards/navgo_1.0.h
index 17a6fbf118..0f23fa9ee0 100644
--- a/sw/airborne/boards/navgo_1.0.h
+++ b/sw/airborne/boards/navgo_1.0.h
@@ -76,6 +76,6 @@
 #define PWM1_PINSEL_VAL 0x02
 #define PWM1_PINSEL_BIT 14
 
-#define BOARD_HAS_BARO
+#define BOARD_HAS_BARO 1
 
 #endif /* CONFIG_NAVGO_V1_0_H */
diff --git a/sw/airborne/boards/umarim_1.0.h b/sw/airborne/boards/umarim_1.0.h
index eb47a0545c..6c0b01187c 100644
--- a/sw/airborne/boards/umarim_1.0.h
+++ b/sw/airborne/boards/umarim_1.0.h
@@ -99,6 +99,6 @@
 #define SPI1_DRDY_EINT         0
 #define SPI1_DRDY_VIC_IT       VIC_EINT0
 
-#define BOARD_HAS_BARO
+#define BOARD_HAS_BARO 1
 
 #endif /* CONFIG_UMARIM_V1_0_H */
diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
index 30dee8aec7..08e80ea45f 100644
--- a/sw/airborne/firmwares/fixedwing/ap_downlink.h
+++ b/sw/airborne/firmwares/fixedwing/ap_downlink.h
@@ -245,7 +245,9 @@ extern uint8_t telemetry_mode_Ap_DefaultChannel;
 #define PERIODIC_SEND_SCP_STATUS(_trans, _dev) {}
 #endif
 
-#ifdef BOARD_HAS_BARO
+//FIXME: we need a better switch here...
+#if BOARD_HAS_BARO && USE_BARO_AS_ALTIMETER
+#include "subsystems/sensors/baro.h"
 #define PERIODIC_SEND_BARO_RAW(_trans, _dev) {  \
     DOWNLINK_SEND_BARO_RAW(_trans, _dev,        \
                            &baro.absolute,      \
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index f5d76ff2a5..787d6c59e0 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -69,7 +69,7 @@
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/settings.h"
 #include "subsystems/datalink/xbee.h"
-#include "ap_downlink.h"
+#include "firmwares/fixedwing/ap_downlink.h"
 
 // modules & settings
 #include "generated/modules.h"
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index a65562effb..f3278c871c 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -58,7 +58,7 @@
 #include "firmwares/rotorcraft/main.h"
 
 #ifdef SITL
-#include "nps_autopilot_booz.h"
+#include "nps_autopilot_rotorcraft.h"
 #endif
 
 #include "generated/modules.h"
@@ -70,7 +70,6 @@ static inline void on_baro_dif_event( void );
 static inline void on_gps_event( void );
 static inline void on_mag_event( void );
 
-#ifndef SITL
 
 tid_t main_periodic_tid; ///< id for main_periodic() timer
 tid_t failsafe_tid;      ///< id for failsafe_check() timer
@@ -79,22 +78,12 @@ tid_t electrical_tid;    ///< id for electrical_periodic() timer
 tid_t baro_tid;          ///< id for baro_periodic() timer
 tid_t telemetry_tid;     ///< id for telemetry_periodic() timer
 
+#ifndef SITL
 int main( void ) {
   main_init();
 
   while(1) {
-    if (sys_time_check_and_ack_timer(main_periodic_tid))
-      main_periodic();
-    if (sys_time_check_and_ack_timer(radio_control_tid))
-      radio_control_periodic_task();
-    if (sys_time_check_and_ack_timer(failsafe_tid))
-      failsafe_check();
-    if (sys_time_check_and_ack_timer(electrical_tid))
-      electrical_periodic();
-    if (sys_time_check_and_ack_timer(baro_tid))
-      baro_periodic();
-    if (sys_time_check_and_ack_timer(telemetry_tid))
-      telemetry_periodic();
+    handle_periodic_tasks();
     main_event();
   }
   return 0;
@@ -146,6 +135,20 @@ STATIC_INLINE void main_init( void ) {
   telemetry_tid = sys_time_register_timer((1./60.), NULL);
 }
 
+STATIC_INLINE void handle_periodic_tasks( void ) {
+  if (sys_time_check_and_ack_timer(main_periodic_tid))
+    main_periodic();
+  if (sys_time_check_and_ack_timer(radio_control_tid))
+    radio_control_periodic_task();
+  if (sys_time_check_and_ack_timer(failsafe_tid))
+    failsafe_check();
+  if (sys_time_check_and_ack_timer(electrical_tid))
+    electrical_periodic();
+  if (sys_time_check_and_ack_timer(baro_tid))
+    baro_periodic();
+  if (sys_time_check_and_ack_timer(telemetry_tid))
+    telemetry_periodic();
+}
 
 STATIC_INLINE void main_periodic( void ) {
 
diff --git a/sw/airborne/firmwares/rotorcraft/main.h b/sw/airborne/firmwares/rotorcraft/main.h
index 63f5e068e1..c548af8a58 100644
--- a/sw/airborne/firmwares/rotorcraft/main.h
+++ b/sw/airborne/firmwares/rotorcraft/main.h
@@ -31,9 +31,10 @@
 #endif
 
 STATIC_INLINE void main_init( void );
-STATIC_INLINE void main_periodic( void );
 STATIC_INLINE void main_event( void );
+STATIC_INLINE void handle_periodic_tasks( void );
 
+STATIC_INLINE void main_periodic( void );
 STATIC_INLINE void telemetry_periodic(void);
 STATIC_INLINE void failsafe_check( void );
 
diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h
index 1860501be9..02b7e69c59 100644
--- a/sw/airborne/subsystems/imu/imu_b2.h
+++ b/sw/airborne/subsystems/imu/imu_b2.h
@@ -169,7 +169,7 @@
     }									\
   }
 #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
-include "peripherals/hmc5843.h"
+#include "peripherals/hmc5843.h"
 #define foo_handler() {}
 #define ImuMagEvent(_mag_handler) {					\
     MagEvent(foo_handler);                          \
diff --git a/sw/ground_segment/multimon/Makefile b/sw/ground_segment/multimon/Makefile
index 45e235386e..d7c9d2988b 100644
--- a/sw/ground_segment/multimon/Makefile
+++ b/sw/ground_segment/multimon/Makefile
@@ -32,7 +32,7 @@ LD		=ld
 LDFLAGS		=-lm
 HOSTCC		=gcc
 CC		=gcc
-MAKE		:=$(MAKE)
+MAKE		=make
 CPP		=$(CC) -E
 AR		=ar
 STRIP		=strip
diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h
index 9e6c5b8438..730c46cce0 100644
--- a/sw/simulator/nps/nps_autopilot.h
+++ b/sw/simulator/nps/nps_autopilot.h
@@ -13,6 +13,7 @@ extern struct NpsAutopilot autopilot;
 
 extern void nps_autopilot_init(enum NpsRadioControlType type, int num_script, char* js_dev);
 extern void nps_autopilot_run_step(double time);
+extern void nps_autopilot_run_systime_step(void);
 
 #endif /* NPS_AUTOPILOT_H */
 
diff --git a/sw/simulator/nps/nps_autopilot_booz.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
similarity index 92%
rename from sw/simulator/nps/nps_autopilot_booz.c
rename to sw/simulator/nps/nps_autopilot_rotorcraft.c
index 0d085d547a..240e50d75b 100644
--- a/sw/simulator/nps/nps_autopilot_booz.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -1,4 +1,4 @@
-#include "nps_autopilot_booz.h"
+#include "nps_autopilot_rotorcraft.h"
 
 #include "firmwares/rotorcraft/main.h"
 #include "nps_sensors.h"
@@ -8,6 +8,7 @@
 #include "subsystems/sensors/baro.h"
 #include "baro_board.h"
 #include "subsystems/electrical.h"
+#include "mcu_periph/sys_time.h"
 
 #include "actuators/supervision.h"
 
@@ -32,6 +33,10 @@ void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, cha
 
 }
 
+void nps_autopilot_run_systime_step( void ) {
+  sys_tick_handler();
+}
+
 #include <stdio.h>
 #include "subsystems/gps.h"
 
@@ -66,7 +71,7 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
     sim_overwrite_ahrs();
   }
 
-  main_periodic();
+  handle_periodic_tasks();
 
   if (time < 8) { /* start with a little bit of hovering */
     int32_t init_cmd[4];
diff --git a/sw/simulator/nps/nps_autopilot_booz.h b/sw/simulator/nps/nps_autopilot_rotorcraft.h
similarity index 100%
rename from sw/simulator/nps/nps_autopilot_booz.h
rename to sw/simulator/nps/nps_autopilot_rotorcraft.h
diff --git a/sw/simulator/nps/nps_main.c b/sw/simulator/nps/nps_main.c
index ab04e02f34..900d7ad2d8 100644
--- a/sw/simulator/nps/nps_main.c
+++ b/sw/simulator/nps/nps_main.c
@@ -54,7 +54,7 @@ void cont_hdl (int n __attribute__ ((unused))) {
    printf("Press <enter> to continue.\n");
  }
 
-double time_to_double(timeval *t) {
+double time_to_double(struct timeval *t) {
     return ((double)t->tv_sec + (double)(t->tv_usec * 1e-6));
 }
 
@@ -80,7 +80,7 @@ static void nps_main_init(void) {
 
   nps_main.sim_time = 0.;
   nps_main.display_time = 0.;
-  timeval t;
+  struct timeval t;
   gettimeofday (&t, NULL);
   nps_main.scaled_initial_time = time_to_double(&t);
   nps_main.host_time_factor = HOST_TIME_FACTOR;
@@ -114,6 +114,8 @@ static void nps_main_init(void) {
 static void nps_main_run_sim_step(void) {
   //  printf("sim at %f\n", nps_main.sim_time);
 
+  nps_autopilot_run_systime_step();
+
   nps_fdm_run_step(autopilot.commands);
 
   nps_sensors_run_step(nps_main.sim_time);
diff --git a/sw/simulator/sim_ac_fw.c b/sw/simulator/sim_ac_fw.c
index 8892722e75..6b3a5bda51 100644
--- a/sw/simulator/sim_ac_fw.c
+++ b/sw/simulator/sim_ac_fw.c
@@ -78,8 +78,8 @@ void autopilot_init(void) {
 }
 
 void autopilot_periodic_task(void) {
-  periodic_task_ap();
-  periodic_task_fbw();
+  handle_periodic_tasks_ap();
+  handle_periodic_tasks_fbw();
 }
 
 void autopilot_event_task(void) {
diff --git a/sw/simulator/sim_ac_jsbsim.c b/sw/simulator/sim_ac_jsbsim.c
index ee0a565943..57db201604 100644
--- a/sw/simulator/sim_ac_jsbsim.c
+++ b/sw/simulator/sim_ac_jsbsim.c
@@ -80,6 +80,9 @@ static void sim_init(void) {
   // main AP init (feed the sensors once before ?)
   autopilot_init();
 
+  printf("sys_time resolution: %f\n", SYS_TIME_RESOLUTION);
+  printf("sys_time period in msec: %d\n", SYSTIME_PERIOD);
+
 }
 
 static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
@@ -116,6 +119,11 @@ static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
   return result;
 }
 
+static gboolean systime_periodic(gpointer data __attribute__ ((unused))) {
+  sys_tick_handler();
+  return true;
+}
+
 
 int main ( int argc, char** argv) {
 
@@ -129,6 +137,7 @@ int main ( int argc, char** argv) {
   GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
 
   g_timeout_add(JSBSIM_PERIOD, sim_periodic, NULL);
+  g_timeout_add(SYSTIME_PERIOD, systime_periodic, NULL);
 
   g_main_loop_run(ml);
 
diff --git a/sw/simulator/sim_ac_jsbsim.h b/sw/simulator/sim_ac_jsbsim.h
index 44f3a8c7f5..05baa3087d 100644
--- a/sw/simulator/sim_ac_jsbsim.h
+++ b/sw/simulator/sim_ac_jsbsim.h
@@ -32,6 +32,7 @@
 #include "std.h"
 #include "generated/airframe.h"
 #include "generated/flight_plan.h"
+#include "mcu_periph/sys_time.h"
 
 #include <Ivy/ivy.h>
 
@@ -43,6 +44,8 @@
 #endif
 #define DT (JSBSIM_PERIOD*1e-3) ///< JSBSim timestep in seconds
 
+#define SYSTIME_PERIOD ((uint32_t)(SYS_TIME_RESOLUTION * 1000)) ///< in msec
+
 #define RAD2DEG 57.29578
 #define FT2M 0.3048
 
diff --git a/sw/supervision/paparazzicenter.ml b/sw/supervision/paparazzicenter.ml
index 72ca0860a7..308adcf55c 100644
--- a/sw/supervision/paparazzicenter.ml
+++ b/sw/supervision/paparazzicenter.ml
@@ -207,7 +207,7 @@ let () =
 
   let errors = "red", ["error"; "no such file"; "undefined reference"; "failure"]
   and warnings = "orange", ["warning"]
-  and info = "green", ["message"; "info"] in
+  and info = "green", ["pragma message"] in
 
   let color_regexps =
     List.map (fun (color, strings) ->