diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index ab93ae7b7e..66c1b19224 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -204,6 +204,7 @@
   <firmware name="lisa_l_test_progs">
     <target name="test_telemetry"   board="lisa_l_1.0"/>
     <target name="test_baro"        board="lisa_l_1.0"/>
+    <target name="test_imu_b2"      board="lisa_l_1.0"/>
     <target name="test_rc_spektrum" board="lisa_l_1.0"/>
     <target name="test_rc_ppm"      board="lisa_l_1.0"/>
     <target name="test_adc"         board="lisa_l_1.0"/>
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 714b222eb5..6fee349a3d 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -231,4 +231,47 @@ test_adc.srcs   += downlink.c pprz_transport.c
 
 test_adc.srcs   += $(SRC_ARCH)/adc_hw.c
 test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
-test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
\ No newline at end of file
+test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
+
+#
+# test IMU b2
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+test_imu_b2.ARCHDIR = $(ARCHI)
+test_imu_b2.TARGET = test_imu_b2
+test_imu_b2.TARGETDIR = test_imu_b2
+test_imu_b2.CFLAGS  =  -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
+                    $(SRC_ARCH)/stm32_exceptions.c   \
+                    $(SRC_ARCH)/stm32_vector_table.c
+
+test_imu_b2.CFLAGS += -DUSE_LED
+test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_SYS_TIME 
+test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
+test_imu_b2.srcs += downlink.c pprz_transport.c
+
+test_imu_b2.srcs += math/pprz_trig_int.c
+
+test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 -DIMU_B2_VERSION_1_1
+test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
+test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
diff --git a/conf/autopilot/lisa_l_test_progs.xml b/conf/autopilot/lisa_l_test_progs.xml
index b16998339a..8063313631 100644
--- a/conf/autopilot/lisa_l_test_progs.xml
+++ b/conf/autopilot/lisa_l_test_progs.xml
@@ -11,6 +11,11 @@
      <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
    </target>
 
+   <target name="test imu b2" description="reads imu values over telemetry">
+     <param name="MODEM_PORT" values="UART1,UART2,UART3"    default="UART2"/>
+     <param name="MODEM_BAUD" values="B9600,B57600,B115200" default="B57600"/>
+   </target>
+
   <target name="test spektrum" description="sends RADIO_CONTROL messages on telemetry">
      <param name="MODEM_PORT"         values="UART1,UART2,UART3"    default="UART2"/>
      <param name="MODEM_BAUD"         values="B9600,B57600,B115200" default="B57600"/>