diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 5b0d0b2ed0..5acec3639b 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -3,17 +3,16 @@
   <modules main_freq="512">
     <!--load name="booz_pwm.xml">
       <define name="USE_PWM1"/>
-    </load>
-    <load name="booz_drop.xml"/>
+    </load-->
+    <!--load name="booz_drop.xml"/>
     <load name="booz_cam.xml"/-->
-    <!--load name="sonar_maxbotix_booz.xml"/-->
   </modules>
 
   <firmware name="rotorcraft">
     <define name="USE_INS_NAV_INIT"/>
     <!--define name="GUIDANCE_H_USE_REF"/-->
 
-    <target name="ap" board="booz_1.0">
+    <target name="ap" board="navgo_1.0">
       <define name="FAILSAFE_GROUND_DETECT"/>
       <define name="USE_GPS_ACC4R"/>
       <define name="ACTUATORS_START_DELAY" value="3"/>
@@ -27,29 +26,20 @@
     <subsystem name="actuators"     type="skiron">
       <define name="SKIRON_I2C_SCL_TIME" value="25"/>
     </subsystem>
-    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="imu"           type="navgo"/>
     <subsystem name="gps"           type="ublox">
-      <configure name="GPS_BAUD"    value="B57600"/>
+      <configure name="GPS_BAUD" value="B57600"/>
     </subsystem>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="int_cmpl_euler">
-      <define name="USE_NOISE_FILTER"/>
-    </subsystem>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
-  <firmware name="booz_test_progs">
-    <target name="test_telemetry"   board="booz_1.0"/>
-    <target name="test_baro"        board="booz_1.0"/>
-    <target name="test_rc_spektrum" board="booz_1.0"/>
-    <target name="test_rc_ppm"      board="booz_1.0"/>
-  </firmware>
-
   <servos min="0" neutral="0" max="0xff">
-    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
-    <servo name="BACK"  no="2" min="0" neutral="0" max="255"/>
-    <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
-    <servo name="LEFT"  no="3" min="0" neutral="0" max="255"/>
+    <servo name="FRONT"  no="0"    min="0" neutral="0" max="255"/>
+    <servo name="BACK"   no="2"    min="0" neutral="0" max="255"/>
+    <servo name="RIGHT"  no="1"    min="0" neutral="0" max="255"/>
+    <servo name="LEFT"   no="3"    min="0" neutral="0" max="255"/>
   </servos>
 
   <commands>
@@ -67,8 +57,8 @@
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="20"/>
     <define name="MAX_MOTOR" value="255"/>
-    <define name="TRIM_A" value="6"/>
-    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_A" value="-3"/>
+    <define name="TRIM_E" value="-3"/>
     <define name="TRIM_R" value="0"/>
     <define name="NB_MOTOR" value="4"/>
     <define name="SCALE" value="256"/>
@@ -80,49 +70,54 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="GYRO_P_CHAN" value="1"/>
-    <define name="GYRO_Q_CHAN" value="0"/>
-    <define name="GYRO_R_CHAN" value="2"/>
+    <define name="GYRO_P_NEUTRAL" value="10"/>
+    <define name="GYRO_Q_NEUTRAL" value="-32"/>
+    <define name="GYRO_R_NEUTRAL" value="11"/>
 
-    <define name="GYRO_P_NEUTRAL" value="33100"/>
-    <define name="GYRO_Q_NEUTRAL" value="32440"/>
-    <define name="GYRO_R_NEUTRAL" value="33033"/>
+    <!-- SENS ITG3200  1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
+    <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
+    <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
 
-    <define name="GYRO_P_SENS" value="1.00" integer="16"/>
-    <define name="GYRO_Q_SENS" value="1.00" integer="16"/>
-    <define name="GYRO_R_SENS" value="1.00" integer="16"/>
+    <define name="ACCEL_X_NEUTRAL" value="9"/>
+    <define name="ACCEL_Y_NEUTRAL" value="14"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-16"/>
 
-    <define name="ACCEL_X_CHAN" value="5"/>
-    <define name="ACCEL_Y_CHAN" value="3"/>
-    <define name="ACCEL_Z_CHAN" value="4"/>
+    <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
+    <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="32932"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32251"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32463"/>
+    <define name="MAG_X_NEUTRAL" value="80"/>
+    <define name="MAG_Y_NEUTRAL" value="-271"/>
+    <define name="MAG_Z_NEUTRAL" value="112"/>
 
-    <define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/>
-
-    <define name="MAG_X_CHAN" value="0"/>
-    <define name="MAG_Y_CHAN" value="1"/>
-    <define name="MAG_Z_CHAN" value="2"/>
-
-    <define name="MAG_X_NEUTRAL" value="-75"/>
-    <define name="MAG_Y_NEUTRAL" value="17"/>
-    <define name="MAG_Z_NEUTRAL" value="7"/>
-
-    <define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
-    <define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
-    <define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
+    <define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
+    <define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
-    <!--define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/-->
     <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
+  <!-- Magnetic field for Toulouse (declination -16°) -->
+  <section name="AHRS" prefix="AHRS_">
+    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value=" 0.513081"/>
+    <define name="H_Y" value="-0.00242783"/>
+    <define name="H_Z" value=" 0.858336"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
+    <!-- calibration SENS = 1.156 :( -->
+    <define name="BARO_SENS" value="1.156" integer="16"/>
+  </section>
+
+
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
 
     <define name="SP_MAX_P" value="10000"/>
@@ -160,30 +155,25 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
-    <define name="PHI_PGAIN"  value="400"/>
-    <define name="PHI_DGAIN"  value="160"/>
-    <define name="PHI_IGAIN"  value="40"/>
+    <define name="PHI_PGAIN"  value="450"/>
+    <define name="PHI_DGAIN"  value="190"/>
+    <define name="PHI_IGAIN"  value="100"/>
 
-    <define name="THETA_PGAIN"  value="400"/>
-    <define name="THETA_DGAIN"  value="160"/>
-    <define name="THETA_IGAIN"  value="40"/>
+    <define name="THETA_PGAIN"  value="450"/>
+    <define name="THETA_DGAIN"  value="190"/>
+    <define name="THETA_IGAIN"  value="100"/>
 
-    <define name="PSI_PGAIN"  value="1000"/>
-    <define name="PSI_DGAIN"  value="350"/>
-    <define name="PSI_IGAIN"  value="10"/>
+    <define name="PSI_PGAIN"  value="700"/>
+    <define name="PSI_DGAIN"  value="250"/>
+    <define name="PSI_IGAIN"  value="20"/>
 
     <!-- feedforward -->
-    <define name="PHI_DDGAIN"   value=" 300"/>
-    <define name="THETA_DDGAIN" value=" 300"/>
-    <define name="PSI_DDGAIN"   value=" 300"/>
+    <define name="PHI_DDGAIN"   value=" 100"/>
+    <define name="THETA_DDGAIN" value=" 100"/>
+    <define name="PSI_DDGAIN"   value=" 100"/>
 
   </section>
 
-  <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="16.5" integer="16"/>
-  </section>
-
-
   <section name="GUIDANCE_V"   prefix="GUIDANCE_V_">
 
    <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
@@ -195,8 +185,8 @@
    <define name="REF_MAX_ZDD"  value=" 0.8*9.81"/>
    <define name="REF_MIN_ZD"   value="-1.5"/>
    <define name="REF_MAX_ZD"   value=" 1.5"/>
-   <define name="HOVER_KP"     value="400"/>
-   <define name="HOVER_KD"     value="200"/>
+   <define name="HOVER_KP"     value="300"/>
+   <define name="HOVER_KD"     value="160"/>
    <define name="HOVER_KI"     value="0"/>
    <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
    <define name="RC_CLIMB_COEF" value ="163"/>
@@ -215,13 +205,13 @@
 
  <section name="BAT">
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
  </section>
 
  <section name="AUTOPILOT">
    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
    <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
-   <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+   <!--define name="MODE_AUTO2"  value="AP_MODE_NAV"/-->
  </section>
 
  <section name="FMS">
@@ -238,16 +228,14 @@
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
     <define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
-    <define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
+    <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
  </section>
 
 
  <section name="MISC">
-   <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
-   <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-   <define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
-   <define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
+   <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
+   <!--define name="IMU_MAG_OFFSET" value="-9."/-->
  </section>
 
   <section name="GCS">
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index e6d6e22529..bc6345b920 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -145,10 +145,11 @@ ap.CFLAGS += -DUSE_I2C2
 else ifeq ($(BOARD), lisa_m)
 ap.CFLAGS += -DUSE_I2C2
 else ifeq ($(BOARD), navgo)
-include $(CFG_ROTORCRAFT)/spi.makefile
+ap.CFLAGS += -DUSE_SPI
 ap.CFLAGS += -DUSE_SPI_SLAVE0
 ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
 ap.CFLAGS += -DSPI_MASTER
+ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
 ap.srcs += peripherals/mcp355x.c
 endif
 ifneq ($(BARO_LED),none)
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index 04e87930dd..9d96af5869 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -16,7 +16,7 @@
       <message name="BOOZ2_CAM"              period="1."/>
       <message name="GPS_INT"                period=".25"/>
       <message name="INS"                    period=".25"/>
-      <message name="I2C_ERRORS"             period="6."/>
+      <!--message name="I2C_ERRORS"             period="6."/-->
     </mode>
 
     <mode name="ppm">