diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 932380943a..b5bc6f6b35 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -126,9 +126,9 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 #booz IMU
 #main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 #main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-#main_stm32.srcs += $(SRC_BOOZ)/imu.c
+#main_stm32.srcs += $(SRC_FIRMWARE)/imu.c
 #main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-#main_stm32.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
+#main_stm32.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 #main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 #main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 #main_stm32.srcs += math/pprz_trig_int.c
@@ -136,9 +136,9 @@ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 #crista IMU
 main_stm32.srcs += math/pprz_trig_int.c
 main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-main_stm32.srcs += $(SRC_BOOZ)/imu.c             \
-                        $(SRC_BOOZ)/imu/imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
+main_stm32.srcs += $(SRC_FIRMWARE)/imu.c             \
+                        $(SRC_FIRMWARE)/imu/imu_crista.c \
+                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
 main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 006d573b0b..fb1afdd6cb 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -399,7 +399,7 @@ test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/ac
 # test IMU b2
 #
 test_imu_b2.ARCHDIR = $(ARCH)
-test_imu_b2.CFLAGS  =  -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)  -I$(SRC_LISA) -I$(ARCH) -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   \
@@ -422,9 +422,9 @@ test_imu_b2.srcs += math/pprz_trig_int.c
 
 test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-test_imu_b2.srcs += $(SRC_BOOZ)/imu.c
+test_imu_b2.srcs += $(SRC_FIRMWARE)/imu.c
 test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-test_imu_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
+test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/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
 
@@ -455,9 +455,9 @@ test_imu_crista.srcs += downlink.c pprz_transport.c
 test_imu_crista.srcs += math/pprz_trig_int.c
 
 test_imu_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-test_imu_crista.srcs += $(SRC_BOOZ)/imu.c             \
-                        $(SRC_BOOZ)/imu/imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
+test_imu_crista.srcs += $(SRC_FIRMWARE)/imu.c             \
+                        $(SRC_FIRMWARE)/imu/imu_crista.c \
+                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
 test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 
@@ -487,9 +487,9 @@ test_imu_aspirin.srcs += downlink.c pprz_transport.c
 test_imu_aspirin.srcs += math/pprz_trig_int.c
 
 test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-test_imu_aspirin.srcs += $(SRC_BOOZ)/imu.c             \
-                        $(SRC_BOOZ)/imu/imu_aspirin.c \
-                        $(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
+test_imu_aspirin.srcs += $(SRC_FIRMWARE)/imu.c             \
+                        $(SRC_FIRMWARE)/imu/imu_aspirin.c \
+                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_aspirin_arch.c
 
 test_imu_aspirin.CFLAGS += -DUSE_I2C2
 test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -1093,9 +1093,9 @@ ptw.srcs += downlink.c pprz_transport.c
 # IMU
 ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ptw.srcs += $(SRC_BOOZ)/imu.c
+ptw.srcs += $(SRC_FIRMWARE)/imu.c
 ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-ptw.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
+ptw.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 ptw.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 ptw.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 ptw.srcs += math/pprz_trig_int.c
@@ -1313,9 +1313,9 @@ hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
 hs_gyro_aspirin.srcs += math/pprz_trig_int.c
 
 hs_gyro_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-hs_gyro_aspirin.srcs += $(SRC_BOOZ)/imu.c             \
-                        $(SRC_BOOZ)/imu/imu_aspirin.c \
-                        $(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
+hs_gyro_aspirin.srcs += $(SRC_FIRMWARE)/imu.c             \
+                        $(SRC_FIRMWARE)/imu/imu_aspirin.c \
+                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_aspirin_arch.c
 
 hs_gyro_aspirin.CFLAGS += -DUSE_I2C2
 hs_gyro_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -1352,9 +1352,9 @@ hs_gyro_b2.srcs += math/pprz_trig_int.c
 
 hs_gyro_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-hs_gyro_b2.srcs += $(SRC_BOOZ)/imu.c
+hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu.c
 hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
+hs_gyro_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
@@ -1384,9 +1384,9 @@ hs_gyro_crista.srcs += downlink.c pprz_transport.c
 hs_gyro_crista.srcs += math/pprz_trig_int.c
 
 hs_gyro_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
-hs_gyro_crista.srcs += $(SRC_BOOZ)/imu.c             \
-                        $(SRC_BOOZ)/imu/imu_crista.c \
-                        $(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
+hs_gyro_crista.srcs += $(SRC_FIRMWARE)/imu.c             \
+                        $(SRC_FIRMWARE)/imu/imu_crista.c \
+                        $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
 hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
 
 hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0
diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/mercury.makefile
index 7750ea88c1..4af31ea6ee 100644
--- a/conf/autopilot/mercury.makefile
+++ b/conf/autopilot/mercury.makefile
@@ -70,7 +70,7 @@ ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 ap.srcs += $(SRC_CSC)/csc_datalink.c
 
 ap.CFLAGS += -DPPRZ_TRIG_CONST=const
-ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/imu.c math/pprz_trig_int.c
+ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_FIRMWARE)/imu.c math/pprz_trig_int.c
 ap.CFLAGS += -DXSENS1_LINK=Uart0 -DIMU_TYPE_H=\"mercury_xsens.h\"
 
 ap.srcs += $(SRC_BOOZ)/ahrs/ahrs_cmpl_euler.c $(SRC_BOOZ)/ahrs/ahrs_aligner.c
diff --git a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
index 030f9d2666..4a41c50be8 100644
--- a/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
@@ -43,9 +43,9 @@
 $(TARGET).CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 $(TARGET).CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
 $(TARGET).CFLAGS += -DIMU_B2_VERSION_1_1
-$(TARGET).srcs += $(SRC_BOOZ)/imu.c                   \
-		   $(SRC_BOOZ)/imu/imu_b2.c            \
-		   $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
+$(TARGET).srcs += $(SRC_FIRMWARE)/imu.c                   \
+		   $(SRC_FIRMWARE)/imu/imu_b2.c            \
+		   $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 $(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
 		   $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
@@ -70,8 +70,8 @@ endif
 sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-sim.srcs += $(SRC_BOOZ)/imu.c                 \
-			$(SRC_BOOZ)/imu/imu_b2.c          \
+sim.srcs += $(SRC_FIRMWARE)/imu.c                 \
+			$(SRC_FIRMWARE)/imu/imu_b2.c          \
 			$(SRC_BOOZ_SIM)/imu/imu_b2_arch.c