diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 0d84a3a32e..5585c6740d 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -1,12 +1,36 @@
 <airframe name="BOOZ2_G1">
 
   <modules main_freq="512">
-    <load name="booz_drop.xml"/>
+    <!--load name="booz_drop.xml"/-->
     <!--load name="booz_cam.xml"/-->
     <!--load name="sonar_maxbotix_booz.xml"/-->
     <!--load name="adc_generic_booz.xml"/-->
+    <!--load name="sys_mon.xml"/-->
   </modules>
 
+  <firmware name="rotorcraft">
+    <target name="ap" board="booz_1.0">
+      <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+      <define name="USE_GPS_ACC4R"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"         type="nps"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="asctec"/>
+    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+    <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="PITCH"  no="0" min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
@@ -29,10 +53,6 @@
 
   <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="32238"/>
     <define name="GYRO_Q_NEUTRAL" value="32391"/>
     <define name="GYRO_R_NEUTRAL" value="32853"/>
@@ -41,10 +61,6 @@
     <define name="GYRO_Q_SENS" value="1.00" integer="16"/>
     <define name="GYRO_R_SENS" value="1.00" integer="16"/>
   
-    <define name="ACCEL_X_CHAN" value="5"/>
-    <define name="ACCEL_Y_CHAN" value="3"/>
-    <define name="ACCEL_Z_CHAN" value="4"/>    
-
     <define name="ACCEL_X_SENS" value="2.55975587" integer="16"/>
     <define name="ACCEL_Y_SENS" value="2.55643340" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.57178460" integer="16"/>
@@ -53,10 +69,6 @@
     <define name="ACCEL_Y_NEUTRAL" value="32778"/>
     <define name="ACCEL_Z_NEUTRAL" value="32140"/>
 
-    <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="-12"/>
     <define name="MAG_Y_NEUTRAL" value="-10"/> 
     <define name="MAG_Z_NEUTRAL" value="-11"/>
@@ -116,8 +128,8 @@
     <define name="THETA_DGAIN"  value="-400"/>
     <define name="THETA_IGAIN"  value="-200"/>
 
-    <define name="PSI_PGAIN"  value="-1000"/>
-    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_PGAIN"  value="-2000"/>
+    <define name="PSI_DGAIN"  value="-400"/>
     <define name="PSI_IGAIN"  value="-10"/>
 
     <!-- feedforward -->
@@ -209,49 +221,20 @@
  </section>
 
 
-  <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-FLASH_MODE=IAP
+  <makefile location="after">
 
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
+ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
+ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
 
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
 sim.CFLAGS += -DNPS_NO_SUPERVISION
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-#set GPS lag for horizontal filter
-#ap.CFLAGS += -DGPS_LAG=0.8
-ap.CFLAGS += -DUSE_GPS_ACC4R
-
-ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
-
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
 sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
 
-ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
 sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
 
-ap.CFLAGS += -DUSE_MODULES
-
   </makefile>
 
 </airframe>
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index ae32fca068..44fc67934f 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -2,6 +2,39 @@
 
 <airframe name="Booz Mkk1 Enac">
 
+  <firmware name="rotorcraft">
+    <!--target name="ap" board="booz_1.0"-->
+    <target name="ap" board="lisa_l_1.0">
+      <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+      <define name="USE_GPS_ACC4R"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"         type="nps"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="b2_v1.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+  <firmware name="lisa_l_test_progs">
+    <target name="test_imu_b2"      board="lisa_l_1.0"/>
+    <target name="test_telemetry"   board="lisa_l_1.0"/>
+    <target name="test_baro"        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_actuators_mkk"      board="lisa_l_1.0"/>
+  </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"/>
+    <target name="test_actuators_mkk"      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="1" min="0" neutral="0" max="255"/>
@@ -221,41 +254,17 @@
 
 
   <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
-FLASH_MODE=IAP
-
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
-
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-include $(CFG_BOOZ)/subsystems/booz2_analog_bat_baro.makefile
-include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
 #set GPS lag for horizontal filter
 #ap.CFLAGS += -DUSE_GPS_ACC4R
 
 #ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
 
-ap.CFLAGS += -DUSE_MODULES
-
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 #sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
-sim.CFLAGS += -DUSE_MODULES
 
   </makefile>