diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index 1e5e7001ff..ebf121e56c 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -17,8 +17,9 @@ CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrou
 stm_passthrough.ARCHDIR = stm32
 stm_passthrough.TARGET = stm_passthrough
 stm_passthrough.TARGETDIR = stm_passthrough
-stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
 stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
                        $(SRC_ARCH)/stm32_exceptions.c          \
                        $(SRC_ARCH)/stm32_vector_table.c
@@ -28,31 +29,32 @@ stm_passthrough.CFLAGS += -DUSE_LED
 stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
 
 # Sys time
-stm_passthrough.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+stm_passthrough.CFLAGS += -DUSE_SYS_TIME
 stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+stm_passthrough.CFLAGS += -DSYS_TIME_LED=1
 stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 # Telemetry
+stm_passthrough.CFLAGS += -DDOWNLINK 
+stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
+stm_passthrough.srcs += downlink.c pprz_transport.c
 stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
-stm_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
-stm_passthrough.srcs += downlink.c pprz_transport.c
 
 # Link Overo
-stm_passthrough.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
+stm_passthrough.CFLAGS += -DUSE_OVERO_LINK
+stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp 
+stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
 stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
 stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c           \
 			$(SRC_LISA_ARCH)/lisa_overo_link_arch.c
 
 # IMU
-stm_passthrough.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-stm_passthrough.CFLAGS += -DIMU_B2_VERSION_1_1
-stm_passthrough.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-stm_passthrough.srcs += $(SRC_BOOZ)/booz_imu.c
-stm_passthrough.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-stm_passthrough.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
-stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+#
+# include subsystem/lisa_passthrough/imu_b2_v1_1.makefile
+#
+
+
 stm_passthrough.srcs += math/pprz_trig_int.c
 
 stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c