diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 81aeb4ee8d..979d2bc435 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -434,7 +434,7 @@ test_esc_asctecv1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators mkk
 #
 test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_mkk.srcs = test/test_actuators.c \
 						  $(SRC_ARCH)/stm32_exceptions.c   \
@@ -464,7 +464,7 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators asctecv1
 #
 test_actuators_asctecv1.ARCHDIR = $(ARCH)
-test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_asctecv1.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_asctecv1.srcs = test/test_actuators.c            \
 							   $(SRC_ARCH)/stm32_exceptions.c   \
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 7a3803bd5c..c72257f1fb 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -123,6 +123,8 @@ SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
 SRC_BOOZ=booz
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 
+SRC_FIRMWARE=firmwares/rotorcraft
+
 #BOARD_CFG=\"boards/olimex_stm32-h103.h\"
 BOARD_CFG=\"boards/lisa_l_1.0.h\"
 #FLASH_MODE = SERIAL
@@ -370,7 +372,7 @@ test_rc_24.srcs += $(SRC_BOOZ)/booz_radio_control.c \
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 
 test_servos.ARCHDIR = $(ARCH)
-test_servos.CFLAGS  = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS  = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_servos.LDFLAGS += -lm
 test_servos.srcs += $(SRC_LISA)/test_servos.c   \
@@ -399,7 +401,7 @@ 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_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  = -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   \
@@ -585,7 +587,7 @@ test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators mkk
 #
 test_actuators_mkk.ARCHDIR = $(ARCH)
-test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_mkk.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
                           $(SRC_ARCH)/stm32_exceptions.c   \
@@ -606,7 +608,7 @@ test_actuators_mkk.srcs += downlink.c pprz_transport.c
 
 test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
 #test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c \
-#                           $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
+#                           $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_mkk_arch.c
 #test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
 test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1
 test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
@@ -619,7 +621,7 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 # test actuators asctec
 #
 test_actuators_asctec.ARCHDIR = $(ARCH)
-test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_actuators_asctec.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_actuators_asctec.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_actuators_asctec.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
                           $(SRC_ARCH)/stm32_exceptions.c   \
@@ -641,7 +643,7 @@ test_actuators_asctec.srcs += downlink.c pprz_transport.c
 test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
 test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 #\
-#                              $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
+#                              $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_asctec_arch.c
 test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 # -DBOOZ_START_DELAY=3
 #  -DUSE_TIM2_IRQ