diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index c7bddb800d..3831d918d2 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -191,7 +191,6 @@
     <subsystem name="navigation"/>
 <!--    <subsystem name="gps"    type="ublox"/> -->
 
-    <!--<subsystem name="i2c"/>-->
 
   </firmware>
 
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 427e89f074..5ac71dd39b 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -41,7 +41,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="transparent"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 18931347d0..35a81064d0 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -38,7 +38,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
     <subsystem name="spi"/>
 
     <!-- Communication -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 49fa555e8d..0b3075f4fe 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -38,7 +38,6 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <!--subsystem name="joystick"/-->
-    <subsystem name="i2c"/>
     <subsystem name="spi"/>
 
     <!-- Communication -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index b3b3f1dc30..976dad60b6 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -25,6 +25,7 @@
 
   <firmware name="fixedwing">
     <define name="USE_I2C0"/>
+    <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
     <!--define name="AGR_CLIMB"/-->
     <define name="ALT_KALMAN"/>
     <define name="USE_AIRSPEED"/>
@@ -38,9 +39,6 @@
     </target>
 
     <subsystem name="radio_control" type="datalink"/>
-    <subsystem name="i2c">
-      <define name="I2C_TRANSACTION_QUEUE_LEN" value="16"/>
-    </subsystem>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 75e1f04b74..820b6b9350 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -3,6 +3,7 @@
 <airframe name="MiniMag Tiny 2.11">
 
   <firmware name="fixedwing">
+    <define name="USE_I2C0"/>
     <define name="AGR_CLIMB" />
     <define name="LOITER_TRIM" />
     <define name="ALT_KALMAN" />
@@ -14,9 +15,6 @@
     </target>
 
     <subsystem name="spi"/>
-    <!--subsystem name="i2c">
-      <define name="USE_I2C0"/>
-    </subsystem-->
 
     <subsystem  name="telemetry" type="transparent">
       <configure name="MODEM_BAUD" value="B9600" />
diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
index da39395fe1..f376da0931 100644
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -28,7 +28,6 @@
     <define name="AGR_CLIMB"/>
     <define name="USE_I2C0"/>
 
-    <subsystem name="i2c"/>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="control"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index 7787074007..dbc2822dc1 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -24,7 +24,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <subsystem name="radio_control" type="datalink"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index d5408ba0ae..1036483158 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -31,7 +31,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <!-- Control -->
     <subsystem name="control" type="new"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 69bf25864c..11be1e9b4c 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -32,7 +32,6 @@
       <define name="USE_I2C0"/>
     </target>
 
-    <subsystem name="i2c"/>
 
     <!-- Control -->
     <subsystem name="control" type="new"/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index c567c58b5b..be8133bcc9 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -36,7 +36,6 @@
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 548aad12a0..2fec8df225 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -13,6 +13,8 @@
   </modules>
 
   <firmware name="fixedwing">
+    <define name="USE_I2C0"/>
+    <define name="USE_I2C1"/>
     <!--define name="AGR_CLIMB"/-->
     <define name="ALT_KALMAN"/>
     <define name="USE_AIRSPEED"/>
@@ -25,10 +27,6 @@
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="i2c">
-      <define name="USE_I2C0"/>
-      <define name="USE_I2C1"/>
-    </subsystem>
 
     <!-- Communication -->
     <subsystem name="telemetry" type="xbee_api"/>
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index d6bde5edf9..4e10892cf5 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -262,7 +262,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="ublox_utm"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 302e063cfe..1ee0c1e65a 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -296,7 +296,6 @@
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
     <subsystem name="ahrs" type="float_dcm"/>
-    <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="control"	/>
diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index 78943c5ba4..2aec015de3 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -235,7 +235,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 
diff --git a/conf/airframes/TU_Delft/yapa_xsens.xml b/conf/airframes/TU_Delft/yapa_xsens.xml
index f27b129aeb..daf296a3c2 100644
--- a/conf/airframes/TU_Delft/yapa_xsens.xml
+++ b/conf/airframes/TU_Delft/yapa_xsens.xml
@@ -220,7 +220,6 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-    <subsystem name="i2c"/>
 
 </firmware>
 
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 7e4ca831bc..3bc7913c82 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -27,7 +27,6 @@
     <subsystem name="attitude"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"    type="extra"/>
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index d12127748c..3be9e364d8 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -38,8 +38,6 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <subsystem name="navigation" type="extra"/>
     <subsystem name="ahrs" type="float_dcm"/>
 
-    <subsystem name="i2c"/>
-
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
     <subsystem name="gps" type="ublox"/>
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index 0126c730bf..22a4d7fb0c 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -24,7 +24,6 @@
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <!-- modules -->
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 77653a653b..3b1da5e839 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 543dadf191..5c134054fa 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 76a077a444..66bd573829 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -38,7 +38,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <!--subsystem name="i2c"/-->
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 429d313314..1bd560aef8 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -41,7 +41,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
     <!--subsystem name="spi"/-->
   </firmware>
 
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index c41ab6803c..6e35899c2f 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -39,7 +39,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index ff576007fb..3aaa7e5f4b 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -186,7 +186,6 @@
     <!-- Nav -->
     <subsystem name="navigation"/>
     <!-- Interfaces -->
-    <subsystem name="i2c"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 917858c056..226b3d2f19 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -27,7 +27,6 @@
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
-    <subsystem name="i2c"/>
     <subsystem name="gyro" type="roll">
       <param name="ADC_GYRO_ROLL" value="ADC_3"/>
     </subsystem>
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index bd4ee2716f..97e3ec91be 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -76,7 +76,6 @@ $(TARGET).srcs += sys_time.c
 #
 # InterMCU & Commands
 #
-
 $(TARGET).CFLAGS 	+= -DINTER_MCU
 $(TARGET).srcs 		+= $(SRC_FIXEDWING)/inter_mcu.c
 
@@ -85,6 +84,12 @@ $(TARGET).srcs 		+= $(SRC_FIXEDWING)/inter_mcu.c
 #
 $(TARGET).srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c
 
+#
+# I2C
+#
+$(TARGET).srcs += mcu_periph/i2c.c
+$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
+
 ######################################################################
 ##
 ## COMMON FOR ALL NON-SIMULATION TARGETS
@@ -93,7 +98,6 @@ $(TARGET).srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_
 #
 # Interrupt Vectors
 #
-
 ifeq ($(ARCH), lpc21)
   ns_srcs 		+= $(SRC_ARCH)/armVIC.c
 else ifeq ($(ARCH), stm32)
@@ -110,13 +114,11 @@ endif
 #
 # Main
 #
-
 ns_srcs	   	+= $(SRC_FIRMWARE)/main.c
 
 #
 # LEDs
 #
-
 ns_CFLAGS 		+= -DUSE_LED
 ifeq ($(ARCH), stm32)
   ns_CFLAGS 	+= -DSYS_TIME_LED=1
@@ -127,7 +129,6 @@ endif
 #
 # Sys-time
 #
-
 ns_CFLAGS 		+= -DUSE_SYS_TIME
 ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
 
@@ -135,7 +136,6 @@ ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
 #
 # UARTS
 #
-
 ns_srcs 		+= mcu_periph/uart.c
 ns_srcs 		+= $(SRC_ARCH)/mcu_periph/uart_arch.c
 ns_srcs 		+= subsystems/settings.c
@@ -144,8 +144,7 @@ ns_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
 #
 # ANALOG
 #
-
-  ns_CFLAGS 		+= -DUSE_ADC
+ns_CFLAGS 		+= -DUSE_ADC
 #ifeq ($(ARCH), lpc21)
   ns_srcs 		+= $(SRC_ARCH)/mcu_periph/adc_arch.c
 ifeq ($(ARCH), stm32)
diff --git a/conf/autopilot/subsystems/fixedwing/i2c.makefile b/conf/autopilot/subsystems/fixedwing/i2c.makefile
index faf4335abf..73ee98b011 100644
--- a/conf/autopilot/subsystems/fixedwing/i2c.makefile
+++ b/conf/autopilot/subsystems/fixedwing/i2c.makefile
@@ -1,3 +1,2 @@
 #generic i2c driver
-$(TARGET).srcs += mcu_periph/i2c.c
-$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
+$(warning The i2c subsystem does not have to be specified explicitly anymore, it is always included now. Please remove the line <subsystem name="i2c"/> from the firmware section of your airframe file!)