diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index 9586dd353f..d547dec3c8 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -1,7 +1,7 @@
 /*
  * $Id$
  *
- * Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
+ * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -27,8 +27,8 @@
 #include "booz/booz2_commands.h"
 #include "booz/booz_actuators.h"
 #include "booz/booz_imu.h"
-#include "booz_radio_control.h"
-#include "actuators/booz_actuators_pwm.h"
+#include "booz/booz_radio_control.h"
+#include "booz/actuators/booz_actuators_pwm.h"
 #include "lisa/lisa_overo_link.h"
 
 static inline void main_init(void);
@@ -61,17 +61,18 @@ int main(void) {
 
 static inline void main_init(void) {
 
-	hw_init();
-	sys_time_init();
-	booz_imu_init();
-	radio_control_init();
-	booz_actuators_pwm_hw_init();
-	overo_link_init();
-	new_radio_msg = FALSE;
+  hw_init();
+  sys_time_init();
+  booz_imu_init();
+  radio_control_init();
+  booz_actuators_pwm_hw_init();
+  overo_link_init();
+  new_radio_msg = FALSE;
+
 }
 
 static inline void main_periodic(void) {
-
+  
   booz_imu_periodic();
   OveroLinkPeriodic(on_overo_link_lost);
   RunOnceEvery(10, {
@@ -83,10 +84,10 @@ static inline void main_periodic(void) {
 }
 
 static inline void main_event(void) {
-
-	BoozImuEvent(on_gyro_accel_event, on_mag_event);
-	OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
-	RadioControlEvent(on_rc_message);
+  
+  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+  OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
+  RadioControlEvent(on_rc_message);
 
 }
 
@@ -96,35 +97,38 @@ static inline void on_rc_message(void) {
 
 static inline void on_overo_link_msg_received(void) {
 
-	if (new_radio_msg) overo_link.up.msg.valid.rc = 1;
-	else overo_link.up.msg.valid.rc = 0;
-        new_radio_msg = FALSE;
-
-	overo_link.up.msg.valid.imu = 1;
-
-	RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
-
-	VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
-
-	VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
-
-	overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
-	overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
-	overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
-	overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
-	overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
-	overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
-	overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
-	overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
-	overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
-	overo_link.up.msg.rc_status = radio_control.status;
-
-	overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
-	overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
-
-	for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
-	  booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
-	booz_actuators_pwm_commit();
+  overo_link.up.msg.valid.rc = new_radio_msg;
+  new_radio_msg = FALSE;
+  
+  overo_link.up.msg.valid.imu = 1;
+  
+  RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
+  
+  VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
+  
+  VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
+  
+  overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
+  overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
+  overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
+  overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
+  overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
+#ifdef RADIO_CONTROL_KILL
+  overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
+#endif
+#ifdef RADIO_CONTROL_GEAR
+  overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
+#endif
+  overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
+  overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
+  overo_link.up.msg.rc_status = radio_control.status;
+  
+  overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
+  overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
+  
+  for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
+    booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
+  booz_actuators_pwm_commit();
 }
 
 static inline void on_overo_link_lost(void) {