diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
index 378337c50b..88810f82e2 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
@@ -28,7 +28,6 @@
 #include "interrupt_hw.h"
 #include BOARD_CONFIG
 
-
 ///////////////////
 // I2C Automaton //
 ///////////////////
@@ -56,22 +55,18 @@ __attribute__ ((always_inline)) static inline void I2cEndOfTransaction(struct i2
   }
 }
 
-__attribute__ ((always_inline)) static inline void I2cFinished(struct i2c_periph* p, struct i2c_transaction* t) {
+__attribute__ ((always_inline)) static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) {
+  ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO);
   // transaction finished with success
   t->status = I2CTransSuccess;
   I2cEndOfTransaction(p);
 }
 
-__attribute__ ((always_inline)) static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) {
-  ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO);
-  I2cFinished(p,t);
-}
-
 __attribute__ ((always_inline)) static inline void I2cFail(struct i2c_periph* p, struct i2c_transaction* t) {
   ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO);
+  // transaction failed
   t->status = I2CTransFailed;
-  p->status = I2CFailed;
-  // FIXME I2C should be reseted here
+  // FIXME I2C should be reseted here ?
   I2cEndOfTransaction(p);
 }
 
@@ -122,13 +117,20 @@ __attribute__ ((always_inline)) static inline void I2cAutomaton(int32_t state, s
         I2cSendStop(p,trans);
       }
       break;
+    case I2C_MR_DATA_NACK:
+      if (p->idx_buf < trans->len_r) {
+        trans->buf[p->idx_buf] = ((i2cRegs_t *)(p->reg_addr))->dat;
+      }
+      I2cSendStop(p,trans);
+      break;
     case I2C_MR_SLA_ACK: /* At least one char */
       /* Wait and reply with ACK or NACK */
       I2cReceive(p->reg_addr,p->idx_buf < trans->len_r - 1);
       break;
     case I2C_MR_SLA_NACK:
     case I2C_MT_SLA_NACK:
-      I2cSendStart(p);
+      /* Slave is not responding, transaction is failed */
+      I2cFail(p,trans);
       break;
     case I2C_MT_SLA_ACK:
     case I2C_MT_DATA_ACK:
@@ -137,28 +139,17 @@ __attribute__ ((always_inline)) static inline void I2cAutomaton(int32_t state, s
         p->idx_buf++;
       } else {
         if (trans->type == I2CTransTxRx) {
-          trans->type = I2CTransRx;	/* FIXME should not change type */
+          //trans->type = I2CTransRx;	/* FIXME should not change type */
           p->idx_buf = 0;
           trans->slave_addr |= 1;
           I2cSendStart(p);
         } else {
-          if (trans->stop_after_transmit) {
-            I2cSendStop(p,trans);
-          } else {
-            I2cFinished(p,trans);
-          }
+          I2cSendStop(p,trans);
         }
       }
       break;
-    case I2C_MR_DATA_NACK:
-      if (p->idx_buf < trans->len_r) {
-        trans->buf[p->idx_buf] = ((i2cRegs_t *)(p->reg_addr))->dat;
-      }
-      I2cSendStop(p,trans);
-      break;
     default:
-      I2cSendStop(p,trans);
-      //I2cFail(p,trans);
+      I2cFail(p,trans);
       /* FIXME log error */
       break;
   }
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index 90bb98f8f9..07602f1430 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -43,7 +43,6 @@ void actuators_init(void) {
     actuators_mkk.trans[i].type = I2CTransTx;
     actuators_mkk.trans[i].len_w = 1;
     actuators_mkk.trans[i].slave_addr = actuators_addr[i];
-    actuators_mkk.trans[i].stop_after_transmit = TRUE;
     actuators_mkk.trans[i].status = I2CTransSuccess;
   }
 
diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h
index 3495bbafec..93bd0f77ba 100644
--- a/sw/airborne/mcu_periph/i2c.h
+++ b/sw/airborne/mcu_periph/i2c.h
@@ -43,7 +43,6 @@ struct i2c_transaction {
   uint8_t  slave_addr;
   uint16_t len_r;
   uint8_t  len_w;
-  bool_t   stop_after_transmit;
   volatile uint8_t  buf[I2C_BUF_LEN];
   volatile enum I2CTransactionStatus status;
 };
@@ -136,40 +135,28 @@ extern bool_t i2c_idle(struct i2c_periph* p);
 extern bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t);
 
 #define I2CReceive(_p, _t, _s_addr, _len) { \
-    _t.type = I2CTransRx;           \
-    _t.slave_addr = _s_addr;            \
-    _t.len_r = _len;                \
-    _t.len_w = 0;               \
-    _t.stop_after_transmit = TRUE;      \
-    i2c_submit(&(_p),&(_t));            \
-  }
+  _t.type = I2CTransRx;                     \
+  _t.slave_addr = _s_addr;                  \
+  _t.len_r = _len;                          \
+  _t.len_w = 0;                             \
+  i2c_submit(&(_p),&(_t));                  \
+}
 
 #define I2CTransmit(_p, _t, _s_addr, _len) {	\
-    _t.type = I2CTransTx;			\
-    _t.slave_addr = _s_addr;			\
-    _t.len_r = 0;				\
-    _t.len_w = _len;				\
-    _t.stop_after_transmit = TRUE;		\
-    i2c_submit(&(_p),&(_t));			\
-  }
+  _t.type = I2CTransTx;			                  \
+  _t.slave_addr = _s_addr;			              \
+  _t.len_r = 0;				                        \
+  _t.len_w = _len;				                    \
+  i2c_submit(&(_p),&(_t));			              \
+}
 
-#define I2CTransmitNoStop(_p, _t, _s_addr, _len) {	\
-    _t.type = I2CTransTx;				\
-    _t.slave_addr = _s_addr;				\
-    _t.len_r = 0;					\
-    _t.len_w = _len;					\
-    _t.stop_after_transmit = FALSE;			\
-    i2c_submit(&(_p),&(_t));				\
-  }
-
-#define I2CTransceive(_p, _t, _s_addr, _len_w, _len_r) { \
-    _t.type = I2CTransTxRx;              \
-    _t.slave_addr = _s_addr;                 \
-    _t.len_r = _len_r;                   \
-    _t.len_w = _len_w;                   \
-    _t.stop_after_transmit = TRUE;           \
-    i2c_submit(&(_p),&(_t));                 \
-  }
+#define I2CTransceive(_p, _t, _s_addr, _len_w, _len_r) {  \
+  _t.type = I2CTransTxRx;                                 \
+  _t.slave_addr = _s_addr;                                \
+  _t.len_r = _len_r;                                      \
+  _t.len_w = _len_w;                                      \
+  i2c_submit(&(_p),&(_t));                                \
+}
 
 
 #endif /* I2C_H */
diff --git a/sw/airborne/peripherals/ami601.c b/sw/airborne/peripherals/ami601.c
index 81b1e512a2..14d6f7b1c7 100644
--- a/sw/airborne/peripherals/ami601.c
+++ b/sw/airborne/peripherals/ami601.c
@@ -17,7 +17,6 @@ void ami601_init( void ) {
   }
   ami601_i2c_trans.status = I2CTransSuccess;
   ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR;
-  ami601_i2c_trans.stop_after_transmit = TRUE;
   ami601_nb_err = 0;
   ami601_status = AMI601_IDLE;
 
diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
index 71050c442c..f02c148312 100644
--- a/sw/airborne/peripherals/hmc5843.c
+++ b/sw/airborne/peripherals/hmc5843.c
@@ -11,7 +11,6 @@ void hmc5843_init(void)
 {
     hmc5843.i2c_trans.status = I2CTransSuccess;
     hmc5843.i2c_trans.slave_addr = HMC5843_ADDR;
-    hmc5843.i2c_trans.stop_after_transmit = TRUE;
 
     hmc5843_arch_init();
 }
diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c
index 232890665a..983f19564b 100644
--- a/sw/airborne/test/test_esc_mkk_simple.c
+++ b/sw/airborne/test/test_esc_mkk_simple.c
@@ -59,7 +59,6 @@ static inline void main_periodic_task( void ) {
   trans.buf[0] = 0x04;
   trans.len_w = 1;
   trans.slave_addr = 0x58;
-  trans.stop_after_transmit = TRUE;
   i2c_submit(&ACTUATORS_MKK_DEV,&trans);
 
   LED_PERIODIC();