diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
index 180d6e144d..36f6c9e3a7 100644
--- a/conf/Makefile.stm32
+++ b/conf/Makefile.stm32
@@ -203,6 +203,7 @@ endif
 start_gdb:
 	xterm -e "$(OOCD) -f interface/$(OOCD_INTERFACE).cfg  -f target/$(OOCD_TARGET).cfg" &
 	xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/lisa-l.cfg -f board/lisa-l.cfg"&
+	xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/flossjtag.cfg -f board/lisa-l.cfg"&
 
 start_telnet:
 	xterm -e "telnet localhost 4444" &
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 73b5c1d143..d0e839f1f3 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -175,11 +175,11 @@
    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
  </section>
 
-<!-- -->
+<!--
  <modules main_freq="512">
    <load name="vehicle_interface_overo_link.xml"/>
  </modules>
-<!-- -->
+ -->
 
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.0">
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index e27b1d797f..c62db5bafe 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -4,8 +4,16 @@
 
   <firmware name="lisa_l_test_progs">
     <target name="test_led"         board="lisa_m_1.0"/>
+    <target name="test_uart"        board="lisa_m_1.0"/>
     <target name="test_servos"      board="lisa_m_1.0"/>
-    <target name="test_telemetry"   board="lisa_m_1.0"/>
+    <target name="test_telemetry"   board="lisa_m_1.0">
+      <param name="MODEM_PORT" value="UART2"/>
+    </target>
+    <target name="test_bmp085"      board="lisa_m_1.0">
+      <param name="MODEM_PORT" value="UART2"/>
+    </target>
+    <target name="test_esc_mkk_simple"   board="lisa_m_1.0"/>
+    <target name="test_rc_spektrum"   board="lisa_m_1.0"/>
   </firmware>
 
 </airframe>
\ No newline at end of file
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index a3e5a7b411..d6caed59ff 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -63,11 +63,31 @@ SRC_FIRMWARE=firmwares/rotorcraft
 test_led.ARCHDIR = $(ARCH)
 test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_LISA)/test_led.c       	  \
+test_led.srcs += $(SRC_LISA)/test_led2.c       	  \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c
 test_led.CFLAGS += -DUSE_LED
 
+#
+# test uart
+#
+test_uart.ARCHDIR = $(ARCH)
+test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_uart.srcs = $(SRC_LISA)/test_uart.c         \
+                 $(SRC_ARCH)/stm32_exceptions.c  \
+                 $(SRC_ARCH)/stm32_vector_table.c
+test_uart.CFLAGS += -DUSE_LED
+test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+
 #
 # test servos
 #
@@ -83,7 +103,7 @@ test_servos.srcs += $(SRC_LISA)/test_servos.c 	\
                     $(SRC_ARCH)/stm32_vector_table.c
 test_servos.CFLAGS += -DUSE_LED
 test_servos.srcs += $(SRC_ARCH)/led_hw.c
-test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
@@ -101,8 +121,8 @@ test_telemetry.ARCHDIR = $(ARCH)
 test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
 test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_telemetry.srcs = test/test_telemetry.c            \
-					  $(SRC_ARCH)/stm32_exceptions.c   \
-					  $(SRC_ARCH)/stm32_vector_table.c
+		      $(SRC_ARCH)/stm32_exceptions.c   \
+		      $(SRC_ARCH)/stm32_vector_table.c
 test_telemetry.CFLAGS += -DUSE_LED
 test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
@@ -153,15 +173,15 @@ test_baro.srcs   += i2c.c $(SRC_ARCH)/i2c_hw.c
 #   MODEM_PORT
 #   MODEM_BAUD
 #   RADIO_CONTROL_LED
-#   RADIO_CONROL_LINK
+#   RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
 #
 test_rc_spektrum.ARCHDIR   = $(ARCH)
 
 test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_rc_spektrum.srcs   += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
-						   $(SRC_ARCH)/stm32_exceptions.c              \
-						   $(SRC_ARCH)/stm32_vector_table.c
+			   $(SRC_ARCH)/stm32_exceptions.c              \
+			   $(SRC_ARCH)/stm32_vector_table.c
 
 test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
@@ -174,13 +194,16 @@ test_rc_spektrum.srcs   += $(SRC_ARCH)/uart_hw.c
 test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_rc_spektrum.srcs   += downlink.c pprz_transport.c
 test_rc_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
+ifdef RADIO_CONTROL_LED
 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
+test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
 test_rc_spektrum.srcs   += $(SRC_BOOZ)/booz_radio_control.c                                 \
-						   $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c          \
-					   $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
+			   $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c          \
+			   $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
 
 
 #
@@ -437,11 +460,12 @@ test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c		\
 						   $(SRC_ARCH)/stm32_vector_table.c
 test_esc_mkk_simple.CFLAGS += -DUSE_LED
 test_esc_mkk_simple.srcs += $(SRC_ARCH)/led_hw.c
-test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_esc_mkk_simple.CFLAGS += -DUSE_I2C1
 test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c1
 
 
 #
@@ -520,3 +544,30 @@ test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
 test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
 test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test bmp085
+#
+test_bmp085.ARCHDIR = $(ARCH)
+test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_bmp085.srcs = lisa/test/lisa_test_bmp085.c     \
+		   $(SRC_ARCH)/stm32_exceptions.c   \
+		   $(SRC_ARCH)/stm32_vector_table.c
+test_bmp085.CFLAGS += -DUSE_LED
+test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
+test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_bmp085.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_bmp085.srcs += downlink.c pprz_transport.c
+
+test_bmp085.CFLAGS += -DUSE_I2C2
+test_bmp085.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#test_bmp085.CFLAGS += -DIMU_OVERRIDE_CHANNELS
+#test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ   # Mag Int on PB5
\ No newline at end of file
diff --git a/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile b/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
index 0a8b27c0f8..94a6ea3a60 100644
--- a/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
@@ -10,7 +10,9 @@ ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spek
 ifeq ($(BOARD), booz)
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
 endif
+ifdef RADIO_CONTROL_LED
 ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
 ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
 
diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile
index ab8beb2ebb..bee780a343 100644
--- a/conf/boards/lisa_m_1.0.makefile
+++ b/conf/boards/lisa_m_1.0.makefile
@@ -25,20 +25,24 @@ endif
 #
 #
 
-SYS_TIME_LED       = 1
+SYS_TIME_LED       = 2
 
 RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT   = UART3
 RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
-RADIO_CONTROL_LED  = 5
+#RADIO_CONTROL_LED  = 5
 
+ifndef MODEM_PORT
 MODEM_PORT=UART2
+endif
+ifndef MODEM_BAUD
 MODEM_BAUD=B57600
+endif
 
-AHRS_ALIGNER_LED = 7
+#AHRS_ALIGNER_LED = 7
 
 GPS_PORT=UART1
 GPS_BAUD=B38400
-GPS_LED = 3
+#GPS_LED = 3
 
 #
 # this is the DRDY pin of a max1168 on a booz IMU
diff --git a/sw/airborne/arch/stm32/uart_hw.c b/sw/airborne/arch/stm32/uart_hw.c
index 6c43480d7d..aa03768084 100644
--- a/sw/airborne/arch/stm32/uart_hw.c
+++ b/sw/airborne/arch/stm32/uart_hw.c
@@ -241,9 +241,7 @@ bool_t uart2_check_free_space( uint8_t len) {
   return (uint16_t)(space - 1) >= len;
 }
 
-
 void usart2_irq_handler(void) {
-  
   if(USART_GetITStatus(USART2, USART_IT_TXE) != RESET){
     // check if more data to send
     if (uart2_tx_insert_idx != uart2_tx_extract_idx) {
diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h
index 13758a01d5..6dc296e8d1 100644
--- a/sw/airborne/boards/lisa_m_1.0.h
+++ b/sw/airborne/boards/lisa_m_1.0.h
@@ -16,10 +16,4 @@
 #define LED_2_GPIO_PIN GPIO_Pin_13
 
 
-
-// FIXME, this is just to make it compile
-#define POWER_SWITCH_LED 5
-
-
-
 #endif /* CONFIG_LISA_M_1_0_H */
diff --git a/sw/airborne/booz/test/booz2_test_radio_control.c b/sw/airborne/booz/test/booz2_test_radio_control.c
index 60541c008a..bffbc2da01 100644
--- a/sw/airborne/booz/test/booz2_test_radio_control.c
+++ b/sw/airborne/booz/test/booz2_test_radio_control.c
@@ -29,7 +29,7 @@
 
 #include "downlink.h"
 
-#include "booz_radio_control.h"
+#include "booz/booz_radio_control.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -58,7 +58,11 @@ extern uint32_t debug_len;
 
 static inline void main_periodic_task( void ) {
   
-  RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec);});  
+  RunOnceEvery(51, {
+    /*LED_TOGGLE(2);*/ 
+    uint32_t blaaa= cpu_time_sec; 
+    DOWNLINK_SEND_TIME(DefaultChannel, &blaaa);
+  });  
 
   RunOnceEvery(10, {radio_control_periodic();});
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index 8937e37be1..ddd72aa619 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -27,7 +27,7 @@
 
 #include <firmwares/rotorcraft/ahrs.h>
 #include <firmwares/rotorcraft/stabilization.h>
-#include "booz_fms.h"
+// #include "booz_fms.h" FIXME
 #include <firmwares/rotorcraft/ins.h>
 #include <firmwares/rotorcraft/navigation.h>
 
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index c946fc1ed7..500c6e648a 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -29,7 +29,7 @@
 #include "booz_radio_control.h"
 #include <firmwares/rotorcraft/stabilization.h>
 #include <firmwares/rotorcraft/ahrs.h>
-#include "booz_fms.h"
+// #include "booz_fms.h" FIXME
 #include <firmwares/rotorcraft/navigation.h>
 
 #include <firmwares/rotorcraft/ins.h>
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index c7643b4e9c..8f3d7a837f 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -46,7 +46,7 @@
 
 #include <firmwares/rotorcraft/battery.h>
 
-#include "booz_fms.h"
+// #include "booz_fms.h"  // FIXME
 #include <firmwares/rotorcraft/autopilot.h>
 
 #include <firmwares/rotorcraft/stabilization.h>
@@ -112,7 +112,7 @@ STATIC_INLINE void main_init( void ) {
   battery_init();
   imu_init();
 
-  booz_fms_init();
+  //  booz_fms_init(); // FIXME
   autopilot_init();
   nav_init();
   guidance_h_init();
@@ -153,7 +153,7 @@ STATIC_INLINE void main_periodic( void ) {
         autopilot_set_mode(AP_MODE_FAILSAFE);		\
     },									\
     {									\
-      booz_fms_periodic();						\
+      /* booz_fms_periodic(); FIXME */					\
     },									\
     {									\
       /*BoozControlSurfacesSetFromCommands();*/				\
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index ff97d365c0..fd6be45870 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -25,7 +25,7 @@
 
 #include <firmwares/rotorcraft/navigation.h>
 
-#include "booz/booz2_debug.h"
+// #include "booz/booz2_debug.h" FIXME
 #include "booz_gps.h"
 #include <firmwares/rotorcraft/ins.h>
 
@@ -315,7 +315,7 @@ void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) {
 }
 
 void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp ) {
-  MY_ASSERT(wp < nb_waypoint);
+  //  MY_ASSERT(wp < nb_waypoint); FIXME
   int32_t s_heading, c_heading;
   PPRZ_ITRIG_SIN(s_heading, nav_heading);
   PPRZ_ITRIG_COS(c_heading, nav_heading);