diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 37bc5c5dcd..fbf978de7a 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -220,6 +220,10 @@ ap.CFLAGS += -DUSE_ADAPT_HOVER
 
   <target name="baloo" board="booz">
     <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="b2v1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
   </target>
 
 
@@ -227,18 +231,17 @@ ap.CFLAGS += -DUSE_ADAPT_HOVER
 #
 #include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 #include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
+#include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
+#include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+# FIXME: make fms a module
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 
+include $(CFG_BOOZ)/booz2_test_progs.makefile
 include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
-#include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
   </makefile>
 
 </airframe>
diff --git a/conf/autopilot/subsystems/baloo/actuators_mkk.makefile b/conf/autopilot/subsystems/baloo/actuators_mkk.makefile
new file mode 100644
index 0000000000..76b9660104
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/actuators_mkk.makefile
@@ -0,0 +1,48 @@
+#
+# Booz Mikrokopter Actuators
+#
+#
+# required xml:
+#  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+#    <define name="NB" value="4"/>
+#    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+#  </section>
+#
+#  <section name="SUPERVISION" prefix="SUPERVISION_">
+#    <define name="MIN_MOTOR" value="2"/>
+#    <define name="MAX_MOTOR" value="210"/>
+#    <define name="TRIM_A" value="2"/>
+#    <define name="TRIM_E" value="-1"/>
+#    <define name="TRIM_R" value="3"/>
+#    <define name="NB_MOTOR" value="4"/>
+#    <define name="SCALE" value="256"/>
+#    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
+#    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
+#    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+#    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+#  </section>
+#
+#
+
+
+#
+ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
+ap.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+ap.CFLAGS += -DI2C0_STOP_HANDLER=ActuatorsMkkI2cHandler
+ap.CFLAGS += -DI2C0_STOP_HANDLER_HEADER=\"actuators/booz_actuators_mkk.h\"
+else ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
+ap.CFLAGS += -DUSE_I2C1
+endif
+
+# Simulator
+sim.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
+sim.srcs += $(SRC_BOOZ_SIM)/actuators/booz_actuators_mkk_arch.c
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
diff --git a/conf/autopilot/subsystems/baloo/ahrs_cmpl.makefile b/conf/autopilot/subsystems/baloo/ahrs_cmpl.makefile
new file mode 100644
index 0000000000..3a59457b35
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/ahrs_cmpl.makefile
@@ -0,0 +1,13 @@
+#
+# Complementary filter for attitude estimation
+#
+
+ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
+ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
+ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
+ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
+
+sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
+sim.srcs += $(SRC_BOOZ)/booz_ahrs.c
+sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
+sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/baloo/gps_ublox.makefile b/conf/autopilot/subsystems/baloo/gps_ublox.makefile
new file mode 100644
index 0000000000..e3253a966d
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/gps_ublox.makefile
@@ -0,0 +1,13 @@
+
+ap.srcs += $(SRC_BOOZ)/booz_gps.c
+ap.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
+ap.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DUART0_VIC_SLOT=5
+ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart0 -DGPS_LED=4
+else ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart1 -DGPS_LED=3
+endif
+sim.CFLAGS += -DUSE_GPS
+sim.srcs += $(SRC_BOOZ)/booz_gps.c
diff --git a/conf/autopilot/subsystems/baloo/imu_b2v1.makefile b/conf/autopilot/subsystems/baloo/imu_b2v1.makefile
new file mode 100644
index 0000000000..015d04962f
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/imu_b2v1.makefile
@@ -0,0 +1,82 @@
+#
+# Booz2 IMU booz2v1
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_CHAN" value="1"/>
+#    <define name="GYRO_Y_CHAN" value="0"/>
+#    <define name="GYRO_Z_CHAN" value="2"/>
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+# 
+#    <define name="ACCEL_X_CHAN" value="3"/>
+#    <define name="ACCEL_Y_CHAN" value="5"/>
+#    <define name="ACCEL_Z_CHAN" value="6"/>    
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_CHAN" value="4"/>
+#    <define name="MAG_Y_CHAN" value="0"/>
+#    <define name="MAG_Z_CHAN" value="2"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/> 
+#
+#  </section>
+#
+#
+
+# imu Booz2 v1
+ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+ap.CFLAGS += -DSSP_VIC_SLOT=9
+ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
+           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+
+ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+           $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
+ap.CFLAGS += -DUSE_AMI601
+ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+
+
+#
+# Simulator
+#
+
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
+            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
+            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+
+
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1
\ No newline at end of file
diff --git a/conf/autopilot/subsystems/baloo/radio_control_ppm.makefile b/conf/autopilot/subsystems/baloo/radio_control_ppm.makefile
new file mode 100644
index 0000000000..b72fd4c78f
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/radio_control_ppm.makefile
@@ -0,0 +1,19 @@
+#
+# Autopilot
+#
+ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
+ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+ap.srcs += $(SRC_BOOZ)/booz_radio_control.c                    \
+           $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c  \
+           $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+
+#
+# Simulator
+#
+sim.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
+sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+sim.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+            $(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
+            $(SRC_BOOZ_SIM)/radio_control/booz_radio_control_ppm_arch.c