diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index b1405b3931..b8acf7af5e 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -4,7 +4,9 @@
     <!--load name="booz_pwm.xml"/-->
     <!--load name="booz_drop.xml"/-->
     <!--load name="booz_cam.xml"/-->
-    <!--load name="sonar_maxbotix_booz.xml"/-->
+    <!--load name="sonar_maxbotix_booz.xml">
+      <configure name="ADC_SONAR" value="ADC_0"/>
+    </load-->
     <!--load name="adc_generic_booz.xml"/-->
     <!--load name="sys_mon.xml"/-->
   </modules>
diff --git a/conf/modules/sonar_maxbotix_booz.xml b/conf/modules/sonar_maxbotix_booz.xml
index ce23345d65..e28a1aa754 100644
--- a/conf/modules/sonar_maxbotix_booz.xml
+++ b/conf/modules/sonar_maxbotix_booz.xml
@@ -1,16 +1,27 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
+<!--
+     Maxbotix Sonar driver
+     @configure ADC_SONAR on which ADC the sensor is connected
+
+     On Booz board, ADC_0 should be use by default (payload connector)
+     -->
+
 <module name="sonar">
   <header>
-    <file name="sonar_maxbotix_booz.h"/>
+    <file name="sonar_maxbotix.h"/>
+    <file name="../../subsystems/ins.h"/>
   </header>
   <init fun="maxbotix_init()"/>
   <periodic fun="maxbotix_read()" freq="10"/>
   <event fun="SonarEvent(ins_update_sonar)"/>
-  <makefile target="ap">
-    <define name="USE_EXTRA_ADC"/>
-    <define name="USE_ADC_1"/>
-    <define name="BOOZ2_SONAR"/>
-    <file name="sonar_maxbotix_booz.c"/>
+  <makefile>
+    <file name="sonar_maxbotix.c"/>
   </makefile>
+  <makefile target="ap">
+    <define name="ADC_CHANNEL_SONAR" value="$(ADC_SONAR)"/>
+    <define name="USE_$(ADC_SONAR)"/>
+    <define name="USE_SONAR"/>
+  </makefile>
+
 </module>
diff --git a/sw/airborne/arch/lpc21/mcu_periph/adc_arch.h b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.h
index 947003f64b..6e5fe748c9 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/adc_arch.h
+++ b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.h
@@ -25,6 +25,8 @@
 #ifndef ADC_HW_H
 #define ADC_HW_H
 
+#include BOARD_CONFIG
+
 #define AdcBank0(x) (x)
 #define AdcBank1(x) (x+NB_ADC)
 
diff --git a/sw/airborne/modules/sonar/sonar_maxbotix_booz.c b/sw/airborne/modules/sonar/sonar_maxbotix.c
similarity index 81%
rename from sw/airborne/modules/sonar/sonar_maxbotix_booz.c
rename to sw/airborne/modules/sonar/sonar_maxbotix.c
index fad7db7e8d..c339212cea 100644
--- a/sw/airborne/modules/sonar/sonar_maxbotix_booz.c
+++ b/sw/airborne/modules/sonar/sonar_maxbotix.c
@@ -1,5 +1,4 @@
 /*
- * $Id: demo_module.c 3079 2009-03-11 16:55:42Z gautier $
  *
  * Copyright (C) 2010  Gautier Hattenberger
  *
@@ -22,22 +21,25 @@
  *
  */
 
-#include "sonar_maxbotix_booz.h"
-#include "booz2_analog.h"
+#include "modules/sonar/sonar_maxbotix.h"
+#include "mcu_periph/adc.h"
 
 uint16_t sonar_meas;
 bool_t sonar_data_available;
 
+static struct adc_buf sonar_adc;
+
 void maxbotix_init(void) {
   sonar_meas = 0;
   sonar_data_available = FALSE;
+
+  adc_buf_channel(ADC_CHANNEL_SONAR, &sonar_adc, DEFAULT_AV_NB_SAMPLE);
 }
 
 /** Read ADC value to update sonar measurement
  */
 void maxbotix_read(void) {
-  booz2_analog_extra_adc_read();
-  sonar_meas = booz2_adc_1;
+  sonar_meas = sonar_adc.sum / sonar_adc.av_nb_sample;
   sonar_data_available = TRUE;
 }
 
diff --git a/sw/airborne/modules/sonar/sonar_maxbotix_booz.h b/sw/airborne/modules/sonar/sonar_maxbotix.h
similarity index 84%
rename from sw/airborne/modules/sonar/sonar_maxbotix_booz.h
rename to sw/airborne/modules/sonar/sonar_maxbotix.h
index 596a8e5a75..b692f0889a 100644
--- a/sw/airborne/modules/sonar/sonar_maxbotix_booz.h
+++ b/sw/airborne/modules/sonar/sonar_maxbotix.h
@@ -1,5 +1,4 @@
 /*
- * $Id: demo_module.h 3079 2009-03-11 16:55:42Z gautier $
  *
  * Copyright (C) 2010  Gautier Hattenberger
  *
@@ -22,9 +21,9 @@
  *
  */
 
-/** \file sonar_maxbotix_booz.h
+/** \file sonar_maxbotix.h
  *
- * simple driver to deal with one maxbotix sensor on booz AP
+ * simple driver to deal with one maxbotix sensor
  */
 
 #ifndef SONAR_MAXBOTIX_BOOZ_H
@@ -39,7 +38,7 @@ extern bool_t sonar_data_available;
 extern void maxbotix_init(void);
 extern void maxbotix_read(void);
 
-#include "subsystems/ins.h" // needed because ins is not a module
+//#include "subsystems/ins.h" // needed because ins is not a module
 
 #define SonarEvent(_handler) { \
   if (sonar_data_available) { \
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index cd098c51b5..0e8e560273 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -70,7 +70,7 @@ bool_t ins_hf_realign;
 int32_t ins_qfe;
 bool_t  ins_baro_initialised;
 int32_t ins_baro_alt;
-#ifdef BOOZ2_SONAR
+#ifdef USE_SONAR
 bool_t  ins_update_on_agl;
 int32_t ins_sonar_offset;
 #endif
@@ -190,7 +190,7 @@ void ins_update_baro() {
     if (ins_vf_realign) {
       ins_vf_realign = FALSE;
       ins_qfe = baro.absolute;
-#ifdef BOOZ2_SONAR
+#ifdef USE_SONAR
       ins_sonar_offset = sonar_meas;
 #endif
       vff_realign(0.);
@@ -267,13 +267,13 @@ void ins_update_gps(void) {
 }
 
 void ins_update_sonar() {
-#if defined BOOZ2_SONAR && defined USE_VFF
+#if defined USE_SONAR && defined USE_VFF
   static int32_t sonar_filtered = 0;
   sonar_filtered = (sonar_meas + 2*sonar_filtered) / 3;
   /* update baro_qfe assuming a flat ground */
-  if (ins_update_on_agl && booz2_analog_baro_status == BOOZ2_ANALOG_BARO_RUNNING) {
+  if (ins_update_on_agl && baro.status == BS_RUNNING) {
     int32_t d_sonar = (((int32_t)sonar_filtered - ins_sonar_offset) * INS_SONAR_SENS_NUM) / INS_SONAR_SENS_DEN;
-    ins_qfe = (int32_t)booz2_analog_baro_value + (d_sonar * (INS_BARO_SENS_DEN))/INS_BARO_SENS_NUM;
+    ins_qfe = baro.absolute + (d_sonar * (INS_BARO_SENS_DEN))/INS_BARO_SENS_NUM;
   }
 #endif
 }
diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
index d2d374c121..6353bbb553 100644
--- a/sw/airborne/subsystems/ins.h
+++ b/sw/airborne/subsystems/ins.h
@@ -37,7 +37,7 @@ extern struct NedCoor_i ins_gps_speed_cm_s_ned;
 extern int32_t ins_baro_alt;
 extern int32_t ins_qfe;
 extern bool_t  ins_baro_initialised;
-#ifdef BOOZ2_SONAR
+#ifdef USE_SONAR
 extern bool_t  ins_update_on_agl; /* use sonar to update agl if available */
 extern int32_t ins_sonar_offset;
 #endif