diff --git a/conf/Makefile.omap b/conf/Makefile.omap
new file mode 100644
index 0000000000..a7f24ad4bf
--- /dev/null
+++ b/conf/Makefile.omap
@@ -0,0 +1,98 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+#   $Id$
+#   Copyright (C) 2009 Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.  
+# 
+
+# Define programs and commands.
+
+OVERO_OE=/overo-oe
+
+CC = $(OVERO_OE)/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-gcc
+LD = $(CC)
+
+# Launch with "make Q=''" to get full command display
+Q=@
+
+OPT=3
+CSTANDARD = -std=gnu99
+CINCS = -I$(PAPARAZZI_SRC)/sw/include
+
+# Compiler flags.
+CFLAGS += $(CINCS)
+CFLAGS += -O$(OPT)
+# CFLAGS += -malignment-traps
+#CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
+#CFLAGS += -Wpointer-arith -Wswitch
+#CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
+#CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
+#CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CFLAGS += -mtune=geode # optimize for geode
+
+# flags only for C
+#CFLAGS + = -Wstrict-prototypes -Wmissing-declarations
+#CFLAGS += -Wmissing-prototypes -Wnested-externs 
+CFLAGS += $(CSTANDARD)
+CFLAGS += $($(TARGET).CFLAGS)		
+
+
+SRCOMAP  = $($(TARGET).srcs)
+COBJOMAP = $(SRCOMAP:%.c=$(OBJDIR)/%.o)
+
+all: build
+
+build: elf
+
+elf: $(OBJDIR)/$(TARGET).elf
+
+# Program the device.  
+load upload program: $(OBJDIR)/$(TARGET).elf
+	scp $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(OBJDIR)/$(TARGET).elf
+.PRECIOUS :   $(COBJOMAP)
+%.elf:   $(COBJOMAP)
+	@echo LD $@
+	$(Q)$(CC) $(CFLAGS) $(COBJOMAP)  --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS)
+
+# Compile: create object files from C source files. ARM-only
+$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
+	@echo CC $@
+	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
+	$(Q)$(CC) -c $(CFLAGS) $< -o $@ 
+
+# Listing of phony targets.
+.PHONY : all build elf clean clean_list
+
+#
+# Dependencies
+#
+
+$(OBJDIR)/.depend:
+	@echo DEPEND $@
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+ifneq ($(MAKECMDGOALS),clean) 
+ifneq ($(MAKECMDGOALS),erase) 
+-include $(OBJDIR)/.depend
+endif
+endif
diff --git a/conf/autopilot/overo_ap.makefile b/conf/autopilot/overo_ap.makefile
deleted file mode 100644
index 44258f73d9..0000000000
--- a/conf/autopilot/overo_ap.makefile
+++ /dev/null
@@ -1,17 +0,0 @@
-ARCHI=geode
-
-SRC_FMS=fms
-
-ap.ARCHDIR = $(ARCHI)
-
-ap.LDFLAGS = -lm -levent -lrt
-
-ap.CFLAGS += -I$(SRC_FMS)
-
-ap.srcs=$(SRC_FMS)/fms_test_datalink.c
-
-ap.CFLAGS += -DDOWNLINK
-ap.CFLAGS += -DDOWNLINK_TRANSPORT=UdpTransport
-ap.srcs += $(SRC_FMS)/fms_network.c
-ap.srcs += $(SRC_FMS)/udp_transport.c
-ap.srcs += downlink.c
\ No newline at end of file
diff --git a/sw/airborne/fms/Makefile b/sw/airborne/fms/Makefile
index c10e5f7fb5..5572afe9c8 100644
--- a/sw/airborne/fms/Makefile
+++ b/sw/airborne/fms/Makefile
@@ -32,7 +32,9 @@ TT_SRCS += fms_network.c udp_transport.c ../downlink.c
 #<s4wrxttcs2> I just use "export PATH=${PATH}:/home/gumstix/oe/tmp/cross/armv7a/bin" and
 #<s4wrxttcs2> or "make ARCH=arm CROSS_COMPILE=arm-angstrom-linux-gnueabi-" if I have a makefile
 
-CROSS_CC=/home/poine/overo-oe/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-gcc
+OVERO_OE=/overo-oe
+
+CROSS_CC=$(OVERO_OE)/tmp/cross/armv7a/bin/arm-angstrom-linux-gnueabi-gcc
 
 CROSS_CFLAGS  = -Wall
 CROSS_LDFLAGS =