diff --git a/conf/autopilot/subsystems/booz2_imu_b2v1.makefile b/conf/autopilot/subsystems/booz2_imu_b2v1.makefile
deleted file mode 100644
index 18f67a02ac..0000000000
--- a/conf/autopilot/subsystems/booz2_imu_b2v1.makefile
+++ /dev/null
@@ -1,71 +0,0 @@
-#
-# Booz2 IMU booz2v1
-#
-#
-# required xml:
-#  <section name="IMU" prefix="IMU_">
-#
-#    <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_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_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_VERSION_1_0
-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/booz2_imu_b2v1_1.makefile b/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
deleted file mode 100644
index 4c8ea05f51..0000000000
--- a/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
+++ /dev/null
@@ -1,77 +0,0 @@
-#
-# Booz2 IMU booz2v1.1
-#
-#
-# required xml:
-#  <section name="IMU" prefix="IMU_">
-#
-#    <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_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_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 v1.1
-ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ap.CFLAGS += -DIMU_B2_VERSION_1_1
-ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
-           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
-           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
-
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-           $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
-
-ap.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
-           $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
-
-# FIXME : that would lpc21
-#ifeq ($(ap.ARCH), arm7tmdi)
-ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DSSP_VIC_SLOT=9
-ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
-ap.CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
-else ifeq ($(ARCHI), stm32) 
-ap.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-endif
-
-#
-# 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
diff --git a/conf/autopilot/subsystems/booz2_imu_crista.makefile b/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
similarity index 100%
rename from conf/autopilot/subsystems/booz2_imu_crista.makefile
rename to conf/autopilot/subsystems/rotorcraft/imu_crista.makefile