diff --git a/conf/airframes/AirborneCodeReorg/LisaFw.xml b/conf/airframes/AirborneCodeReorg/LisaFw.xml
index 7d641e7fc5..67f5bdd636 100644
--- a/conf/airframes/AirborneCodeReorg/LisaFw.xml
+++ b/conf/airframes/AirborneCodeReorg/LisaFw.xml
@@ -170,54 +170,17 @@
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
  <makefile>
-ARCH=stm32
-ARCHI=stm32
-SRC_ARCH=$(ARCH)
-BOARD_CFG=\"boards/lisa_0.99.h\"
-FLASH_MODE = JTAG
 
+# Config for AP
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_l.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
 
-# FLASH_MODE=IAP
-
-# ap.CFLAGS +=  -DFBW -DAP -DLED -DTIME_LED=1
-# ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c 
-
-
-# ap.srcs += commands.c
-
-# ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-# ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
-
-# ap.CFLAGS += -DRADIO_CONTROL
-# ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
-
-# ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
-
-# ap.CFLAGS += -DINTER_MCU
-# ap.srcs += inter_mcu.c 
-
-# ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-# ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-# ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-# ap.srcs += gps_ubx.c gps.c latlong.c
-
-# ap.CFLAGS += -DINFRARED -DALT_KALMAN
-# ap.srcs += infrared.c estimator.c
-
-# ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-# ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-# ap.CFLAGS += -DGYRO -DADXRS150
-# ap.srcs += gyro.c
-# ap.srcs += nav_line.c nav_survey_rectangle.c
-
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-# sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
-# sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
+sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
   </makefile>
 </airframe>
diff --git a/conf/airframes/AirborneCodeReorg/TinyFw.xml b/conf/airframes/AirborneCodeReorg/TinyFw.xml
index 4b89a687bb..fc85a64b34 100644
--- a/conf/airframes/AirborneCodeReorg/TinyFw.xml
+++ b/conf/airframes/AirborneCodeReorg/TinyFw.xml
@@ -170,54 +170,42 @@
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
  <makefile>
-ARCH=arm7
-ARCHI=arm7
-SRC_ARCH=$(ARCH)
-BOARD_CFG=\"tiny2_1_1.h\"
-FLASH_MODE = JTAG
 
+BOARD_CFG=\"tiny_2_1_1.h\"
+FLASH_MODE=IAP
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
 include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
 
-# FLASH_MODE=IAP
+GPS_UART=Uart0
+GPS_BAUD=38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
 
-# ap.CFLAGS +=  -DFBW -DAP -DLED -DTIME_LED=1
-# ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c 
+MODEM_UART=Uart1
+MODEM_BAUD=9600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
 
 
-# ap.srcs += commands.c
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
-# ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-# ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
 
-# ap.CFLAGS += -DRADIO_CONTROL
-# ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
+ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 
-# ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.CFLAGS += -DINFRARED -DALT_KALMAN
+ap.srcs += infrared.c 
 
-# ap.CFLAGS += -DINTER_MCU
-# ap.srcs += inter_mcu.c 
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
-# ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-# ap.srcs += $(SRC_ARCH)/adc_hw.c
-
-# ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-# ap.srcs += gps_ubx.c gps.c latlong.c
-
-# ap.CFLAGS += -DINFRARED -DALT_KALMAN
-# ap.srcs += infrared.c estimator.c
-
-# ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-# ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-
-# ap.CFLAGS += -DGYRO -DADXRS150
-# ap.srcs += gyro.c
-# ap.srcs += nav_line.c nav_survey_rectangle.c
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += gyro.c
+ap.srcs += nav_line.c nav_survey_rectangle.c
 
 # Config for SITL simulation
-# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-# sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
-# sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
+sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
   </makefile>
 </airframe>
diff --git a/conf/autopilot/fixedwing_autopilot.makefile b/conf/autopilot/fixedwing_autopilot.makefile
index afed003b5b..f1c8b51638 100644
--- a/conf/autopilot/fixedwing_autopilot.makefile
+++ b/conf/autopilot/fixedwing_autopilot.makefile
@@ -50,7 +50,7 @@ endif
 #
 # LEDs
 #
-ap.CFLAGS += -DUSE_LED
+ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
 ifeq ($(ARCHI), stm32) 
 ap.srcs += $(SRC_ARCH)/led_hw.c
 endif
@@ -66,76 +66,38 @@ ap.CFLAGS += -DSYS_TIME_LED=1
 endif
 
 #
-# FlyByWire
+# FlyByWire Main
 #
 ap.CFLAGS += -DFBW
 ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
 
 #
-# Telemetry/Datalink
+# AutoPilot Main
 #
-# ap.srcs += $(SRC_ARCH)/uart_hw.c
-# ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-# ap.srcs += $(SRC_FIXEDWING)/booz2_telemetry.c \
-# 	   downlink.c \
-#            pprz_transport.c
-# ap.CFLAGS += -DDATALINK=PPRZ
-# ap.srcs += $(SRC_FIXEDWING)/booz2_datalink.c
-
-# ifeq ($(ARCHI), arm7)
-# ap.CFLAGS += -DUSE_UART1  -DUART1_VIC_SLOT=6  -DUART1_BAUD=MODEM_BAUD
-# ap.CFLAGS += -DDOWNLINK_DEVICE=Uart1 
-# ap.CFLAGS += -DPPRZ_UART=Uart1
-# else ifeq ($(ARCHI), stm32) 
-# ap.CFLAGS += -DUSE_UART2 -DUART2_BAUD=MODEM_BAUD
-# ap.CFLAGS += -DDOWNLINK_DEVICE=Uart2 
-# ap.CFLAGS += -DPPRZ_UART=Uart2
-# endif
-
-
-# ap.srcs += $(SRC_FIXEDWING)/booz2_commands.c
+ap.CFLAGS += -DAP
+ap.srcs += $(SRC_FIXEDWING)/main_ap.c
+ap.srcs += $(SRC_FIXEDWING)/estimator.c
 
 #
-# Radio control choice
-#
-# include booz2_radio_control_ppm.makefile
-# or
-# include booz2_radio_control_spektrum.makefile
+# InterMCU Commands
 #
 
-#
-# Actuator choice
-#
-# include booz2_actuators_buss.makefile
-# or
-# include booz2_actuators_asctec.makefile
-#
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c 
+ap.srcs += $(SRC_FIXEDWING)/commands.c
 
 #
-# IMU choice
-#
-# include booz2_imu_b2v1.makefile
-# or
-# include booz2_imu_b2v1_1.makefile
-# or
-# include booz2_imu_crista.makefile
+# UARTS
 #
+ap.srcs += $(SRC_ARCH)/uart_hw.c
 
 
-# ifeq ($(ARCHI), arm7)
-# ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
-# ap.srcs += $(SRC_FIXEDWING)/booz2_analog_baro.c
-# 
-# ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
-# ap.srcs += $(SRC_FIXEDWING)/booz2_battery.c
-# 
-# ap.CFLAGS += -DADC0_VIC_SLOT=2
-# ap.CFLAGS += -DADC1_VIC_SLOT=3
-# ap.srcs += $(SRC_FIXEDWING)/booz2_analog.c \
-#            $(SRC_FIXEDWING_ARCH)/booz2_analog_hw.c
-# else ifeq ($(ARCHI), stm32) 
-# ap.srcs += lisa/lisa_analog_plug.c
-# endif
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DADC
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+else ifeq ($(ARCHI), stm32) 
+ap.srcs += lisa/lisa_analog_plug.c
+endif
 
 
 #
@@ -155,25 +117,6 @@ ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
 # include booz2_ahrs_lkf.makefile
 #
 
-# ap.srcs += $(SRC_FIXEDWING)/booz2_autopilot.c
-
-# ap.srcs += math/pprz_trig_int.c
-# ap.srcs += $(SRC_FIXEDWING)/booz_stabilization.c
-# ap.srcs += $(SRC_FIXEDWING)/stabilization/booz_stabilization_rate.c
-
-
-# ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-# ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
-# ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
-# ap.srcs += $(SRC_FIXEDWING)/stabilization/booz_stabilization_attitude_ref_euler_int.c
-# ap.srcs += $(SRC_FIXEDWING)/stabilization/booz_stabilization_attitude_euler_int.c
-
-# ap.CFLAGS += -DUSE_NAVIGATION
-# ap.srcs += $(SRC_FIXEDWING)/guidance/booz2_guidance_h.c
-# ap.srcs += $(SRC_FIXEDWING)/guidance/booz2_guidance_v.c
-
-# ap.srcs += $(SRC_FIXEDWING)/booz2_ins.c
-# ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c
 
 #
 # INS choice
@@ -183,12 +126,6 @@ ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
 # nothing
 #
 
-#  vertical filter float version
-# ap.srcs += $(SRC_FIXEDWING)/ins/booz2_vf_float.c
-# ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
-
-# ap.srcs += $(SRC_FIXEDWING)/booz2_navigation.c
-
 
 #
 # FMS  choice
diff --git a/conf/autopilot/lisa_l.makefile b/conf/autopilot/lisa_l.makefile
new file mode 100644
index 0000000000..70e1b604b6
--- /dev/null
+++ b/conf/autopilot/lisa_l.makefile
@@ -0,0 +1,13 @@
+# Makefile for the Lisa board 
+
+ap.ARCHDIR = $(ARCHI)
+ap.ARCH = arm7tdmi
+ap.TARGET = autopilot
+ap.TARGETDIR = autopilot
+
+ARCH=stm32
+ARCHI=stm32
+SRC_ARCH=$(ARCH)
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE=JTAG
+
diff --git a/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile b/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
new file mode 100644
index 0000000000..bef7d2a78e
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
@@ -0,0 +1,5 @@
+
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
+
diff --git a/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile b/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
new file mode 100644
index 0000000000..56588af63d
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
@@ -0,0 +1,13 @@
+
+
+
+ifeq ($(GPS_UART), Uart0)
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(GPS_BAUD)
+else
+ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(GPS_BAUD)
+endif
+
+
+ap.CFLAGS += -DGPS -DUBX -DGPS_LINK=$(GPS_UART)
+ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
new file mode 100644
index 0000000000..0baab3860e
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
@@ -0,0 +1,15 @@
+
+
+ifeq ($(MODEM_UART), Uart0)
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(MODEM_BAUD)
+else
+ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(MODEM_BAUD)
+endif
+
+
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART) -DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c $(SRC_FIXEDWING)/pprz_transport.c
+
+
diff --git a/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile b/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile
new file mode 100644
index 0000000000..4d563abb33
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing_telemetry_xbee24.makefile
@@ -0,0 +1,5 @@
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c $(SRC_FIXEDWING)/pprz_transport.c
+
+