diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index be504de01f..af46c41629 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -221,8 +221,8 @@
   </makefile>
 
 
-  <firmware name="baloo">
-    <target name="ap" board="booz">
+  <firmware name="rotorcraft">
+    <target name="ap" board="booz_1.0">
       <param  name="FLASH_MODE" value="IAP"/>   <!-- that is the default for the board but I'm putting it here as example-->
       <define name="MODEM_BAUD" value="B57600"/>
       <define name="USE_ADAPT_HOVER" value="1"/>
@@ -238,19 +238,23 @@
     </target>
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="actuators"     type="mkk"/>
-    <subsystem name="imu"           type="b2v1"/>
+    <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
+  <firmware name="booz_test_progs">
+    <target name="test_telemetry" board="booz_1.0"/>
+    <target name="test_baro"      board="booz_1.0"/>
+    <target name="test_spektrum"  board="booz_1.0"/>
+  </firmware>
 
   <makefile target="closure" location="after">
     CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
     # FIXME: make fms a module
-    include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+    #include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 
-    include $(CFG_BOOZ)/booz2_test_progs.makefile
     include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
     ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 8e4c2a5fe8..e09eb4f181 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -27,16 +27,9 @@
     </target>
 
     <subsystem name="radio_control" type="ppm"/>
-
-    <!-- Communication -->
-    <subsystem name="telemetry" type="transparent">
-      <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
-    </subsystem>
-
-    <!-- Actuators -->
+    <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
+    <subsystem name="telemetry" type="transparent"/>
     <subsystem name="actuators" type="4017"/>
-
-    <!-- Sensors -->
     <subsystem name="attitude" type="infrared"/>
     <subsystem name="gps" type="ublox_lea5h"/>
     <subsystem name="navigation"/>