diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index bc331c01cd..a9e0b85c79 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -1,5 +1,21 @@
 <airframe name="BETH">
 
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+  </section>
+
+
 
   <section name="IMU" prefix="IMU_">
 
@@ -55,6 +71,7 @@ SRC_LISA=lisa
 SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
 
 main_stm32.ARCHDIR = stm32
+#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
 main_stm32.TARGET = main_stm32
 main_stm32.TARGETDIR = main_stm32
 main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
@@ -73,7 +90,7 @@ main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
 main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
 main_stm32.srcs += downlink.c pprz_transport.c
 
-main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_TYPE=AutopilotMessageBeth
+main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
 main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
 main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 
@@ -86,6 +103,50 @@ main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/perip
 main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 main_stm32.srcs += math/pprz_trig_int.c
 
+main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
+main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c 
+#\
+#                              $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
+main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+# -DBOOZ_START_DELAY=3
+#  -DUSE_TIM2_IRQ
+main_stm32.CFLAGS += -DUSE_I2C1
+main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+main_stm32.CFLAGS += -DUSE_I2C2
+main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
+
+
+
+#
+# Coders handled by a Olimex stm32h103 dev board
+#
+
+main_coders.ARCHDIR = stm32
+main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
+main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
+main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
+
+main_coders.TARGET = main_coders
+main_coders.TARGETDIR = main_coders
+main_coders.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+main_coders.srcs = $(SRC_BETH)/main_coders.c \
+                   $(SRC_ARCH)/stm32_exceptions.c   \
+                   $(SRC_ARCH)/stm32_vector_table.c
+main_coders.CFLAGS += -DUSE_LED
+main_coders.srcs += $(SRC_ARCH)/led_hw.c
+main_coders.CFLAGS += -DUSE_SYS_TIME
+# -DSYS_TIME_LED=1
+main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+main_coders.srcs += $(SRC_ARCH)/uart_hw.c
+main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
+main_coders.srcs += downlink.c pprz_transport.c
+
+main_coders.CFLAGS += -DUSE_I2C2
+
 
 #
 # main Overo