diff --git a/conf/autopilot/baloo.makefile b/conf/autopilot/baloo.makefile
new file mode 100644
index 0000000000..d5eec15fac
--- /dev/null
+++ b/conf/autopilot/baloo.makefile
@@ -0,0 +1,209 @@
+#
+# $Id$
+#  
+# Copyright (C) 2010 The Paparazzi Team
+#
+# 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. 
+#
+#
+
+CFG_BALOO=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/baloo
+
+SRC_BOOZ=booz
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+SRC_BOOZ_TEST=$(SRC_BOOZ)/test
+
+SRC_BOOZ_PRIV=booz_priv
+
+CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+
+BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
+
+
+ap.ARCHDIR = $(ARCHI)
+# this is supposedly ignored by the stm32 makefile
+ap.ARCH = arm7tdmi
+ap.TARGET = ap
+ap.TARGETDIR = ap
+
+
+ap.CFLAGS += $(BOOZ_INC)
+ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
+ap.srcs    = $(SRC_BOOZ)/booz2_main.c
+
+ifeq ($(ARCHI), stm32) 
+ap.srcs += lisa/plug_sys.c
+endif
+#
+# Interrupts
+#
+ifeq ($(ARCHI), arm7)
+ap.srcs += $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCHI), stm32) 
+ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
+ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
+endif
+
+#
+# LEDs
+#
+ap.CFLAGS += -DUSE_LED
+ifeq ($(ARCHI), stm32) 
+ap.srcs += $(SRC_ARCH)/led_hw.c
+endif
+
+#
+# Systime
+#
+ap.CFLAGS += -DUSE_SYS_TIME
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DSYS_TIME_LED=1
+endif
+
+#
+# Telemetry/Datalink
+#
+ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
+ap.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
+	   downlink.c \
+           pprz_transport.c
+ap.CFLAGS += -DDATALINK=PPRZ
+ap.srcs += $(SRC_BOOZ)/booz2_datalink.c
+
+ifeq ($(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 += $(SRC_BOOZ)/booz2_commands.c
+
+#
+# Radio control choice
+#
+# include booz2_radio_control_ppm.makefile
+# or
+# include booz2_radio_control_spektrum.makefile
+#
+
+#
+# Actuator choice
+#
+# include booz2_actuators_buss.makefile
+# or
+# include booz2_actuators_asctec.makefile
+#
+
+#
+# IMU choice
+#
+# include booz2_imu_b2v1.makefile
+# or
+# include booz2_imu_b2v1_1.makefile
+# or
+# include booz2_imu_crista.makefile
+#
+
+
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+ap.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
+
+ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+ap.srcs += $(SRC_BOOZ)/booz2_battery.c
+
+ap.CFLAGS += -DADC0_VIC_SLOT=2
+ap.CFLAGS += -DADC1_VIC_SLOT=3
+ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
+           $(SRC_BOOZ_ARCH)/booz2_analog_hw.c
+else ifeq ($(ARCHI), stm32) 
+ap.srcs += lisa/lisa_analog_plug.c
+endif
+
+
+#
+# GPS choice
+# 
+# include booz2_gps.makefile
+# or
+# nothing
+#
+
+
+#
+# AHRS choice
+#
+# include booz2_ahrs_cmpl.makefile
+# or
+# include booz2_ahrs_lkf.makefile
+#
+
+ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
+
+ap.srcs += math/pprz_trig_int.c
+ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
+ap.srcs += $(SRC_BOOZ)/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_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
+ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
+
+ap.CFLAGS += -DUSE_NAVIGATION
+ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
+ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
+
+ap.srcs += $(SRC_BOOZ)/booz2_ins.c
+ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c
+
+#
+# INS choice
+#
+# include booz2_ins_hff.makefile
+# or
+# nothing
+#
+
+#  vertical filter float version
+ap.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
+ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
+
+ap.srcs += $(SRC_BOOZ)/booz2_navigation.c
+
+
+#
+# FMS  choice
+#
+# include booz2_fms_test_signal.makefile
+# or
+# include booz2_fms_datalink.makefile
+# or 
+# nothing
+#
+
+