diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 8cff1e6a05..be504de01f 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -1,262 +1,262 @@
 <airframe name="BOOZ2_F1">
 
-    <modules main_freq="512">
-        <load name="booz_drop.xml"/>
-        <load name="sys_mon.xml"/>
-        <!--load name="booz_cam.xml"/-->
-        <!--load name="sonar_maxbotix_booz.xml"/-->
-    </modules>
+  <modules main_freq="512">
+    <load name="booz_drop.xml"/>
+    <load name="sys_mon.xml"/>
+    <!--load name="booz_cam.xml"/-->
+    <!--load name="sonar_maxbotix_booz.xml"/-->
+  </modules>
 
-    <servos min="0" neutral="0" max="0xff">
-        <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
-        <servo name="BACK" no="1" min="0" neutral="0" max="255" />
-        <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
-        <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
-    </servos>
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
+    <servo name="BACK" no="1" min="0" neutral="0" max="255" />
+    <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
+    <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
+  </servos>
 
-    <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>
+  <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="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-        <define name="NB" value="4" />
-        <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
-    </section>
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4" />
+    <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
+  </section>
 
-    <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" />
-      <define name="NB_MOTOR" value="4" />
-      <define name="SCALE" value="256"/>
-      <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
-      <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
-      <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
-      <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-    </section>
+  <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" />
+    <define name="NB_MOTOR" value="4" />
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
+    <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
+    <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+  </section>
 
-    <section name="IMU" prefix="IMU_">
-      <define name="GYRO_P_CHAN" value="1" />
-      <define name="GYRO_Q_CHAN" value="0" />
-      <define name="GYRO_R_CHAN" value="2" />
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_CHAN" value="1" />
+    <define name="GYRO_Q_CHAN" value="0" />
+    <define name="GYRO_R_CHAN" value="2" />
 
-      <define name="GYRO_P_NEUTRAL" value="32362" />
-      <define name="GYRO_Q_NEUTRAL" value="32080" />
-      <define name="GYRO_R_NEUTRAL" value="32096" />
+    <define name="GYRO_P_NEUTRAL" value="32362" />
+    <define name="GYRO_Q_NEUTRAL" value="32080" />
+    <define name="GYRO_R_NEUTRAL" value="32096" />
 
-      <define name="GYRO_P_SENS" value="1.1032765" integer="16" />
-      <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
-      <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
+    <define name="GYRO_P_SENS" value="1.1032765" integer="16" />
+    <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
+    <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
 
-      <define name="ACCEL_X_CHAN" value="3" />
-      <define name="ACCEL_Y_CHAN" value="5" />
-      <define name="ACCEL_Z_CHAN" value="6" />
+    <define name="ACCEL_X_CHAN" value="3" />
+    <define name="ACCEL_Y_CHAN" value="5" />
+    <define name="ACCEL_Z_CHAN" value="6" />
 
-      <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
-      <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
-      <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
+    <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
 
-      <define name="ACCEL_X_NEUTRAL" value="31886"/>
-      <define name="ACCEL_Y_NEUTRAL" value="32162"/>
-      <define name="ACCEL_Z_NEUTRAL" value="32941"/>
+    <define name="ACCEL_X_NEUTRAL" value="31886"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32162"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32941"/>
 
-      <define name="MAG_X_CHAN" value="4" />
-      <define name="MAG_Y_CHAN" value="0" />
-      <define name="MAG_Z_CHAN" value="2" />
+    <define name="MAG_X_CHAN" value="4" />
+    <define name="MAG_Y_CHAN" value="0" />
+    <define name="MAG_Z_CHAN" value="2" />
 
-      <define name="MAG_45_HACK" value="1" />
-      <!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
-      <!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
-      <define name="MAG_X_SENS" value="3.640340173" integer="16"/>
-      <define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
-      <define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
+    <define name="MAG_45_HACK" value="1" />
+    <!--define name="MAG_X_SENS" value="5.14821844457 * sqrt(2)/2" integer="16"/-->
+    <!--define name="MAG_Y_SENS" value="5.11810156597 * sqrt(2)/2" integer="16"/-->
+    <define name="MAG_X_SENS" value="3.640340173" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.619044324" integer="16"/>
+    <define name="MAG_Z_SENS" value="5.07618333556" integer="16"/>
 
-      <define name="MAG_X_SIGN" value="-1" />
-      <define name="MAG_Y_SIGN" value=" 1" />
-      <define name="MAG_Z_SIGN" value="-1" />
+    <define name="MAG_X_SIGN" value="-1" />
+    <define name="MAG_Y_SIGN" value=" 1" />
+    <define name="MAG_Z_SIGN" value="-1" />
 
-      <define name="MAG_X_NEUTRAL" value="2059"/>
-      <define name="MAG_Y_NEUTRAL" value="1944"/>
-      <define name="MAG_Z_NEUTRAL" value="2099"/>
+    <define name="MAG_X_NEUTRAL" value="2059"/>
+    <define name="MAG_Y_NEUTRAL" value="1944"/>
+    <define name="MAG_Z_NEUTRAL" value="2099"/>
 
-      <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
-      <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
-      <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
-    </section>
+    <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
+    <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
+  </section>
 
 
-    <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
-      <!-- setpoints -->
-      <define name="SP_MAX_P" value="10000" />
-      <define name="SP_MAX_Q" value="10000" />
-      <define name="SP_MAX_R" value="10000" />
-      <define name="DEADBAND_P" value="0" />
-      <define name="DEADBAND_Q" value="0" />
-      <define name="DEADBAND_R" value="200" />
-      <define name="REF_TAU" value="4" />
+  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000" />
+    <define name="SP_MAX_Q" value="10000" />
+    <define name="SP_MAX_R" value="10000" />
+    <define name="DEADBAND_P" value="0" />
+    <define name="DEADBAND_Q" value="0" />
+    <define name="DEADBAND_R" value="200" />
+    <define name="REF_TAU" value="4" />
 
-      <!-- feedback -->
-      <define name="GAIN_P" value="-400" />
-      <define name="GAIN_Q" value="-400" />
-      <define name="GAIN_R" value="-350" />
+    <!-- feedback -->
+    <define name="GAIN_P" value="-400" />
+    <define name="GAIN_Q" value="-400" />
+    <define name="GAIN_R" value="-350" />
 
-      <define name="IGAIN_P" value="-75" />
-      <define name="IGAIN_Q" value="-75" />
-      <define name="IGAIN_R" value="-50" />
+    <define name="IGAIN_P" value="-75" />
+    <define name="IGAIN_Q" value="-75" />
+    <define name="IGAIN_R" value="-50" />
 
-      <!-- feedforward -->
-      <define name="DDGAIN_P" value="300" />
-      <define name="DDGAIN_Q" value="300" />
-      <define name="DDGAIN_R" value="300" />
-    </section>
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300" />
+    <define name="DDGAIN_Q" value="300" />
+    <define name="DDGAIN_R" value="300" />
+  </section>
 
 
-    <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
-        <!-- setpoints -->
-        <define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
-        <define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
-        <define name="SP_MAX_R" value="RadOfDeg(90.)" />
-        <define name="DEADBAND_R" value="250" />
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI" value="RadOfDeg(45.)" />
+    <define name="SP_MAX_THETA" value="RadOfDeg(45.)" />
+    <define name="SP_MAX_R" value="RadOfDeg(90.)" />
+    <define name="DEADBAND_R" value="250" />
 
-        <!-- reference -->
-        <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
-        <define name="REF_ZETA_P" value="0.9" />
-        <define name="REF_MAX_P" value="RadOfDeg(300.)" />
-        <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
+    <!-- reference -->
+    <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
+    <define name="REF_ZETA_P" value="0.9" />
+    <define name="REF_MAX_P" value="RadOfDeg(300.)" />
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
 
-        <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
-        <define name="REF_ZETA_Q" value="0.9" />
-        <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
-        <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
+    <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
+    <define name="REF_ZETA_Q" value="0.9" />
+    <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
 
-        <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
-        <define name="REF_ZETA_R" value="0.9" />
-        <define name="REF_MAX_R" value="RadOfDeg(180.)" />
-        <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
+    <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
+    <define name="REF_ZETA_R" value="0.9" />
+    <define name="REF_MAX_R" value="RadOfDeg(180.)" />
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
 
-        <!-- feedback -->
-        <define name="PHI_PGAIN" value="-1000" />
-        <define name="PHI_DGAIN" value="-300" />
-        <define name="PHI_IGAIN" value="-100" />
+    <!-- feedback -->
+    <define name="PHI_PGAIN" value="-1000" />
+    <define name="PHI_DGAIN" value="-300" />
+    <define name="PHI_IGAIN" value="-100" />
 
-        <define name="THETA_PGAIN" value="-1000" />
-        <define name="THETA_DGAIN" value="-300" />
-        <define name="THETA_IGAIN" value="-100" />
+    <define name="THETA_PGAIN" value="-1000" />
+    <define name="THETA_DGAIN" value="-300" />
+    <define name="THETA_IGAIN" value="-100" />
 
-        <define name="PSI_PGAIN" value="-500" />
-        <define name="PSI_DGAIN" value="-320" />
-        <define name="PSI_IGAIN" value="-75" />
+    <define name="PSI_PGAIN" value="-500" />
+    <define name="PSI_DGAIN" value="-320" />
+    <define name="PSI_IGAIN" value="-75" />
 
-        <!-- feedforward -->
-        <define name="PHI_DDGAIN" value=" 300" />
-        <define name="THETA_DDGAIN" value=" 300" />
-        <define name="PSI_DDGAIN" value=" 300" />
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN" value=" 300" />
+    <define name="THETA_DDGAIN" value=" 300" />
+    <define name="PSI_DDGAIN" value=" 300" />
 
-    </section>
+  </section>
 
-    <section name="INS" prefix="BOOZ_INS_">
-        <define name="BARO_SENS" value="15." integer="16" />
-    </section>
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="15." integer="16" />
+  </section>
 
-    <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-        <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
-        <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
-        <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
-        <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
-        <define name="MAX_SUM_ERR" value="2000000"/>
-        <define name="HOVER_KP" value="-100"/>
-        <define name="HOVER_KD" value="-60"/>
-        <define name="HOVER_KI" value="-10"/>
-        <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
-        <define name="RC_CLIMB_COEF" value="163" />
-        <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
-        <define name="RC_CLIMB_DEAD_BAND" value="160000" />
-    </section>
+  <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+    <define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)" />
+    <define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
+    <define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
+    <define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP" value="-100"/>
+    <define name="HOVER_KD" value="-60"/>
+    <define name="HOVER_KI" value="-10"/>
+    <!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value="163" />
+    <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value="160000" />
+  </section>
 
 
-    <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
-        <define name="PGAIN" value="-70"/>
-        <define name="DGAIN" value="-150"/>
-        <define name="IGAIN" value="-15"/>
-    </section>
+  <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+    <define name="PGAIN" value="-70"/>
+    <define name="DGAIN" value="-150"/>
+    <define name="IGAIN" value="-15"/>
+  </section>
 
-    <section name="BAT">
-        <define name="MILLIAMP_PER_PERCENT" value="0.86" />
-        <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
-        <define name="BATTERY_SENS" value="0.246" integer="16" />
-        <define name="BATTERY_OFFSET" value="0" />
-    </section>
+  <section name="BAT">
+    <define name="MILLIAMP_PER_PERCENT" value="0.86" />
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
+    <define name="BATTERY_SENS" value="0.246" integer="16" />
+    <define name="BATTERY_OFFSET" value="0" />
+  </section>
 
-    <section name="MISC">
-        <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
-        <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
-    </section>
+  <section name="MISC">
+    <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
+  </section>
 
-    <section name="FMS">
-    </section>
+  <section name="FMS">
+  </section>
 
-    <section name="SIMULATOR" prefix="NPS_">
-        <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
-        <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
-        <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
-    </section>
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
+  </section>
 
-    <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
-        <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
-        <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-        <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-    </section>
+  <section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
+    <define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
+    <define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+    <define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+  </section>
 
-    <makefile>
-        ARCH=lpc21
-        ARCHI=arm7
-        BOARD_CFG = \"boards/booz2_v1_0.h\"
-        FLASH_MODE = IAP
 
-        # prevents motors from ever starting
-        #ap.CFLAGS += -DKILL_MOTORS
-        #ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+  <makefile target="opening">
+    # prevents motors from ever starting
+    #ap.CFLAGS += -DKILL_MOTORS
+    #ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
+  </makefile>
 
-        include	$(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-        include	$(CFG_BOOZ)/booz2_autopilot.makefile
-        include	$(CFG_BOOZ)/booz2_test_progs.makefile
 
-        include	$(CFG_BOOZ)/booz2_simulator_nps.makefile
+  <firmware name="baloo">
+    <target name="ap" board="booz">
+      <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"/>
+      <define name="USE_GPS_ACC4R" value="1"/>
+      <define name="USE_MODULES" value="1"/>
+      <define name="B2_GUIDANCE_H_USE_REF" value="1"/>
+      <define name="USE_INS_NAV_INIT" value="1"/>
+    </target>
+    <target name="sim" board="pc">
+      <define name="USE_ADAPT_HOVER" value="1"/>
+      <define name="B2_GUIDANCE_H_USE_REF" value="1"/>
+      <define name="USE_INS_NAV_INIT" value="1"/>
+    </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="imu"           type="b2v1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
 
-        ap.CFLAGS += -DMODEM_BAUD=B57600
-        include	$(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-        include	$(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-        include	$(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-        include	$(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
 
-        include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-        include $(CFG_BOOZ)/subsystems/booz2_fms_datalink.makefile
+  <makefile target="closure" location="after">
+    CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
+    # FIXME: make fms a module
+    include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 
-        include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
-        #set GPS lag for horizontal filter
-        ap.CFLAGS += -DUSE_GPS_ACC4R
-        #ap.CFLAGS += -DGPS_LAG=0.3
+    include $(CFG_BOOZ)/booz2_test_progs.makefile
+    include $(CFG_BOOZ)/booz2_simulator_nps.makefile
 
-        ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
-        sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
-
-        ap.CFLAGS += -DUSE_MODULES
-        sim.CFLAGS += -DUSE_MODULES
-
-        ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
-        sim.CFLAGS += -DB2_GUIDANCE_H_USE_REF
-
-        #ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
-        ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
-        #ap.CFLAGS += -DBOOZ_START_DELAY=2
-        sim.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT
+    ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
+    sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
 
+    #ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
   </makefile>
 
 </airframe>
diff --git a/conf/autopilot/subsystems/baloo/ins_hff.makefile b/conf/autopilot/subsystems/baloo/ins_hff.makefile
new file mode 100644
index 0000000000..8c3b1b6073
--- /dev/null
+++ b/conf/autopilot/subsystems/baloo/ins_hff.makefile
@@ -0,0 +1,9 @@
+#
+# simple horizontal filter for INS
+#
+
+ap.CFLAGS += -DUSE_HFF
+ap.srcs += $(SRC_BOOZ)/ins/booz2_hf_float.c
+
+sim.CFLAGS += -DUSE_HFF
+sim.srcs += $(SRC_BOOZ)/ins/booz2_hf_float.c
diff --git a/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile b/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile
new file mode 100644
index 0000000000..c427d880c9
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile
@@ -0,0 +1,12 @@
+# additional pitch stabilization with gyro
+#
+# this assumes you are already using a roll gyro
+#
+# default values for tiny and twog are:
+# ADC_GYRO_PITCH    = ADC_4
+#
+# to change just redefine these before including this file
+#
+
+ap.CFLAGS += -DADC_CHANNEL_GYRO_PITCH=$(ADC_GYRO_PITCH) -DUSE_$(ADC_GYRO_PITCH)
+
diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile
index bf60e76fbd..3a9752d04f 100644
--- a/conf/boards/tiny_2.11.makefile
+++ b/conf/boards/tiny_2.11.makefile
@@ -29,11 +29,12 @@ GPS_BAUD	= 38400
 MODEM_UART_NR	= 1
 MODEM_BAUD 	= 57600
 
+ADC_IR_TOP = ADC_0
 ADC_IR1 = ADC_1
 ADC_IR2 = ADC_2
-ADC_IR_TOP = ADC_0
 ADC_IR_NB_SAMPLES = 16
 ADC_GYRO_ROLL = ADC_3
+ADC_GYRO_PITCH = ADC_4
 ADC_GYRO_NB_SAMPLES = 16