diff --git a/conf/autopilot/booz_test_progs.makefile b/conf/autopilot/booz_test_progs.makefile
index 5321d54e70..c63ee698b6 100644
--- a/conf/autopilot/booz_test_progs.makefile
+++ b/conf/autopilot/booz_test_progs.makefile
@@ -17,43 +17,81 @@
 
 ARCHI=arm7
 
-BOARD_CFG=\"boards/booz_1.0.h\"
 SRC_ARCH=$(ARCHI)
 SRC_BOOZ=booz
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/lpc21
+SRC_BOARD=boards/$(BOARD)
 
 BOARD_CFG=\"boards/booz_1.0.h\"
 
 #
 # default configuration expected from board files
 #
-# MODEM_PORT = UART1
-# MODEM_BAUD = B57600
+# SYS_TIME_LED = 1  
+# MODEM_PORT   = UART1
+# MODEM_BAUD   = B57600
 
 
 #
 # test_telemetry : Sends ALIVE telemetry messages
 #
 # used configuration
+#   TIME_LED   :
 #   MODEM_PORT :
 #   MODEM_BAUD :
 #
-test_telemetry.ARCHDIR = $(ARCHI)
-test_telemetry.ARCH = arm7tdmi
-test_telemetry.TARGET = test_telemetry
+test_telemetry.ARCHDIR   = $(ARCHI)
+test_telemetry.ARCH      = arm7tdmi
+test_telemetry.TARGET    = test_telemetry
 test_telemetry.TARGETDIR = test_telemetry
-
-test_telemetry.CFLAGS += -I$(PAPARAZZI_SRC)/conf
 test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_telemetry.CFLAGS += -DPERIPHERALS_AUTO_INIT
-test_telemetry.srcs   += test/test_telemetry.c
+test_telemetry.srcs   += test/test_telemetry.c \
+	                 $(SRC_ARCH)/armVIC.c
 test_telemetry.CFLAGS += -DUSE_LED
-test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIME_LED=1
-test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_telemetry.srcs   += $(SRC_ARCH)/uart_hw.c
-
+test_telemetry.CFLAGS += -DUSE_SYS_TIME
+test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+test_telemetry.CFLAGS += -DSYS_TIME_LED=$(TIME_LED)
+test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
+test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_telemetry.srcs   += downlink.c pprz_transport.c
+test_telemetry.srcs   += $(SRC_ARCH)/uart_hw.c
 
+
+#
+# test_baro : reads barometers and sends values over telemetry
+#
+# configuration
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
+#
+test_baro.ARCHDIR   = $(ARCHI)
+test_baro.ARCH      = arm7tdmi
+test_baro.TARGET    = test_baro
+test_baro.TARGETDIR = test_baro
+test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_ARCH) -I$(SRC_BOARD)
+test_baro.CFLAGS += -DPERIPHERALS_AUTO_INIT
+test_baro.srcs    = $(SRC_BOARD)/test_baro.c      	  \
+                    $(SRC_ARCH)/armVIC.c
+test_baro.CFLAGS += -DUSE_LED
+test_baro.CFLAGS += -DUSE_SYS_TIME
+test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_baro.srcs   += downlink.c pprz_transport.c
+test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_baro.srcs   += $(SRC_ARCH)/uart_hw.c
+test_baro.srcs   += $(SRC_BOARD)/baro_board.c
+test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+test_baro.CFLAGS += -DADC0_VIC_SLOT=2
+test_baro.CFLAGS += -DADC1_VIC_SLOT=3
+test_baro.srcs += $(SRC_BOOZ)/booz2_analog.c \
+                  $(SRC_BOOZ_ARCH)/booz2_analog_hw.c
+# tell me why this shit needs to know battery !!!!
+test_baro.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
\ No newline at end of file
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index 214f9b5743..cd53ece859 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -44,6 +44,8 @@ SRC_LISA=lisa
 SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCHI)
 SRC_BOOZ=booz
 SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
+#SRC_ROTORCRAFT=rotorcraft
+SRC_BOARD=boards/$(BOARD)
 
 BOARD_CFG=\"boards/lisa_l_1.0.h\"
 
@@ -51,8 +53,9 @@ BOARD_CFG=\"boards/lisa_l_1.0.h\"
 #
 # default configuration expected from the board files
 #
-# MODEM_PORT = UART2
-# MODEM_BAUD = B57600
+# SYS_TIME_LED = 1  
+# MODEM_PORT   = UART2
+# MODEM_BAUD   = B57600
 
 
 #
@@ -65,7 +68,7 @@ BOARD_CFG=\"boards/lisa_l_1.0.h\"
 test_telemetry.ARCHDIR = $(ARCHI)
 test_telemetry.TARGET = test_telemetry
 test_telemetry.TARGETDIR = test_telemetry
-test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -I$(PAPARAZZI_SRC)/conf -DPERIPHERALS_AUTO_INIT
+test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
 test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_telemetry.srcs = test/test_telemetry.c            \
                       $(SRC_ARCH)/stm32_exceptions.c   \
@@ -74,7 +77,7 @@ test_telemetry.CFLAGS += -DUSE_LED
 test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
 test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry.CFLAGS += -DSYS_TIME_LED=1
+test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -87,28 +90,29 @@ test_telemetry.srcs   += $(SRC_ARCH)/uart_hw.c
 # test_baro : reads barometers and sends values over telemetry
 #
 # configuration
-#   MODEM_PORT :
-#   MODEM_BAUD :
+#   SYS_TIME_LED
+#   MODEM_PORT
+#   MODEM_BAUD
 #
 test_baro.ARCHDIR   = $(ARCHI)
 test_baro.TARGET    = test_baro
 test_baro.TARGETDIR = test_baro
-test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(PAPARAZZI_SRC)/conf -DPERIPHERALS_AUTO_INIT
+test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
 test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_baro.srcs = $(SRC_LISA)/test_baro2.c      \
+test_baro.srcs = $(SRC_BOARD)/test_baro.c      	  \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c
 test_baro.CFLAGS += -DUSE_LED
 test_baro.srcs   += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME
 test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro.CFLAGS += -DSYS_TIME_LED=1
+test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_baro.srcs   += downlink.c pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_baro.srcs   += $(SRC_ARCH)/uart_hw.c
-test_baro.srcs   += $(SRC_LISA)/lisa_baro.c
+test_baro.srcs   += $(SRC_BOARD)/baro_board.c
 test_baro.CFLAGS += -DUSE_I2C2
 test_baro.srcs   += i2c.c $(SRC_ARCH)/i2c_hw.c
 
@@ -125,7 +129,7 @@ test_baro.srcs   += i2c.c $(SRC_ARCH)/i2c_hw.c
 test_spektrum.ARCHDIR = $(ARCHI)
 test_spektrum.TARGET = test_spektrum
 test_spektrum.TARGETDIR = test_spektrum
-test_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(PAPARAZZI_SRC)/conf -DPERIPHERALS_AUTO_INIT
+test_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
 test_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) 
 test_spektrum.srcs   += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
                         $(SRC_ARCH)/stm32_exceptions.c              \
@@ -135,7 +139,7 @@ test_spektrum.CFLAGS += -DUSE_LED
 test_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
 test_spektrum.CFLAGS += -DUSE_SYS_TIME
 test_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_spektrum.CFLAGS += -DSYS_TIME_LED=1
+test_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_spektrum.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_spektrum.srcs   += $(SRC_ARCH)/uart_hw.c