diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index ebf121e56c..d3a8188afd 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -10,6 +10,7 @@ SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
 SRC_LISA=lisa
 SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
 SRC_CSC=csc
+SRC_BOARD=boards/$(BOARD)
 
 CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
 
@@ -17,7 +18,7 @@ CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrou
 stm_passthrough.ARCHDIR = stm32
 stm_passthrough.TARGET = stm_passthrough
 stm_passthrough.TARGETDIR = stm_passthrough
-stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
+stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
 stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
 stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
@@ -85,7 +86,7 @@ stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
 stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
 
 # Baro
-stm_passthrough.srcs += $(SRC_LISA)/lisa_baro.c
+stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c
 stm_passthrough.CFLAGS += -DUSE_I2C2
 stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
diff --git a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile b/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
index e7029011b5..f0270e9f0d 100644
--- a/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
+++ b/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
@@ -1,5 +1,7 @@
+#
+# Makefile for radio_control susbsytem in rotorcraft firmware
+#
 
-# Radio control
 
 ifndef RADIO_CONTROL_SPEKTRUM_MODEL
 RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\"
@@ -8,10 +10,10 @@ endif
 stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
 stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
 stm_passthrough.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
-stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-                        $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
-stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
-stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=5
-stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
+stm_passthrough.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK) -D$(RADIO_CONTROL_LINK)_BAUD=B115200
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c                        \
+                        $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+                        $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
 
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index f70d30e3e5..923c1a4967 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -36,7 +36,7 @@
 #include "csc_msg_def.h"
 #include "csc_protocol.h"
 
-#include "lisa/lisa_baro.h"
+#include "rotorcraft/baro.h"
 
 
 static inline void main_init(void);
@@ -62,102 +62,103 @@ struct CscVaneMsg csc_vane_msg;
 
 int main(void) {
 
-	main_init();
+  main_init();
 
-	while (1) {
-		if (sys_time_periodic())
-			main_periodic();
-		main_event();
-	}
-
-	return 0;
+  while (1) {
+    if (sys_time_periodic())
+      main_periodic();
+    main_event();
+  }
+  
+  return 0;
 }
 
 static inline void main_init(void) {
 
-	hw_init();
-	sys_time_init();
-	booz_imu_init();
-	baro_init();
-	radio_control_init();
-	booz_actuators_init();
-	overo_link_init();
-	cscp_init();
-//	csc_bat_monitor_init(); 
+  hw_init();
+  sys_time_init();
+  booz_imu_init();
+  baro_init();
+  radio_control_init();
+  booz_actuators_init();
+  overo_link_init();
+  cscp_init();
+  //	csc_bat_monitor_init(); 
+  
+  cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
+  new_radio_msg = FALSE;
 
-	cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
-	new_radio_msg = FALSE;
 }
 
 static inline void main_periodic(void) {
 
-	booz_imu_periodic();
-	OveroLinkPeriodic(on_overo_link_lost);
-//	csc_bat_monitor_periodic(); 
+  booz_imu_periodic();
+  OveroLinkPeriodic(on_overo_link_lost);
+  //	csc_bat_monitor_periodic(); 
 
-	RunOnceEvery(10, {
-			LED_PERIODIC(); 
-			DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
-			radio_control_periodic();
-	});
+  RunOnceEvery(10, {
+      LED_PERIODIC(); 
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+      radio_control_periodic();
+    });
 
   RunOnceEvery(2, {baro_periodic();});
 
 }
 
 static inline void on_rc_message(void) {
-	new_radio_msg = TRUE;
+  new_radio_msg = TRUE;
 }
 
 static inline void on_overo_link_msg_received(void) {
 
-	/* IMU up */ 
-	overo_link.up.msg.valid.imu = 1;
-	RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
-	VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
-	VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
-	
-	/* RC up */
-	overo_link.up.msg.valid.rc  = new_radio_msg;
-	new_radio_msg = FALSE;
-
-	overo_link.up.msg.rc_pitch  = radio_control.values[RADIO_CONTROL_PITCH];
-	overo_link.up.msg.rc_roll   = radio_control.values[RADIO_CONTROL_ROLL];
-	overo_link.up.msg.rc_yaw    = radio_control.values[RADIO_CONTROL_YAW];
-	overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
-	overo_link.up.msg.rc_mode   = radio_control.values[RADIO_CONTROL_MODE];
+  /* IMU up */ 
+  overo_link.up.msg.valid.imu = 1;
+  RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
+  VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
+  VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
+  
+  /* RC up */
+  overo_link.up.msg.valid.rc  = new_radio_msg;
+  new_radio_msg = FALSE;
+  
+  overo_link.up.msg.rc_pitch  = radio_control.values[RADIO_CONTROL_PITCH];
+  overo_link.up.msg.rc_roll   = radio_control.values[RADIO_CONTROL_ROLL];
+  overo_link.up.msg.rc_yaw    = radio_control.values[RADIO_CONTROL_YAW];
+  overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
+  overo_link.up.msg.rc_mode   = radio_control.values[RADIO_CONTROL_MODE];
 #ifdef RADIO_CONTROL_KILL
-	overo_link.up.msg.rc_kill   = radio_control.values[RADIO_CONTROL_KILL];
+  overo_link.up.msg.rc_kill   = radio_control.values[RADIO_CONTROL_KILL];
 #endif
 #ifdef RADIO_CONTROL_GEAR
-	overo_link.up.msg.rc_gear   = radio_control.values[RADIO_CONTROL_GEAR];
+  overo_link.up.msg.rc_gear   = radio_control.values[RADIO_CONTROL_GEAR];
 #endif
-	overo_link.up.msg.rc_aux3   = radio_control.values[RADIO_CONTROL_AUX3];
-	overo_link.up.msg.rc_aux4   = radio_control.values[RADIO_CONTROL_AUX4];
-	overo_link.up.msg.rc_status = radio_control.status;
-	
-	overo_link.up.msg.stm_msg_cnt     = overo_link.msg_cnt;
-	overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
-
-	/* baro up */
-	overo_link.up.msg.valid.pressure_differential = new_baro_diff;
-	overo_link.up.msg.valid.pressure_absolute     = new_baro_abs;
-	new_baro_diff = FALSE;
-	new_baro_abs  = FALSE;
-	overo_link.up.msg.pressure_differential = baro.diff_raw;
-	overo_link.up.msg.pressure_absolute     = baro.abs_raw;
-	
-	overo_link.up.msg.valid.vane =  new_vane;
-	new_vane = FALSE;
-	overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
-	overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
-
-	/* pwm acuators down */
-	for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { 
-		booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
-	}
-	booz_actuators_pwm_commit();
-
+  overo_link.up.msg.rc_aux3   = radio_control.values[RADIO_CONTROL_AUX3];
+  overo_link.up.msg.rc_aux4   = radio_control.values[RADIO_CONTROL_AUX4];
+  overo_link.up.msg.rc_status = radio_control.status;
+  
+  overo_link.up.msg.stm_msg_cnt     = overo_link.msg_cnt;
+  overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
+  
+  /* baro up */
+  overo_link.up.msg.valid.pressure_differential = new_baro_diff;
+  overo_link.up.msg.valid.pressure_absolute     = new_baro_abs;
+  new_baro_diff = FALSE;
+  new_baro_abs  = FALSE;
+  overo_link.up.msg.pressure_differential = baro.differential;
+  overo_link.up.msg.pressure_absolute     = baro.absolute;
+  
+  overo_link.up.msg.valid.vane =  new_vane;
+  new_vane = FALSE;
+  overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
+  overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
+  
+  /* pwm acuators down */
+  for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { 
+    booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
+  }
+  booz_actuators_pwm_commit();
+  
 }
 
 static inline void on_overo_link_lost(void) {
@@ -167,33 +168,33 @@ static inline void on_overo_link_crc_failed(void) {
 }
 
 static inline void on_gyro_accel_event(void) {
-	BoozImuScaleGyro(booz_imu);
-	BoozImuScaleAccel(booz_imu);
+  BoozImuScaleGyro(booz_imu);
+  BoozImuScaleAccel(booz_imu);
 }
 
 static inline void on_mag_event(void) {
-	BoozImuScaleMag(booz_imu);
+  BoozImuScaleMag(booz_imu);
 }
 
 static inline void on_vane_msg(void *data) { 
-	new_vane = TRUE;
-	int zero = 0;
-	DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, 
-				  &(csc_vane_msg.vane_angle1), 
-				  &zero, 
-				  &zero, 
-				  &zero, 
-				  &zero, 
-				  &csc_vane_msg.vane_angle2, 
-				  &zero, 
-				  &zero, 
-				  &zero, 
-				  &zero);
+  new_vane = TRUE;
+  int zero = 0;
+  DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, 
+			    &(csc_vane_msg.vane_angle1), 
+			    &zero, 
+			    &zero, 
+			    &zero, 
+			    &zero, 
+			    &csc_vane_msg.vane_angle2, 
+			    &zero, 
+			    &zero, 
+			    &zero, 
+			    &zero);
 }
 
 static inline void main_on_baro_diff(void) {
   new_baro_diff = TRUE;
-  RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
+  RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);});
 }
 
 static inline void main_on_baro_abs(void) {
@@ -202,11 +203,12 @@ static inline void main_on_baro_abs(void) {
 
 static inline void main_event(void) {
 	
-	BoozImuEvent(on_gyro_accel_event, on_mag_event);
-	BaroEvent(main_on_baro_abs, main_on_baro_diff);
-	OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
-	RadioControlEvent(on_rc_message);
-	cscp_event();
+  BoozImuEvent(on_gyro_accel_event, on_mag_event);
+  BaroEvent(main_on_baro_abs, main_on_baro_diff);
+  OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
+  RadioControlEvent(on_rc_message);
+  cscp_event();
+
 }