diff --git a/conf/airframes/booz2_a1_s.xml b/conf/airframes/booz2_a1_s.xml
new file mode 100644
index 0000000000..d0fb9868a6
--- /dev/null
+++ b/conf/airframes/booz2_a1_s.xml
@@ -0,0 +1,156 @@
+<airframe name="BOOZ2_a1">
+
+  <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>
+
+  <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="FRONT_ROTOR_CW" value="1"/>
+    <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_">
+
+    <define name="GYRO_X_CHAN" value="1"/>
+    <define name="GYRO_Y_CHAN" value="0"/>
+    <define name="GYRO_Z_CHAN" value="2"/>
+
+    <define name="GYRO_X_NEUTRAL" value="33924"/>
+    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+
+    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_Z_SENS" value="-1.01" 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_SENS" value="-2.50411474" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+
+    <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_NEUTRAL" value="2358"/>
+    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+    <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+<!--    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
+    <define name="MAG_Y_SENS" value="5.10207664" integer="16"/> * sqrt(2)/2 -->
+    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+    <define name="MAG_45_HACK" value="1"/> 
+
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <define name="SP_MAX_PHI"     value="3000"/>
+    <define name="SP_MAX_THETA"   value="3000"/>
+    <define name="SP_MAX_R"       value="5500"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <define name="PHI_THETA_PGAIN"  value="-400"/>
+    <define name="PHI_THETA_DGAIN"  value="-300"/>
+    <define name="PHI_THETA_DDGAIN" value=" 300"/>
+    <define name="PHI_THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_DDGAIN" value=" 300"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+  </section>
+
+  <section name="FILTER" prefix="FILTER_">
+   <define name="ALIGNMENT_DPHI"   value="BOOZ_ANGLE_I_OF_F(RadOfDeg(0.))"/>
+   <define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(0.))"/>
+   <define name="ALIGNMENT_DPSI"   value="BOOZ_ANGLE_I_OF_F(RadOfDeg(0.))"/>
+  </section>
+
+
+  <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+   <define name="HOVER_POWER" value="81"/>
+   <define name="HOVER_KP"    value="-200"/>
+   <define name="HOVER_KD"    value="-100"/>
+   <define name="HOVER_KI"    value="-50"/>
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" 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="0.25" integer="16"/>
+ <!--   <define name="BATTERY_SENS"   value="0.46" integer="16"/> -->
+   <define name="BATTERY_OFFSET" value="0"/>
+ </section>
+
+ <section name="FMS">
+   <define name="BOOZ_FMS_PHI_THETA_MAX" value="183040"/>
+ </section>
+
+
+  <makefile>
+# prevents motors from ever starting
+#ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
+
+
+
+  </makefile>
+
+</airframe>