diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index ffbf7c20fa..e72437169f 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -28,7 +28,7 @@
       <dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="pgain psi"/>
       <dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="dgain r"/>
       <dl_setting var="booz_stabilization_igain.z" min="-300"  step="1" max="0"    module="stabilization/booz_stabilization_attitude" shortname="igain psi"/>
-      <dl_setting var="booz_stabilization_ddgain.z" min="0"    step="1" max="500"  module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
+      <dl_setting var="booz_stabilization_ddgain.z" min="0"    step="1" max="1000"  module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
     </dl_settings>
 
     <dl_settings NAME="Vert Loop">
diff --git a/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml b/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
index 4cc07373c8..49839a6054 100644
--- a/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
+++ b/conf/simulator/jsbsim/aircraft/BOOZ2_A1.xml
@@ -236,7 +236,7 @@
       <z>0</z>
      </location>
      <direction>
-      <x>-1</x>
+      <x>1</x>
       <y>0</y>
       <z>0</z>
      </direction>
@@ -255,7 +255,7 @@
       <z>0</z>
      </location>
      <direction>
-      <x>1</x>
+      <x>-1</x>
       <y>0</y>
       <z>0</z>
      </direction>
@@ -276,7 +276,7 @@
       <z>0</z>
      </location>
      <direction>
-      <x>-1</x>
+      <x>1</x>
       <y>0</y>
       <z>0</z>
      </direction>
@@ -295,7 +295,7 @@
       <z>0</z>
      </location>
      <direction>
-      <x>1</x>
+      <x>-1</x>
       <y>0</y>
       <z>0</z>
      </direction>
@@ -317,7 +317,7 @@
      </location>
      <direction>
       <x>0</x>
-      <y>-1</y>
+      <y>1</y>
       <z>0</z>
      </direction>
     </force>
@@ -336,7 +336,7 @@
      </location>
      <direction>
       <x>0</x>
-      <y>1</y>
+      <y>-1</y>
       <z>0</z>
      </direction>
     </force>
@@ -357,7 +357,7 @@
      </location>
      <direction>
       <x>0</x>
-      <y>-1</y>
+      <y>1</y>
       <z>0</z>
      </direction>
     </force>
@@ -376,7 +376,7 @@
      </location>
      <direction>
       <x>0</x>
-      <y>1</y>
+      <y>-1</y>
       <z>0</z>
      </direction>
     </force>
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
index 2a542fc83d..d15b3c59d5 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
@@ -33,7 +33,7 @@
 #define RC_UPDATE_FREQ 40.
 #define ROLL_COEF  (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI   / MAX_PPRZ)
 #define PITCH_COEF ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
-#define YAW_COEF   (- BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R    / MAX_PPRZ / RC_UPDATE_FREQ)
+#define YAW_COEF   (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R     / MAX_PPRZ / RC_UPDATE_FREQ)
 
 #define YAW_DEADBAND_EXCEEDED()						\
   (radio_control.values[RADIO_CONTROL_YAW] >  BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R || \
@@ -54,8 +54,8 @@
     }									\
 									\
     struct FloatRMat   sp_rmat;						\
-    /*    FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp); */			\
-    FLOAT_RMAT_OF_EULERS_321(sp_rmat, _sp);				\
+    FLOAT_RMAT_OF_EULERS_312(sp_rmat, _sp);				\
+    /* FLOAT_RMAT_OF_EULERS_321(sp_rmat, _sp);*/			\
     FLOAT_QUAT_OF_RMAT(booz_stab_att_sp_quat, sp_rmat);			\
     /*FLOAT_EULERS_OF_QUAT(sp_euler321, sp_quat);*/			\
   }
diff --git a/sw/simulator/nps_autopilot_booz.c b/sw/simulator/nps_autopilot_booz.c
index 44a36d3fea..6a7dba2f0b 100644
--- a/sw/simulator/nps_autopilot_booz.c
+++ b/sw/simulator/nps_autopilot_booz.c
@@ -56,9 +56,9 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
   booz2_main_periodic();
 
   /* 25 */
-  if (time < 5) {
-    double hover = 0.25;
-    //double hover = 0.2493;
+  if (time < 8) {
+    //    double hover = 0.25;
+    double hover = 0.2493;
     //   double hover = 0.23;
     //  double hover = 0.;
     //  if (time > 20) hover = 0.25;
@@ -66,7 +66,6 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
     double pitch = 0.000;
     double roll  = 0.0000;
 
-
     autopilot.commands[SERVO_FRONT] = hover + yaw + pitch;
     autopilot.commands[SERVO_BACK]  = hover + yaw - pitch;
     autopilot.commands[SERVO_RIGHT] = hover - yaw - roll ;
diff --git a/sw/simulator/nps_radio_control.c b/sw/simulator/nps_radio_control.c
index 4d5fc82716..5170b5ee61 100644
--- a/sw/simulator/nps_radio_control.c
+++ b/sw/simulator/nps_radio_control.c
@@ -8,36 +8,65 @@ void nps_radio_control_init(void) {
   nps_radio_control.next_update = 0.;
 }
 
+static void radio_control_script_step_roll(double time);
+static void radio_control_script_ff(double time);
+
 #define MODE_SWITCH_MANUAL -1.0
 #define MODE_SWITCH_AUTO1   0.0
 #define MODE_SWITCH_AUTO2   1.0
 
-void nps_radio_control_run_script(double time) {
+#define RADIO_CONTROL_TAKEOFF_TIME 8
+
+void radio_control_script_takeoff(double time) {
+  
   nps_radio_control.roll = 0.;
   nps_radio_control.pitch = 0.;
+  nps_radio_control.yaw = 0.;
+  nps_radio_control.throttle = 0.;
+  nps_radio_control.mode = MODE_SWITCH_MANUAL;
   /* starts motors */
-  if (time < 1.) {
+  if (time < 1.)
     nps_radio_control.yaw = 1.;
-    nps_radio_control.throttle = 0.;
-    nps_radio_control.mode = MODE_SWITCH_MANUAL;
-  }
-  else if (time < 3.5) {
+  else
     nps_radio_control.yaw = 0.;
-    nps_radio_control.throttle = 0.;
-    nps_radio_control.mode = MODE_SWITCH_MANUAL;
+
+}
+
+void radio_control_script_step_roll(double time) {
+  nps_radio_control.throttle = 0.99;
+  nps_radio_control.mode = MODE_SWITCH_AUTO2;
+  
+  if (((int32_t)rint((time*0.5)))%2) {
+    nps_radio_control.roll = 0.2;
+    nps_radio_control.yaw = 0.5;
+  }
+  else
+    nps_radio_control.roll = RadOfDeg(10);
+}
+
+void radio_control_script_ff(double time __attribute__ ((unused))) {
+  nps_radio_control.throttle = 0.99;
+  nps_radio_control.mode = MODE_SWITCH_AUTO2;
+  if (time < RADIO_CONTROL_TAKEOFF_TIME+3)
+    nps_radio_control.pitch = -1.;
+  else if (time < RADIO_CONTROL_TAKEOFF_TIME+6) {
+    //    nps_radio_control.roll = 0.5;
+    nps_radio_control.pitch = -1.;
   }
   else {
-    nps_radio_control.yaw = 0.;
-    nps_radio_control.throttle = 0.99;
-    nps_radio_control.mode = MODE_SWITCH_AUTO2;
-    //    nps_radio_control.throttle = 0.265;
-    //    nps_radio_control.mode = MODE_SWITCH_MANUAL;
+    nps_radio_control.pitch = 0.;
+    nps_radio_control.roll = 0.;
+  }
+}
 
-    if (((int32_t)rint((time*0.5)))%2)
-      nps_radio_control.roll = 0.15;
-    else
-      nps_radio_control.roll = -0.15;
 
+
+void nps_radio_control_run_script(double time) {
+  if (time < RADIO_CONTROL_TAKEOFF_TIME)
+    radio_control_script_takeoff(time);
+  else {
+    //    radio_control_script_step_roll(time);
+    radio_control_script_ff(time);
   }
 }