diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 72db7873d9..ea2001e3cc 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -100,18 +100,18 @@
     <!-- reference -->
     <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="BFP_OF_REAL(5,RATE_REF_RES)"/>
-    <define name="REF_MAX_PDOT" value="BFP_OF_REAL(128,ACCEL_REF_RES)"/>
+    <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="0.85"/>
-    <define name="REF_MAX_Q"    value="BFP_OF_REAL(5,RATE_REF_RES)"/>
-    <define name="REF_MAX_QDOT" value="BFP_OF_REAL(128,ACCEL_REF_RES)"/>
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <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="0.85"/>
-    <define name="REF_MAX_R"    value="BFP_OF_REAL(3,RATE_REF_RES)"/>
-    <define name="REF_MAX_RDOT" value="BFP_OF_REAL(32,ACCEL_REF_RES)"/>
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
     <define name="PHI_PGAIN"  value="-400"/>
@@ -131,8 +131,6 @@
     <define name="THETA_DDGAIN" value=" 300"/>
     <define name="PSI_DDGAIN"   value=" 300"/>
 
-
-
   </section>
 
   <section name="INS" prefix="BOOZ_INS_">
diff --git a/conf/autopilot/booz2_simulator_nps.makefile b/conf/autopilot/booz2_simulator_nps.makefile
index a83b8ad740..b85e5a14db 100644
--- a/conf/autopilot/booz2_simulator_nps.makefile
+++ b/conf/autopilot/booz2_simulator_nps.makefile
@@ -93,8 +93,10 @@ sim.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
 
 sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
 sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
-#sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_H=\"stabilization/booz_stabilization_attitude_euler.h\"
+
+sim.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_H=\"stabilization/booz_stabilization_attitude_euler.h\"
 sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler.c
+
 #sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_quat_float.c
 
 
@@ -103,6 +105,7 @@ sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
 sim.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
 sim.srcs += math/pprz_geodetic_int.c
 sim.srcs += $(SRC_BOOZ)/booz2_ins.c
+
 #  vertical filter float version
 sim.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
 sim.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
diff --git a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_traj_euler.h b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_traj_euler.h
index 9718fcfa85..051163ffd0 100644
--- a/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_traj_euler.h
+++ b/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_traj_euler.h
@@ -35,14 +35,14 @@ extern struct Int32Vect3  booz_stabilization_accel_ref;
 #define F_UPDATE   (1<<F_UPDATE_RES)
 
 #define ACCEL_REF_RES 12
-#define ACCEL_REF_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT
-#define ACCEL_REF_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT
-#define ACCEL_REF_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT
+#define ACCEL_REF_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_PDOT, ACCEL_REF_RES)
+#define ACCEL_REF_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_QDOT, ACCEL_REF_RES)
+#define ACCEL_REF_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_RDOT, ACCEL_REF_RES)
 
 #define RATE_REF_RES  16
-#define RATE_REF_MAX_P BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P
-#define RATE_REF_MAX_Q BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q
-#define RATE_REF_MAX_R BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R
+#define RATE_REF_MAX_P BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_P, RATE_REF_RES)
+#define RATE_REF_MAX_Q BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_Q, ACCEL_REF_RES)
+#define RATE_REF_MAX_R BFP_OF_REAL(BOOZ_STABILIZATION_ATTITUDE_REF_MAX_R, ACCEL_REF_RES)
 
 #define ANGLE_REF_RES 20
 #define PI_ANGLE_REF      BFP_OF_REAL(3.1415926535897932384626433832795029, ANGLE_REF_RES)