diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index 1a34f8c0b3..55129f6508 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -99,7 +99,7 @@
    <define name="HOVER_POWER" value="81"/>
    <define name="HOVER_KP"    value="-500"/>
    <define name="HOVER_KD"    value="-200"/>
-   <define name="HOVER_KI"    value="-75"/>
+   <define name="HOVER_KI"    value="0"/>
   </section>
 
  <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
diff --git a/sw/airborne/booz/booz2_guidance_v.c b/sw/airborne/booz/booz2_guidance_v.c
index 13edafb7e4..cf9c86a325 100644
--- a/sw/airborne/booz/booz2_guidance_v.c
+++ b/sw/airborne/booz/booz2_guidance_v.c
@@ -60,6 +60,7 @@ void booz2_guidance_v_read_rc(void) {
   switch (booz2_guidance_v_mode) {
     case BOOZ2_GUIDANCE_V_MODE_DIRECT:
       booz2_guidance_v_z_sp = booz_ins_position.z;
+      b2_gv_set_ref(booz_ins_position.z, 0, 0);
       break;
     case BOOZ2_GUIDANCE_V_MODE_HOVER:
       if (booz_fms_on && booz_fms_input.v_mode >= BOOZ2_GUIDANCE_V_MODE_HOVER)
diff --git a/sw/airborne/booz/test/test_vg_ref.c b/sw/airborne/booz/test/test_vg_ref.c
index d344133e50..7a8108dc43 100644
--- a/sw/airborne/booz/test/test_vg_ref.c
+++ b/sw/airborne/booz/test/test_vg_ref.c
@@ -47,8 +47,8 @@ void print_ref(int i) {
 }
 
 int32_t get_sp (int i) {
-  return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
-  //  return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
+  //  return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
+  return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
 }