diff --git a/conf/airframes/funjet1.xml b/conf/airframes/funjet1.xml
index c195e52073..582cd447a1 100644
--- a/conf/airframes/funjet1.xml
+++ b/conf/airframes/funjet1.xml
@@ -17,8 +17,8 @@
 <!-- commands section -->
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1500" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1515" max="1170"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
   </servos>
 
   <commands>
@@ -102,7 +102,9 @@
   </section>
  
   <section name="MISC">
-    <define name="NOMINAL_AIRSPEED" value="17." unit="m/s"/>
+    <define name="MINIMUM_AIRSPEED" value="12." unit="m/s"/>
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -117,7 +119,7 @@
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
 
-    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/ -->
     <!-- outer loop proportional gain -->
     <define name="ALTITUDE_PGAIN" value="-0.04"/>
     <!-- outer loop saturation -->
@@ -125,7 +127,7 @@
 
     <!-- auto throttle inner loop -->
     <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
-    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.3"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
@@ -158,6 +160,10 @@
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
+
+    <define name="ROLL_KFF" value="-500"/>
+    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
   <section name="NAV">
@@ -255,7 +261,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
@@ -281,7 +287,14 @@ ap.srcs += dc.c
 #sim.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
+sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
+
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 
 sim.srcs += nav_line.c nav_survey_rectangle.c