diff --git a/sw/airborne/csc/mercury_ap.c b/sw/airborne/csc/mercury_ap.c
index ead159baa5..2450122ea1 100644
--- a/sw/airborne/csc/mercury_ap.c
+++ b/sw/airborne/csc/mercury_ap.c
@@ -127,7 +127,7 @@ void csc_ap_init(void) {
   }
 
 
-// adapted from booz2_commands.h - cb6e74ae259a2384046f431c35735dc8018c0ecd
+// adapted from commands.h - cb6e74ae259a2384046f431c35735dc8018c0ecd
 // mmt -- 06/16/09
 const pprz_t csc_ap_commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
 
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index aed0c72398..a4b06192af 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -68,8 +68,8 @@ static inline void main_init( void ) {
   imu_init();
   overo_link_init();
   bench_sensors_init();
-  booz2_commands[COMMAND_ROLL] = 0;
-  booz2_commands[COMMAND_YAW] = 0;
+  commands[COMMAND_ROLL] = 0;
+  commands[COMMAND_YAW] = 0;
 }
 
 #define PITCH_MAGIC_NUMBER (121)
@@ -101,14 +101,14 @@ static inline void main_periodic( void ) {
   //stop the motors if we've lost SPI or CAN link
   //If SPI has had CRC error we don't stop motors
   if ((spi_msg_cnt == 0) || (can_err_flags != 0)) {
-    booz2_commands[COMMAND_PITCH] = 0;
-    booz2_commands[COMMAND_THRUST] = 0;
+    commands[COMMAND_PITCH] = 0;
+    commands[COMMAND_THRUST] = 0;
     actuators_set(FALSE);
     overo_link.up.msg.can_errs = can_err_flags;
     overo_link.up.msg.pitch_out = PITCH_MAGIC_NUMBER;
   } else {
-    booz2_commands[COMMAND_PITCH] = pitch_out;
-    booz2_commands[COMMAND_THRUST] = thrust_out;
+    commands[COMMAND_PITCH] = pitch_out;
+    commands[COMMAND_THRUST] = thrust_out;
     actuators_set(TRUE);
   }
 }
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index 0ee87c0290..c0b602915b 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -61,10 +61,10 @@ void actuators_set(bool_t motors_on) {
   actuators_asctec.cmds[YAW]    = 0;
   actuators_asctec.cmds[THRUST] = 0;
 #else /* ! KILL_MOTORS */
-  actuators_asctec.cmds[PITCH]  = booz2_commands[COMMAND_PITCH]  + SUPERVISION_TRIM_E;
-  actuators_asctec.cmds[ROLL]   = booz2_commands[COMMAND_ROLL]   + SUPERVISION_TRIM_A;
-  actuators_asctec.cmds[YAW]    = booz2_commands[COMMAND_YAW]    + SUPERVISION_TRIM_R;
-  actuators_asctec.cmds[THRUST] = booz2_commands[COMMAND_THRUST];
+  actuators_asctec.cmds[PITCH]  = commands[COMMAND_PITCH]  + SUPERVISION_TRIM_E;
+  actuators_asctec.cmds[ROLL]   = commands[COMMAND_ROLL]   + SUPERVISION_TRIM_A;
+  actuators_asctec.cmds[YAW]    = commands[COMMAND_YAW]    + SUPERVISION_TRIM_R;
+  actuators_asctec.cmds[THRUST] = commands[COMMAND_THRUST];
   Bound(actuators_asctec.cmds[PITCH],-100, 100);
   Bound(actuators_asctec.cmds[ROLL], -100, 100);
   Bound(actuators_asctec.cmds[YAW],  -100, 100);
@@ -112,7 +112,7 @@ void actuators_set(bool_t motors_on) {
 #else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
 void actuators_set(bool_t motors_on) {
   if (!cpu_time_sec) return; // FIXME
-  supervision_run(motors_on, FALSE, booz2_commands);
+  supervision_run(motors_on, FALSE, commands);
 #ifdef KILL_MOTORS
   actuators_asctec.i2c_trans.buf[0] = 0;
   actuators_asctec.i2c_trans.buf[1] = 0;
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
index f933a1814e..1951252929 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
@@ -53,7 +53,7 @@ void actuators_init(void) { actuators_pwm_arch_init(); }
 
 void actuators_set(bool_t motors_on) {
 
-  SetActuatorsFromCommands(booz2_commands);
+  SetActuatorsFromCommands(commands);
 
 }
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index ea6ea96c7c..1ef5be35ca 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -66,7 +66,7 @@ void actuators_set(bool_t motors_on) {
   }
 #endif
 
-  supervision_run(motors_on, FALSE, booz2_commands);
+  supervision_run(motors_on, FALSE, commands);
   for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
 #ifdef KILL_MOTORS
     actuators_mkk.trans[i].buf[0] = 0;
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index dd1383ebe3..d900c741bb 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -83,7 +83,7 @@ void autopilot_periodic(void) {
        autopilot_mode == AP_MODE_FAILSAFE ||
 #endif
        autopilot_mode == AP_MODE_KILL ) {
-    SetCommands(booz2_commands_failsafe,
+    SetCommands(commands_failsafe,
 		autopilot_in_flight, autopilot_motors_on);
   }
   else {
diff --git a/sw/airborne/firmwares/rotorcraft/commands.c b/sw/airborne/firmwares/rotorcraft/commands.c
index b392a7532e..a07e5fe486 100644
--- a/sw/airborne/firmwares/rotorcraft/commands.c
+++ b/sw/airborne/firmwares/rotorcraft/commands.c
@@ -22,5 +22,5 @@
 
 #include "firmwares/rotorcraft/commands.h"
 
-int32_t booz2_commands[COMMANDS_NB];
-const int32_t booz2_commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
+int32_t commands[COMMANDS_NB];
+const int32_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE;
diff --git a/sw/airborne/firmwares/rotorcraft/commands.h b/sw/airborne/firmwares/rotorcraft/commands.h
index 66f911f5e6..f330c3191f 100644
--- a/sw/airborne/firmwares/rotorcraft/commands.h
+++ b/sw/airborne/firmwares/rotorcraft/commands.h
@@ -27,14 +27,14 @@
 #include "paparazzi.h"
 #include "generated/airframe.h"
 
-extern int32_t booz2_commands[COMMANDS_NB];
-extern const int32_t booz2_commands_failsafe[COMMANDS_NB];
+extern int32_t commands[COMMANDS_NB];
+extern const int32_t commands_failsafe[COMMANDS_NB];
 
 #define SetCommands(_in_cmd, _in_flight, _motors_on) {			\
-    booz2_commands[COMMAND_PITCH]  = _in_cmd[COMMAND_PITCH];		\
-    booz2_commands[COMMAND_ROLL]   = _in_cmd[COMMAND_ROLL];		\
-    booz2_commands[COMMAND_YAW]    = (_in_flight) ? _in_cmd[COMMAND_YAW] : 0; \
-    booz2_commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \
+    commands[COMMAND_PITCH]  = _in_cmd[COMMAND_PITCH];		\
+    commands[COMMAND_ROLL]   = _in_cmd[COMMAND_ROLL];		\
+    commands[COMMAND_YAW]    = (_in_flight) ? _in_cmd[COMMAND_YAW] : 0; \
+    commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \
   }
 
 #endif /* COMMANDS_H */
diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
index ad2ea2e5b0..862be2f716 100644
--- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
@@ -89,10 +89,10 @@ static inline void main_periodic_task( void ) {
 
   if (i>1000) {
     /* set actuators     */
-    booz2_commands[COMMAND_PITCH] = 0;
-    booz2_commands[COMMAND_ROLL] = 0;
-    booz2_commands[COMMAND_YAW] = 20;
-    booz2_commands[COMMAND_THRUST] = 0;
+    commands[COMMAND_PITCH] = 0;
+    commands[COMMAND_ROLL] = 0;
+    commands[COMMAND_YAW] = 20;
+    commands[COMMAND_THRUST] = 0;
     // actuators_set(TRUE);
     actuators_set(FALSE);
   }
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index e00547334a..567e227433 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -56,10 +56,10 @@ static inline void main_init( void ) {
 
 static inline void main_periodic_task( void ) {
 
-  booz2_commands[COMMAND_ROLL]=0;
-  booz2_commands[COMMAND_PITCH]=0;
-  booz2_commands[COMMAND_YAW]=0;
-  booz2_commands[COMMAND_THRUST]=1;
+  commands[COMMAND_ROLL]=0;
+  commands[COMMAND_PITCH]=0;
+  commands[COMMAND_YAW]=0;
+  commands[COMMAND_THRUST]=1;
 
   actuators_set(TRUE);