diff --git a/sw/airborne/booz/booz2_hf_float.c b/sw/airborne/booz/booz2_hf_float.c
new file mode 100644
index 0000000000..b7695dd83e
--- /dev/null
+++ b/sw/airborne/booz/booz2_hf_float.c
@@ -0,0 +1,22 @@
+#include "booz2_hf_float.h"
+
+
+
+struct FloatVect3 bhff_accel_bias;
+struct FloatVect3 bhff_pos;
+struct FloatVect3 bhff_speed_ltp;
+struct FloatVect3 bhff_accel_ltp;
+
+
+
+
+void bhff_update(void) {
+
+  struct FloatVect3 accel_body;
+  /* unbias accels */
+  FLOAT_VECT3_SUB(accel_body, booz2_imu_accel, bhff_accel_bias);
+  /* convert to LTP */
+  
+
+
+}
diff --git a/sw/airborne/booz/booz2_hf_float.h b/sw/airborne/booz/booz2_hf_float.h
new file mode 100644
index 0000000000..77c64561e2
--- /dev/null
+++ b/sw/airborne/booz/booz2_hf_float.h
@@ -0,0 +1,7 @@
+#ifnedf BOOZ2_HF_FLOAT_H
+#define BOOZ2_HF_FLOAT_H
+
+#include "pprz_algebra_float.h"
+
+
+#endif /* BOOZ2_HF_FLOAT_H */
diff --git a/sw/airborne/pprz_algebra_float.h b/sw/airborne/pprz_algebra_float.h
index 5498cbd977..cdaf2933b1 100644
--- a/sw/airborne/pprz_algebra_float.h
+++ b/sw/airborne/pprz_algebra_float.h
@@ -9,7 +9,7 @@ struct FloatVect3 {
 };
 
 
-#define PPRZ_FLOAT_VECT3_COPY(_o, _i) {		\
+#define FLOAT_VECT3_COPY(_o, _i) {		\
     _o.x = _i.x;				\
     _o.y = _i.y;				\
     _o.z = _i.z;				\
@@ -18,4 +18,6 @@ struct FloatVect3 {
 
 
 
+
+
 #endif /* PPRZ_ALGEBRA_FLOAT_H */