diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index a5853d7884..43058d8ac7 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -220,7 +220,7 @@ FLASH_MODE=IAP
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a2.h\"
 sim.CFLAGS += -DNPS_NO_SUPERVISION
diff --git a/conf/airframes/ENAC/quadrotor/mini.xml b/conf/airframes/ENAC/quadrotor/mini.xml
index ceb48e07d5..5677770ab4 100644
--- a/conf/airframes/ENAC/quadrotor/mini.xml
+++ b/conf/airframes/ENAC/quadrotor/mini.xml
@@ -8,7 +8,7 @@
 
   <firmware name="rotorcraft">
     <target name="ap" board="booz_1.0">
-      <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+      <define name="FAILSAFE_GROUND_DETECT"/>
       <define name="USE_GPS_ACC4R"/>
     </target>
     <target name="sim" board="pc">
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index a26819e357..c0afc645fc 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -231,7 +231,7 @@ FLASH_MODE=IAP
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
 include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 7509af51d0..c13162dce9 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -278,7 +278,7 @@ second attempt
 	  <define name="GPS_LAG" value = "0.8"/>
 	  <define name="BOOZ_START_DELAY" value = "3"/>
  <!-- <define name="KILL_MOTORS"/> -->
-	  <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+	  <define name="FAILSAFE_GROUND_DETECT"/>
 	  <define name="USE_GPS_ACC4R" />
 	  <define name="GPS_USE_LATLONG"/>
 	  <define name="USE_ADAPT_HOVER"/>
@@ -340,7 +340,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 #stuff from nova below
 
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
 #set GPS lag for horizontal filter
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index f6d4fbc1b3..e3aa426373 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -238,7 +238,7 @@
 	  <define name="BOOZ_START_DELAY" value = "3"/>
 	  <define name="GPS_LAG" value = "0.8"/>
 	  <!-- <define name="KILL_MOTORS"/> -->
-	  <define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
+	  <define name="FAILSAFE_GROUND_DETECT"/>
 	  <define name="USE_GPS_ACC4R" />
 	  <define name="GPS_USE_LATLONG"/>
 	  <define name="USE_ADAPT_HOVER"/>
@@ -276,7 +276,7 @@ ap.CFLAGS += -DKILL_MOTORS
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 # radio killswitch
 ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 9c777b2448..2c166885f5 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -70,18 +70,18 @@
 
 <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
       <!-- setpoints -->
-	<define name="SP_MAX_P" value="10000" />
-	<define name="SP_MAX_Q" value="10000" />
-	<define name="SP_MAX_R" value="10000" />
+    <define name="SP_MAX_P" value="10000" />
+    <define name="SP_MAX_Q" value="10000" />
+    <define name="SP_MAX_R" value="10000" />
         <define name="DEADBAND_P" value="0" />
         <define name="DEADBAND_Q" value="0" />
         <define name="DEADBAND_R" value="200" />
         <define name="REF_TAU" value="4" />
 
         <!-- feedback -->
-	<define name="GAIN_P" value="-400" />
-	<define name="GAIN_Q" value="-400" />
-	<define name="GAIN_R" value="-350" />
+    <define name="GAIN_P" value="-400" />
+    <define name="GAIN_Q" value="-400" />
+    <define name="GAIN_R" value="-350" />
 
         <define name="IGAIN_P" value="-75" />
         <define name="IGAIN_Q" value="-75" />
@@ -91,7 +91,7 @@
         <define name="DDGAIN_P" value="300" />
         <define name="DDGAIN_Q" value="300" />
         <define name="DDGAIN_R" value="300" />
-	</section>
+    </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
@@ -152,23 +152,23 @@
   </section>
 
  <section name="SUPERVISION" prefix="SUPERVISION_">
-		<define name="MIN_MOTOR" value="2" />
-		<define name="MAX_MOTOR" value="210" />
-		<define name="TRIM_A" value="0" />
-		<define name="TRIM_E" value="0" />
-		<define name="TRIM_R" value="0" />
-		<define name="NB_MOTOR" value="4" />
-		<define name="SCALE" value="256"/>
-		<define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
-		<define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
-		<define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
-		<define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
-	</section>
+        <define name="MIN_MOTOR" value="2" />
+        <define name="MAX_MOTOR" value="210" />
+        <define name="TRIM_A" value="0" />
+        <define name="TRIM_E" value="0" />
+        <define name="TRIM_R" value="0" />
+        <define name="NB_MOTOR" value="4" />
+        <define name="SCALE" value="256"/>
+        <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
+        <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
+        <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
+        <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+    </section>
 
 <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
-		<define name="NB" value="4" />
-		<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
-	</section>
+        <define name="NB" value="4" />
+        <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
+    </section>
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
@@ -232,7 +232,7 @@ ap.CFLAGS += -DKILL_MOTORS
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 # radio killswitch
 ap.CFLAGS += -DRADIO_CONTROL_KILL_SWITCH=RADIO_CONTROL_SWITCH1
@@ -249,7 +249,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
 #set GPS lag for horizontal filter
-ap.CFLAGS += -DGPS_LAG=0.8 
+ap.CFLAGS += -DGPS_LAG=0.8
 #-DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 6e906b1aab..59c805ec7f 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -301,7 +301,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 #stuff from nova below
 
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
 #set GPS lag for horizontal filter
diff --git a/conf/airframes/booz2_NoVa.xml b/conf/airframes/booz2_NoVa.xml
index 7e53f89ddc..fd5c187c47 100644
--- a/conf/airframes/booz2_NoVa.xml
+++ b/conf/airframes/booz2_NoVa.xml
@@ -231,7 +231,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+#ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 #ap.CFLAGS += -DMODEM_BAUD=B38400
 ap.CFLAGS += -DMODEM_BAUD=B57600
diff --git a/conf/airframes/booz2_NoVa_001.xml b/conf/airframes/booz2_NoVa_001.xml
index f0f5bb64f9..ef9be7c068 100644
--- a/conf/airframes/booz2_NoVa_001.xml
+++ b/conf/airframes/booz2_NoVa_001.xml
@@ -232,7 +232,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
 include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
diff --git a/conf/airframes/booz2_NoVa_002.xml b/conf/airframes/booz2_NoVa_002.xml
index 04dea80215..20c8f54fe2 100644
--- a/conf/airframes/booz2_NoVa_002.xml
+++ b/conf/airframes/booz2_NoVa_002.xml
@@ -232,7 +232,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
 include $(CFG_BOOZ)/booz2_test_progs.makefile
-#ap.CFLAGS += -DBOOZ_FAILSAFE_GROUND_DETECT
+#ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 #ap.CFLAGS += -DMODEM_BAUD=B38400
 ap.CFLAGS += -DMODEM_BAUD=B57600
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index 94957a4250..c77eb1c66d 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -31,19 +31,19 @@
 #include "booz_stabilization.h"
 #include "led.h"
 
-uint8_t autopilot_mode;
-uint8_t autopilot_mode_auto2;
-bool_t  autopilot_motors_on;
-bool_t  autopilot_in_flight;
+uint8_t  autopilot_mode;
+uint8_t  autopilot_mode_auto2;
+bool_t   autopilot_motors_on;
+bool_t   autopilot_in_flight;
 uint32_t autopilot_motors_on_counter;
 uint32_t autopilot_in_flight_counter;
-bool_t kill_throttle;
-bool_t autopilot_rc;
+bool_t   kill_throttle;
+bool_t   autopilot_rc;
 
-bool_t autopilot_power_switch;
+bool_t   autopilot_power_switch;
 
-bool_t autopilot_detect_ground;
-bool_t autopilot_detect_ground_once;
+bool_t   autopilot_detect_ground;
+bool_t   autopilot_detect_ground_once;
 
 uint16_t autopilot_flight_time;
 
@@ -72,14 +72,14 @@ void autopilot_init(void) {
 void autopilot_periodic(void) {
 
   RunOnceEvery(BOOZ2_NAV_PRESCALER, nav_periodic_task());
-#ifdef BOOZ_FAILSAFE_GROUND_DETECT
+#ifdef FAILSAFE_GROUND_DETECT
   if (autopilot_mode == BOOZ2_AP_MODE_FAILSAFE && autopilot_detect_ground) {
     autopilot_set_mode(BOOZ2_AP_MODE_KILL);
     autopilot_detect_ground = FALSE;
   }
 #endif
   if ( !autopilot_motors_on ||
-#ifndef BOOZ_FAILSAFE_GROUND_DETECT
+#ifndef FAILSAFE_GROUND_DETECT
        autopilot_mode == BOOZ2_AP_MODE_FAILSAFE ||
 #endif
        autopilot_mode == BOOZ2_AP_MODE_KILL ) {
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 7b3b457e68..b2643930e1 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -207,7 +207,7 @@ STATIC_INLINE void booz2_main_event( void ) {
   BoozGpsEvent(on_gps_event);
 #endif
 
-#ifdef BOOZ_FAILSAFE_GROUND_DETECT
+#ifdef FAILSAFE_GROUND_DETECT
   BoozDetectGroundEvent();
 #endif