diff --git a/sw/airborne/booz/booz2_autopilot.c b/sw/airborne/booz/booz2_autopilot.c
index be2e6dafb0..add95679b2 100644
--- a/sw/airborne/booz/booz2_autopilot.c
+++ b/sw/airborne/booz/booz2_autopilot.c
@@ -102,10 +102,12 @@ void booz2_autopilot_set_mode(uint8_t new_autopilot_mode) {
     /* horizontal mode */
     switch (new_autopilot_mode) {
     case BOOZ2_AP_MODE_FAILSAFE:
+#ifndef BOOZ_KILL_AS_FAILSAFE
       booz_stab_att_sp_euler.phi = 0;
       booz_stab_att_sp_euler.theta = 0;
       booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_ATTITUDE);
       break;
+#endif
     case BOOZ2_AP_MODE_KILL:
       booz2_autopilot_motors_on = FALSE;
       booz2_guidance_h_mode_changed(BOOZ2_GUIDANCE_H_MODE_KILL);
@@ -131,9 +133,11 @@ void booz2_autopilot_set_mode(uint8_t new_autopilot_mode) {
     /* vertical mode */
     switch (new_autopilot_mode) {
     case BOOZ2_AP_MODE_FAILSAFE:
+#ifndef BOOZ_KILL_AS_FAILSAFE
       booz2_guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
       booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_CLIMB);
       break;
+#endif
     case BOOZ2_AP_MODE_KILL:
       booz2_guidance_v_mode_changed(BOOZ2_GUIDANCE_V_MODE_KILL);
       break;