diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 2a715b8c1f..56dc0aca4d 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -101,36 +101,13 @@
 
   <section name="BOOZ_STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
-    <define name="SP_MAX_PHI"   value="10000"/>
-    <define name="SP_MAX_THETA" value="10000"/>
-    <define name="SP_MAX_PSI"   value=" 5000"/>
+    <define name="SP_MAX_PHI"     value="4000"/>
+    <define name="SP_MAX_THETA"   value="4000"/>
+    <define name="SP_MAX_R"       value=" 5000"/>
 
   </section>
 
 
-  <section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
-
-    <define name="RATE_PQ_PGAIN" value="-700."/>
-    <define name="RATE_PQ_DGAIN" value="15."/>
-
-    <define name="RATE_R_PGAIN" value="-600."/>
-    <define name="RATE_R_DGAIN" value="0."/>
-
-    <!-- setpoints for max stick throw in degres per second -->
-    <define name="RATE_PQ_MAX_SP" value="120."/>
-    <define name="RATE_R_MAX_SP"  value="100."/>
-
-    <define name="ATTITUDE_PHI_THETA_PGAIN" value="-1250."/>
-    <define name="ATTITUDE_PHI_THETA_DGAIN" value="-700."/>
-
-    <define name="ATTITUDE_PSI_PGAIN"  value="-1050."/>
-    <define name="ATTITUDE_PSI_DGAIN"   value="-850."/>
-
-    <!-- setpoints for max stick throw in degres -->
-    <define name="ATTITUDE_PHI_THETA_MAX_SP" value="30."/>
-    <define name="ATTITUDE_PSI_MAX_SP" value="45."/>
-
- </section>
 
 
   <makefile>
diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index 70fde50642..7142ccea79 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -82,7 +82,7 @@ ap.ARCH = arm7tdmi
 ap.TARGET = ap
 ap.TARGETDIR = ap
 
-ap.CFLAGS += -DKILL_MOTORS
+#ap.CFLAGS += -DKILL_MOTORS
 
 ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
 ap.srcs += $(BOOZ_PRIV)/booz2_main.c
@@ -119,12 +119,14 @@ ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
 ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
 ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
 ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
 ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
 
 ap.CFLAGS += -DALIGNER_LED=6
 ap.srcs += $(BOOZ_PRIV)/booz2_aligner.c
 ap.srcs += $(BOOZ_PRIV)/booz2_att_cmpl_flt.c
 
+
 #
 # IMU V3 MCU
 #
@@ -136,7 +138,8 @@ imu.TARGETDIR = imu
 
 imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
 imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c
-imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1
+imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))'
+# -DTIME_LED=1
 imu.CFLAGS += -DLED
 imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
diff --git a/conf/messages.xml b/conf/messages.xml
index f872b753a6..10441b7fa6 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -971,7 +971,6 @@
    <field name="qz"  type="int32"/>
  </message>
 
-
  <message name="VOR" ID="140"> 
    <field name="qdr"  type="int32"/>
    <field name="nb_adc_overrun"  type="uint32"/>
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 576d6a5108..393556aba6 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -11,6 +11,7 @@
       <message name="BOOZ2_RATE_LOOP"   period=".05"/>
       <message name="BOOZ2_ALIGNER"     period=".1"/>
       <message name="BOOZ2_FILTER_Q"    period=".05"/>
+<!--      <message name="BOOZ2_ATT_LOOP"  period=".05"/> -->
     </mode>
 
     <mode name="debug">