diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 404bd615ef..dfc8636255 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -142,8 +142,8 @@
 
   <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
-    <define name="SP_MAX_PHI"     value="4000"/>
-    <define name="SP_MAX_THETA"   value="4000"/>
+    <define name="SP_MAX_PHI"     value="3000"/>
+    <define name="SP_MAX_THETA"   value="3000"/>
     <define name="SP_MAX_R"       value="5500"/>
     <define name="DEADBAND_R"     value="250"/>
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index f1c3f351fc..86cbd6959d 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -21,6 +21,15 @@
       <dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain p"/>
       <dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain q"/>
       <dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain r"/>
+      <dl_setting var="booz_stabilization_igain.x" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain phi"/>
+      <dl_setting var="booz_stabilization_igain.y" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain theta"/>
+      <dl_setting var="booz_stabilization_igain.z" min="-300" step="1" max="0" module="booz2_stabilization_attitude" shortname="igain psi"/>
+    </dl_settings>
+
+    <dl_settings NAME="Vert Loop">
+      <dl_setting var="booz2_guidance_v_kp" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
+      <dl_setting var="booz2_guidance_v_kd" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
+      <dl_setting var="booz2_guidance_v_ki" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="ki"/>
     </dl_settings>