diff --git a/conf/airframes/booz.xml b/conf/airframes/booz.xml
index 792753ce56..68a5002330 100644
--- a/conf/airframes/booz.xml
+++ b/conf/airframes/booz.xml
@@ -108,39 +108,29 @@
   </section>
 
 
+  <section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
 
+    <define name="RATE_PQ_PGAIN" value="-700."/>
+    <define name="RATE_PQ_DGAIN" value="15."/>
 
-#define BOOZ_CONTROL_RATE_PQ_PGAIN -700.
-#define BOOZ_CONTROL_RATE_PQ_DGAIN   15.
+    <define name="RATE_R_PGAIN" value="-600."/>
+    <define name="RATE_R_DGAIN" value="0."/>
 
-#define BOOZ_CONTROL_RATE_R_PGAIN -600.
-#define BOOZ_CONTROL_RATE_R_DGAIN    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."/>
 
-/* setpoints for max stick throw in degres per second */
-#define BOOZ_CONTROL_RATE_PQ_MAX_SP 120.
-#define BOOZ_CONTROL_RATE_R_MAX_SP  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."/>
 
-float booz_control_attitude_phi_sp;
-float booz_control_attitude_theta_sp;
-float booz_control_attitude_psi_sp;
-float booz_control_attitude_phi_theta_pgain;
-float booz_control_attitude_phi_theta_dgain;
-float booz_control_attitude_psi_pgain;
-float booz_control_attitude_psi_dgain;
-
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_PGAIN  -1250.
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_DGAIN   -700.
-
-#define BOOZ_CONTROL_ATTITUDE_PSI_PGAIN  -1050.
-#define BOOZ_CONTROL_ATTITUDE_PSI_DGAIN   -850.
-
-/* setpoints for max stick throw in degres */
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_MAX_SP 30.
-#define BOOZ_CONTROL_ATTITUDE_PSI_MAX_SP 45.
-
-#define BOOZ_CONTROL_ATTITUDE_DT_UPDATE_SP (1./50.)
+    <!-- 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_booz.makefile b/conf/autopilot/conf_booz.makefile
index 9f544c1314..a424eaaf40 100644
--- a/conf/autopilot/conf_booz.makefile
+++ b/conf/autopilot/conf_booz.makefile
@@ -160,6 +160,7 @@ sim.CFLAGS +=  `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
 sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
 
 sim.CFLAGS += -I$(BOOZ) -I$(TL)
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params.h\"
 
 sim.srcs = $(SIMDIR)/main_booz_sim.c                 \
 	   $(SIMDIR)/booz_flight_model.c             \
diff --git a/conf/flight_plans/booz_test_1.xml b/conf/flight_plans/booz_test_1.xml
index ed2d29eac9..ef4569af35 100644
--- a/conf/flight_plans/booz_test_1.xml
+++ b/conf/flight_plans/booz_test_1.xml
@@ -17,6 +17,15 @@
       <stay wp="p2"/>
     </block>
 
+<!--
+   <block name="Steps roll -5, +5">
+      <while cond="TRUE">
+        <attitude alt="187" roll="5.0" until=" stage_time > 2" vmode="alt"/>
+        <attitude alt="187" roll="-5.0" until="stage_time > 2" vmode="alt"/>
+      </while>
+    </block>
+-->
+
   </blocks>
 
 </flight_plan>
diff --git a/sw/airborne/booz/booz_control.c b/sw/airborne/booz/booz_control.c
index e9575e5714..c4e990183d 100644
--- a/sw/airborne/booz/booz_control.c
+++ b/sw/airborne/booz/booz_control.c
@@ -45,15 +45,6 @@ float booz_control_rate_last_err_r;
 
 pprz_t booz_control_commands[COMMANDS_NB];
 
-#define BOOZ_CONTROL_RATE_PQ_PGAIN -700.
-#define BOOZ_CONTROL_RATE_PQ_DGAIN   15.
-
-#define BOOZ_CONTROL_RATE_R_PGAIN -600.
-#define BOOZ_CONTROL_RATE_R_DGAIN    5.
-
-/* setpoints for max stick throw in degres per second */
-#define BOOZ_CONTROL_RATE_PQ_MAX_SP 120.
-#define BOOZ_CONTROL_RATE_R_MAX_SP  100.
 
 
 float booz_control_attitude_phi_sp;
@@ -64,15 +55,6 @@ float booz_control_attitude_phi_theta_dgain;
 float booz_control_attitude_psi_pgain;
 float booz_control_attitude_psi_dgain;
 
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_PGAIN  -1250.
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_DGAIN   -700.
-
-#define BOOZ_CONTROL_ATTITUDE_PSI_PGAIN  -1050.
-#define BOOZ_CONTROL_ATTITUDE_PSI_DGAIN   -850.
-
-/* setpoints for max stick throw in degres */
-#define BOOZ_CONTROL_ATTITUDE_PHI_THETA_MAX_SP 30.
-#define BOOZ_CONTROL_ATTITUDE_PSI_MAX_SP 45.
 
 #define BOOZ_CONTROL_ATTITUDE_DT_UPDATE_SP (1./50.)