diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 50c1ff400f..1c92b6efae 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -141,7 +141,7 @@
  </section>
 
  <section name="FMS">
-   <define name="BOOZ_FMS_PHI_THETA_MAX" value="183040"/>
+
  </section>
 
 
diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index 972ce9ff18..051a499d71 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -97,24 +97,17 @@
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
    <define name="HOVER_POWER" value="81"/>
-   <define name="HOVER_KP"    value="-300"/>
+   <define name="HOVER_KP"    value="-400"/>
    <define name="HOVER_KD"    value="-300"/>
    <define name="HOVER_KI"    value="-75"/>
   </section>
 
-
  <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
    <define name="PGAIN" value="-100"/>
    <define name="DGAIN" value="-100"/>
    <define name="IGAIN" value="-0"/>
  </section>
 
- <section name="AUTOPILOT">
-   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
-   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
- </section>
-
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
@@ -122,8 +115,17 @@
 <!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
+ <section name="AUTOPILOT">
+   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
 
 
+ <section name="FMS">
+
+ </section>
+
   <makefile>
 
 # calib bat
diff --git a/conf/settings/settings_booz2_fms_ts.xml b/conf/settings/settings_booz2_fms_ts.xml
index fb4f695c5d..3b59584d03 100644
--- a/conf/settings/settings_booz2_fms_ts.xml
+++ b/conf/settings/settings_booz2_fms_ts.xml
@@ -4,6 +4,7 @@
     <dl_settings NAME="FMS_TS">
        <dl_setting var="booz_fms_test_signal_period" min="1" step="1" max="100" module="booz2_fms_test_signal" shortname="period" handler="SetPeriod"/>
        <dl_setting var="booz_fms_test_signal_amplitude" min="0" step="100" max="10000" module="booz2_fms_test_signal" shortname="amplitude"/>
+       <dl_setting var="booz_fms_test_signal_mode" min="0" step="1" max="2" module="booz2_fms_test_signal" shortname="ts mode" handler="SetTsMode" values="DISABLED|ATTITUDE|VERTICAL"/>
     </dl_settings>
 
   </dl_settings>