diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index c11363562b..d24477a027 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -142,8 +142,10 @@
 		<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)" />
 		<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)" />
 		<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)" />
+		<define name="MAX_SUM_ERR" value="2000000"/>
 		<define name="HOVER_KP" value="-200" />
 		<define name="HOVER_KD" value="-100" />
+		<define name="HOVER_KI" value="-100"/>
 		<!-- 1.5m/s for full stick : SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
 		<define name="RC_CLIMB_COEF" value="163" />
 		<!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 80914db365..cc91ed9e92 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -33,7 +33,7 @@
     <dl_settings NAME="Vert Loop">
       <dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="kp"/>
       <dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="kd"/>
-      <!-- <dl_setting var="booz2_guidance_v_ki" min="-300" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="ki" handler="SetKi" /> -->
+      <dl_setting var="booz2_guidance_v_ki" min="-300" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="ki" handler="SetKi" />
       <dl_setting var="booz2_guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/booz2_guidance_v" 
 	shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
       <dl_setting var="booz_ins_vff_realign" min="0" step="1" max="1" module="booz2_ins" shortname="vff_realign" values="OFF|ON"/>
diff --git a/sw/airborne/booz/booz2_telemetry.h b/sw/airborne/booz/booz2_telemetry.h
index 9066650f21..82c8ca159c 100644
--- a/sw/airborne/booz/booz2_telemetry.h
+++ b/sw/airborne/booz/booz2_telemetry.h
@@ -43,6 +43,8 @@
 #include "booz2_gps.h"
 #include "booz2_ins.h"
 
+extern uint8_t telemetry_mode_Main;
+
 #ifdef USE_GPS
 #define PERIODIC_SEND_BOOZ_STATUS() {					\
     uint32_t booz_imu_nb_err = 0;					\
@@ -604,8 +606,6 @@ define PERIODIC_SEND_BOOZ2_VFF() {}
 #include "settings.h"
 #define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue()
 
-extern uint8_t telemetry_mode_Main;
-
 #include "periodic.h"
 #define Booz2TelemetryPeriodic() {		\
     PeriodicSendMain();				\