diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index 87801b1f9f..3d28538fbc 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -97,8 +97,8 @@
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
    <define name="HOVER_POWER" value="81"/>
-   <define name="HOVER_KP"    value="-500"/>
-   <define name="HOVER_KD"    value="-200"/>
+   <define name="HOVER_KP"    value="-300"/>
+   <define name="HOVER_KD"    value="-150"/>
    <define name="HOVER_KI"    value="0"/>
   </section>
 
diff --git a/conf/messages.xml b/conf/messages.xml
index f8910b41de..7f50cec857 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -791,7 +791,7 @@
     <field name="est_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
     <field name="est_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
     <field name="ref_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
-    <field name="red_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
+    <field name="ref_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
     <field name="ref_zdd"   type="int32" alt_unit="m/s2" alt_unit_coef="0.0009766"/>
     <field name="adp_inv_m" type="int32" alt_unit="foo"  alt_unit_coef="0.0000038"/>
     <field name="adp_cov"   type="int32" alt_unit="foo"  alt_unit_coef="0.0000038"/>
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 77551700d7..457d02cb96 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -37,7 +37,7 @@
     <dl_settings NAME="Vert Loop">
       <dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
       <dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
-      <dl_setting var="booz2_guidance_v_z_sp" min="-20" step="1" max="10" module="booz2_guidance_v" shortname="sp"/>
+      <dl_setting var="booz2_guidance_v_z_sp" min="-2560" step="1" max="1024" module="booz2_guidance_v" shortname="sp"/>
    </dl_settings>
 
    <dl_settings NAME="Horiz Loop">
diff --git a/sw/airborne/booz/booz2_fms_test_signal.c b/sw/airborne/booz/booz2_fms_test_signal.c
index d68a6d9406..5de5a3b7f2 100644
--- a/sw/airborne/booz/booz2_fms_test_signal.c
+++ b/sw/airborne/booz/booz2_fms_test_signal.c
@@ -3,7 +3,7 @@
 #include "booz2_ins.h"
 #include "booz_geometry_mixed.h"
 
-#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD    200;
+#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD    300;
 #define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AMPLITUDE 20;
 #define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AXE  0
 
diff --git a/sw/airborne/booz/booz2_guidance_v.c b/sw/airborne/booz/booz2_guidance_v.c
index 4c4ab28d30..9c2753075b 100644
--- a/sw/airborne/booz/booz2_guidance_v.c
+++ b/sw/airborne/booz/booz2_guidance_v.c
@@ -36,6 +36,15 @@ int32_t booz2_guidance_v_ki;
 
 int32_t booz2_guidance_v_z_sum_err;
 
+
+#define Booz2GuidanceVSetRef(_pos, _speed, _accel) { \
+    b2_gv_set_ref(_pos, _speed, _accel);	     \
+    booz2_guidance_v_z_ref = _pos;		     \
+    booz2_guidance_v_zd_ref = _speed;		     \
+    booz2_guidance_v_zdd_ref = _accel;		     \
+  }
+
+
 static inline void run_hover_loop(bool_t in_flight);
 
 
@@ -60,7 +69,7 @@ void booz2_guidance_v_read_rc(void) {
   switch (booz2_guidance_v_mode) {
     case BOOZ2_GUIDANCE_V_MODE_DIRECT:
       booz2_guidance_v_z_sp = booz_ins_position.z;
-      b2_gv_set_ref(booz_ins_position.z, 0, 0);
+      Booz2GuidanceVSetRef(booz_ins_position.z, 0, 0);
       break;
     case BOOZ2_GUIDANCE_V_MODE_HOVER:
       if (booz_fms_on && booz_fms_input.v_mode >= BOOZ2_GUIDANCE_V_MODE_HOVER)
@@ -84,6 +93,7 @@ void booz2_guidance_v_mode_changed(uint8_t new_mode) {
   case BOOZ2_GUIDANCE_V_MODE_HOVER:
     booz2_guidance_v_z_sum_err = 0;
     booz2_guidance_v_z_sp = booz_ins_position.z;
+    Booz2GuidanceVSetRef(booz_ins_position.z, 0, 0);
     break;
   }
   
@@ -136,7 +146,7 @@ static inline void run_hover_loop(bool_t in_flight) {
   else
     booz2_guidance_v_z_sum_err = 0;
 
-  /* our nominal command : (g + zdd)/m   */
+  /* our nominal command : (g + zdd)*m   */
   //  const int32_t inv_m = BOOZ_INT_OF_FLOAT(0.140, IACCEL_RES);
   const int32_t inv_m =  b2_gv_adapt_X>>(B2_GV_ADAPT_X_FRAC - IACCEL_RES);
   booz2_guidance_v_ff_cmd = (BOOZ_INT_OF_FLOAT(9.81, IACCEL_RES) - booz2_guidance_v_zdd_ref) / inv_m;
diff --git a/sw/airborne/booz/test/test_vg_ref.c b/sw/airborne/booz/test/test_vg_ref.c
index 7a8108dc43..1a70a76188 100644
--- a/sw/airborne/booz/test/test_vg_ref.c
+++ b/sw/airborne/booz/test/test_vg_ref.c
@@ -48,7 +48,7 @@ void print_ref(int i) {
 
 int32_t get_sp (int i) {
   //  return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
-  return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? 10.0 : 0, IPOS_FRAC);
+  return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? -5.0 : 0, IPOS_FRAC);
 }