diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 90db7a012b..2a715b8c1f 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -86,6 +86,27 @@
 
   </section>
 
+  <section name="BOOZ_STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value=" 5000"/>
+
+    <define name="GAIN_P" value="-250"/>
+    <define name="GAIN_Q" value="-250"/>
+    <define name="GAIN_R" value="-100"/>
+
+  </section>
+
+
+  <section name="BOOZ_STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <define name="SP_MAX_PHI"   value="10000"/>
+    <define name="SP_MAX_THETA" value="10000"/>
+    <define name="SP_MAX_PSI"   value=" 5000"/>
+
+  </section>
+
 
   <section name="BOOZ_CONTROL" prefix="BOOZ_CONTROL_">
 
diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index f7a0fbe7a2..8d5634bc84 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -81,7 +81,7 @@ ap.ARCH = arm7tdmi
 ap.TARGET = ap
 ap.TARGETDIR = ap
 
-ap.CFLAGS += -DKILL_MOTORS
+#ap.CFLAGS += -DKILL_MOTORS
 
 ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
 ap.srcs += $(BOOZ_PRIV)/booz2_main.c
diff --git a/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.c b/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.c
index 10e4250c70..acde994f34 100644
--- a/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.c
+++ b/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.c
@@ -6,7 +6,7 @@ uint8_t buss_twi_blmc_nb_err;
 volatile bool_t  buss_twi_blmc_i2c_done;
 volatile uint8_t buss_twi_blmc_idx;
 
-const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = { 0x52, 0x54, 0x56, 0x58 };
+const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = { 0x52, 0x54, 0x58, 0x56 };
 
 void actuators_init ( void ) {
   uint8_t i;
diff --git a/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h b/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h
index d855a6e8f1..ab14a91e34 100644
--- a/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h
+++ b/sw/airborne/booz/arm7/actuators_buss_twi_blmc_hw.h
@@ -15,12 +15,12 @@
     ActuatorsCommit();					      \
   }
 #else
-#define SetActuatorsFromCommands() {			      \
-    Actuator(SERVO_FRONT) = (uint8_t)commands[COMMAND_FRONT]; \
-    Actuator(SERVO_BACK)  = (uint8_t)commands[COMMAND_BACK];  \
-    Actuator(SERVO_RIGHT) = (uint8_t)commands[COMMAND_RIGHT]; \
-    Actuator(SERVO_LEFT)  = (uint8_t)commands[COMMAND_LEFT];  \
-    ActuatorsCommit();					      \
+#define SetActuatorsFromCommands() {				\
+    Actuator(SERVO_FRONT) = (uint8_t)commands[COMMAND_FRONT];	\
+    Actuator(SERVO_BACK)  = (uint8_t)commands[COMMAND_BACK];	\
+    Actuator(SERVO_RIGHT) = (uint8_t)commands[COMMAND_RIGHT];	\
+    Actuator(SERVO_LEFT)  = (uint8_t)commands[COMMAND_LEFT];	\
+    ActuatorsCommit();						\
   }
 #endif /* KILL_MOTORS              */
 #endif /* SetActuatorsFromCommands */