diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 7547881bac..dd52f79974 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -8,10 +8,10 @@
   </servos>
 
   <commands>
-    <axis name="DELTA_A" failsafe_value="0"/>
-    <axis name="DELTA_E" failsafe_value="0"/>
-    <axis name="DELTA_R" failsafe_value="0"/>
-    <axis name="DELTA_T" failsafe_value="0"/>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
   <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
@@ -20,6 +20,8 @@
 
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="FRONT_ROTOR_CW" value="1"/>
+    <define name="MIN_MOTOR" value="2"/>
+    <define name="MAX_MOTOR" value="210"/>
     <define name="TRIM_A" value="2"/>
     <define name="TRIM_E" value="-1"/>
     <define name="TRIM_R" value="3"/>
diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index d7f1687a2c..bb66c087b9 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -66,11 +66,6 @@
 
   </section>
 
-  <section name="SUPERVISION" prefix="BOOZ_SUPERVISION_">
-     <define name="MIN_CMD" value="30"/>
-     <define name="MAX_CMD" value="200"/>
-  </section>
-
   <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
     <define name="SP_MAX_PHI"     value="3000"/>
@@ -91,8 +86,8 @@
   </section>
 
   <section name="FILTER" prefix="FILTER_">
-   <define name="ALIGNMENT_DPHI"   value="BOOZ_ANGLE_I_OF_F(RadOfDeg(4.))"/>
-   <define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(3.))"/>
+   <define name="ALIGNMENT_DPHI"   value="BOOZ_ANGLE_I_OF_F(RadOfDeg(12.))"/>
+   <define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(-3.5))"/>
    <define name="ALIGNMENT_DPSI"   value="BOOZ_ANGLE_I_OF_F(0.)"/>
   </section>
 
diff --git a/conf/autopilot/booz2_actuators_asctec.makefile b/conf/autopilot/booz2_actuators_asctec.makefile
index 97bb34553b..7688c58a79 100644
--- a/conf/autopilot/booz2_actuators_asctec.makefile
+++ b/conf/autopilot/booz2_actuators_asctec.makefile
@@ -1,15 +1,12 @@
 # asctec controllers
 ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
-ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
+ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c
 # on I2C0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-# supervision
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
+
 
 # asctec controllers
 sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
 sim.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
-# supervision
-sim.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
 
diff --git a/conf/autopilot/booz2_actuators_buss.makefile b/conf/autopilot/booz2_actuators_buss.makefile
index 689f142cf0..9495ce7a46 100644
--- a/conf/autopilot/booz2_actuators_buss.makefile
+++ b/conf/autopilot/booz2_actuators_buss.makefile
@@ -18,12 +18,10 @@
 
 #
 ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
-ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c
 # on I2C0
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-# supervision
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
 
 
 # Simulator
diff --git a/conf/autopilot/booz2_autopilot.makefile b/conf/autopilot/booz2_autopilot.makefile
index fc4264c955..ec3e061a83 100644
--- a/conf/autopilot/booz2_autopilot.makefile
+++ b/conf/autopilot/booz2_autopilot.makefile
@@ -59,7 +59,7 @@ ap.srcs += $(BOOZ_PRIV)/booz2_telemetry.c \
 ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 ap.srcs += $(BOOZ_PRIV)/booz2_datalink.c
 
-ap.srcs += commands.c
+ap.srcs += $(BOOZ_PRIV)/booz2_commands.c
 
 ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
diff --git a/conf/messages.xml b/conf/messages.xml
index 999fa6d380..b6a661cff5 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1044,10 +1044,10 @@
 
 
  <message name="BOOZ2_CMD" id="143">
-    <field name="cmd_a"   type="int32"/>   
-    <field name="cmd_e"   type="int32"/>   
-    <field name="cmd_r"   type="int32"/>   
-    <field name="cmd_t"   type="int32"/>   
+    <field name="cmd_roll"   type="int32"/>   
+    <field name="cmd_pitch"  type="int32"/>   
+    <field name="cmd_yaw"    type="int32"/>   
+    <field name="cmd_thrust" type="int32"/>   
  </message>
 
 
@@ -1111,8 +1111,19 @@
     <field name="lat"  type="int32"/>
   </message>
 
+  <message name="BOOZ2_TUNE_HOVER" id="150">
+    <field name="cmd_roll"   type="int32"/>   
+    <field name="cmd_pitch"  type="int32"/>   
+    <field name="cmd_yaw"    type="int32"/>   
+    <field name="cmd_thrust" type="int32"/>   
+    <field name="ua_phi"      type="int32"/>
+    <field name="ua_theta"    type="int32"/>
+    <field name="ua_psi"      type="int32"/>
+  </message>
 
-  <message name="WT" id="150">
+
+
+  <message name="WT" id="151">
     <field name="rpm"      type="float"/>
   </message>
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 6590b22e33..559e86c4d8 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -4,7 +4,7 @@
   <dl_settings>
 
     <dl_settings NAME="Misc">
-       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="9" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll"/>
+       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="10" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
        <dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
 <!--       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
     </dl_settings>
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 60e5e531c3..bff0eb3cdb 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -81,6 +81,12 @@
       <message name="BOOZ2_STAB_ATTITUDE_HS_ROLL" period="0.02"/>
     </mode>
 
+    <mode name="tune_hover">
+      <message name="BOOZ2_TUNE_HOVER"               period=".05"/>
+
+    </mode>
+
+
   </process>