diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 9675a30bcb..df9f1c163c 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -30,7 +30,7 @@
     <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
     <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
     <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
-    <define name="THRUST_COEF" value="{   1,    1,    1,    1}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -46,10 +46,10 @@
     <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
     <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
     <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-  
+
     <define name="ACCEL_X_CHAN" value="3"/>
     <define name="ACCEL_Y_CHAN" value="5"/>
-    <define name="ACCEL_Z_CHAN" value="6"/>    
+    <define name="ACCEL_Z_CHAN" value="6"/>
 
     <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
     <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
@@ -62,9 +62,9 @@
     <define name="MAG_X_CHAN" value="4"/>
     <define name="MAG_Y_CHAN" value="0"/>
     <define name="MAG_Z_CHAN" value="2"/>
-    
+
     <define name="MAG_X_NEUTRAL" value="2358"/>
-    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+    <define name="MAG_Y_NEUTRAL" value="2362"/>
     <define name="MAG_Z_NEUTRAL" value="2119"/>
 
 <!--    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>-->
diff --git a/conf/airframes/booz2_a5.xml b/conf/airframes/booz2_a5.xml
index 3fc74ef755..0a700e2fe4 100644
--- a/conf/airframes/booz2_a5.xml
+++ b/conf/airframes/booz2_a5.xml
@@ -20,7 +20,7 @@
     <define name="NB" value="6"/>
     <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58, 0x5A, 0X5C }"/>
   </section>
- 
+
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="2"/>
     <define name="MAX_MOTOR" value="210"/>
@@ -32,7 +32,7 @@
     <define name="ROLL_COEF"  value="{  -69,   69, -256,  256, -186,  186 }"/>
     <define name="PITCH_COEF" value="{ -256, -256,    0,    0,  256,  256 }"/>
     <define name="YAW_COEF"   value="{ -153,  153,  256, -256, -115,  115 }"/>
-    <define name="THRUST_COEF" value="{   1,    1,    1,    1,    1,    1 }"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256,  256,  256 }"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -48,11 +48,11 @@
     <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
     <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
     <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-  
+
 
     <define name="ACCEL_X_CHAN" value="5"/>
     <define name="ACCEL_Y_CHAN" value="3"/>
-    <define name="ACCEL_Z_CHAN" value="4"/>    
+    <define name="ACCEL_Z_CHAN" value="4"/>
 
     <define name="ACCEL_X_SENS" value="-2.53973936" integer="16"/>
     <define name="ACCEL_Y_SENS" value="-2.58673329" integer="16"/>
@@ -220,7 +220,7 @@ lpc_test_motors.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.
 lpc_test_motors.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 lpc_test_motors.srcs += $(SRC_ARCH)/uart_hw.c
 
-lpc_test_motors.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
+lpc_test_motors.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 lpc_test_motors.srcs += downlink.c pprz_transport.c
 
 lpc_test_motors.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index a91c3aedd7..93ccd1ec7c 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -20,15 +20,17 @@
 	</section>
 
 	<section name="SUPERVISION" prefix="SUPERVISION_">
-		<define name="MIN_MOTOR" value="2" />
-		<define name="MAX_MOTOR" value="210" />
-		<define name="TRIM_A" value="0" />
-		<define name="TRIM_E" value="0" />
-		<define name="TRIM_R" value="0" />
-		<define name="NB_MOTOR" value="4" />
-		<define name="ROLL_COEF" value="{   0,   0, -256,  256}" />
-		<define name="PITCH_COEF" value="{ 256, -256,    0,    0}" />
-		<define name="YAW_COEF" value="{ 256, 256, -256, -256}" />
+	  <define name="MIN_MOTOR" value="2" />
+	  <define name="MAX_MOTOR" value="210" />
+	  <define name="TRIM_A" value="0" />
+	  <define name="TRIM_E" value="0" />
+	  <define name="TRIM_R" value="0" />
+	  <define name="NB_MOTOR" value="4" />
+      <define name="SCALE" value="256"/>
+	  <define name="ROLL_COEF"   value="{   0,    0, -256,  256}" />
+	  <define name="PITCH_COEF"  value="{ 256, -256,    0,    0}" />
+	  <define name="YAW_COEF"    value="{ 256,  256, -256, -256}" />
+      <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
 	</section>
 
 	<section name="IMU" prefix="IMU_">
diff --git a/conf/airframes/booz2_x1.xml b/conf/airframes/booz2_x1.xml
index 205a512577..2d534780fe 100644
--- a/conf/airframes/booz2_x1.xml
+++ b/conf/airframes/booz2_x1.xml
@@ -31,7 +31,7 @@
     <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
     <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
     <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
-    <define name="THRUST_COEF" value="{    1,    1,    1,    1}"/>
+    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
   </section>
 
   <section name="IMU" prefix="IMU_">
@@ -47,10 +47,10 @@
     <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
     <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
     <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
-  
+
     <define name="ACCEL_X_CHAN" value="5"/>
     <define name="ACCEL_Y_CHAN" value="3"/>
-    <define name="ACCEL_Z_CHAN" value="4"/>    
+    <define name="ACCEL_Z_CHAN" value="4"/>
 
 
 
@@ -61,12 +61,12 @@
     <define name="ACCEL_X_NEUTRAL" value="29174"/>
     <define name="ACCEL_Y_NEUTRAL" value="29720"/>
     <define name="ACCEL_Z_NEUTRAL" value="28629"/>
- 
+
 
     <define name="MAG_X_CHAN" value="0"/>
     <define name="MAG_Y_CHAN" value="1"/>
     <define name="MAG_Z_CHAN" value="2"/>
-    
+
 
     <define name="MAG_X_SENS" value="5.20834273" integer="16"/>
     <define name="MAG_Y_SENS" value="-5.22061499" integer="16"/>