diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 06a2dd68d2..a12140abef 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -164,6 +164,15 @@
   </section>
 
 
+ <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+   <define name="HOVER_POWER" value="60"/>
+   <define name="HOVER_KP"    value="-200"/>
+   <define name="HOVER_KD"    value="-100"/>
+   <define name="HOVER_KI"    value="0"/>
+  </section>
+
+
+
   <makefile>
 
 include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz2.makefile
diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index fd92d976e7..ffc2b6747e 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -127,11 +127,6 @@ ap.srcs += AMI601.c
 
 ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
 
-ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
-ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
-ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
-ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
-
 ap.CFLAGS += -DFILTER_ALIGNER_LED=6
 ap.srcs += $(BOOZ_PRIV)/booz2_filter_aligner.c
 ap.srcs += $(BOOZ_PRIV)/booz2_filter_attitude_cmpl_euler.c
@@ -140,7 +135,13 @@ ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c
 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DUART1_VIC_SLOT=6
 ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
 ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
-ap.srcs += $(BOOZ_PRIV)/booz2_guidance.c
+ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
+ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
+
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
+ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
 
 
 
diff --git a/conf/messages.xml b/conf/messages.xml
index dff27e4e89..0288f63368 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -482,7 +482,9 @@
       <field name="link_imu_nb_err" type="uint32"/>
       <field name="imu_status" type="uint8" values="NO_LINK|UNINIT|RUNNING|CRASHED"/>
       <field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
-      <field name="ap_mode" type="uint8" values="FAILSAFE|KILL|RATE|ATTITUDE|NAV"/>
+      <field name="ap_mode" type="uint8" values=""/>
+      <field name="ap_h_mode" type="uint8" values=""/>
+      <field name="ap_v_mode" type="uint8" values=""/>
       <field name="vsupply" type="uint8" unit="decivolt"/>
       <field name="cpu_time" type="uint16" unit="s"></field>
       <field name="blmc_nb_err" type="uint8"/>
@@ -1043,12 +1045,22 @@
  </message>
 
 
- <message name="BOOZ2_GUIDANCE" ID="144">
+  <message name="BOOZ2_GUIDANCE" ID="144">
     <field name="pos_n"    type="int32"/>   
     <field name="pos_e"    type="int32"/>   
     <field name="sp_pos_n" type="int32"/>   
     <field name="sp_pos_e" type="int32"/>   
- </message>
+  </message>
+
+  <message name="BOOZ2_VERT_LOOP" ID="145">
+    <field name="z_sp"    type="int32"/>
+    <field name="z_meas"  type="int32"/>
+    <field name="zd_est"  type="int32"/>
+    <field name="sum_err" type="int32"/>
+    <field name="g_est"   type="int32"/>
+    <field name="delta_t" type="int32"/>
+  </message>
+
 
 
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index ad126e59bd..f1c3f351fc 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -30,7 +30,7 @@
 
 
     <dl_settings NAME="Misc">
-       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="5" module="booz2_telemetry" shortname="telemetry mode"/>
+       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="6" module="booz2_telemetry" shortname="telemetry mode"/>
     </dl_settings>
 
 
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 284ba64efe..e1803b02bc 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -72,6 +72,12 @@
       <message name="BOOZ2_STAB_ATTITUDE_REF" period=".2"/>
     </mode>
 
+    <mode name="vert_loop">
+      <message name="BOOZ_STATUS"             period="1.2"/>
+      <message name="DL_VALUE"                period="0.5"/>
+      <message name="ALIVE"                   period="0.9"/>
+      <message name="BOOZ2_VERT_LOOP"         period=".02"/>
+    </mode>