diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 0a0dc90bd4..7547881bac 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -8,10 +8,10 @@
   </servos>
 
   <commands>
-    <axis name="FRONT" failsafe_value="0"/>
-    <axis name="BACK"  failsafe_value="0"/>
-    <axis name="RIGHT" failsafe_value="0"/>
-    <axis name="LEFT"  failsafe_value="0"/>
+    <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"/>
   </commands>
 
   <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
@@ -138,15 +138,16 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
+
+sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
 
-sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
 
   </makefile>
 
diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index a57176250d..d7f1687a2c 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -1,23 +1,19 @@
-<airframe name="BOOZ2_A1">
+<airframe name="BOOZ2_A2">
 
   <servos min="0" neutral="0" max="0xff">
-    <servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
-    <servo name="ROLL"  no="1" min="0" neutral="0" max="255"/>
-    <servo name="YAW"   no="2" min="0" neutral="0" max="255"/>
-    <servo name="POWER" no="3" min="0" neutral="0" max="255"/>
+    <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
+    <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
+    <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
+    <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
   </servos>
 
   <commands>
-    <axis name="PITCH" failsafe_value="0"/>
-    <axis name="ROLL"  failsafe_value="0"/>
-    <axis name="YAW"   failsafe_value="0"/>
-    <axis name="POWER" 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_">
-    <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
-  </section>
-
   <section name="IMU" prefix="IMU_">
 
     <define name="GYRO_X_CHAN" value="4"/>
diff --git a/conf/autopilot/booz2_imu_b2v1.makefile b/conf/autopilot/booz2_imu_b2v1.makefile
index ba8ef145f3..ea94bb1047 100644
--- a/conf/autopilot/booz2_imu_b2v1.makefile
+++ b/conf/autopilot/booz2_imu_b2v1.makefile
@@ -21,14 +21,14 @@
 #    <define name="ACCEL_Y_CHAN" value="5"/>
 #    <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"/>
-#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
-#
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
 #
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
 #    <define name="MAG_X_CHAN" value="4"/>
 #    <define name="MAG_Y_CHAN" value="0"/>
 #    <define name="MAG_Z_CHAN" value="2"/>
@@ -37,8 +37,6 @@
 #    <define name="MAG_Y_NEUTRAL" value="2362"/> 
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
 #
-#<!--    <define name="MAG_X_SENS" value="-4.94075530" integer="16"/>
-#    <define name="MAG_Y_SENS" value="5.10207664" integer="16"/> * sqrt(2)/2 -->
 #    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
 #    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
 #    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
diff --git a/conf/settings/settings_booz2_asctec.xml b/conf/settings/settings_booz2_asctec.xml
index 4ab1d48960..05d6777996 100644
--- a/conf/settings/settings_booz2_asctec.xml
+++ b/conf/settings/settings_booz2_asctec.xml
@@ -7,7 +7,7 @@
       <dl_setting var="asctec_twi_blmc_motor_power[SERVO_PITCH]" min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="pitch"/>
       <dl_setting var="asctec_twi_blmc_motor_power[SERVO_ROLL]"  min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="roll"/>
       <dl_setting var="asctec_twi_blmc_motor_power[SERVO_YAW]"   min="-100" step="1" max="100" module="actuators_asctec_twi_blmc_hw" shortname="yaw"/>
-      <dl_setting var="asctec_twi_blmc_motor_power[SERVO_POWER]" min="0"    step="1" max="200" module="actuators_asctec_twi_blmc_hw" shortname="power"/>
+      <dl_setting var="asctec_twi_blmc_motor_power[SERVO_THRUST]" min="0"    step="1" max="200" module="actuators_asctec_twi_blmc_hw" shortname="power"/>
     </dl_settings>
 
   </dl_settings>
diff --git a/sw/simulator/booz2_sim_main.c b/sw/simulator/booz2_sim_main.c
index 341344e5f4..c84e804744 100644
--- a/sw/simulator/booz2_sim_main.c
+++ b/sw/simulator/booz2_sim_main.c
@@ -204,12 +204,19 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
 #include "actuators.h"
 #include "booz_supervision_int.h"
 static void booz_sim_read_actuators(void) {
+
+  
+  printf("actatuors %d %d %d %d\n",  
+	 Actuator(SERVO_FRONT), Actuator(SERVO_BACK), Actuator(SERVO_RIGHT), Actuator(SERVO_LEFT));
+  printf("actatuors %d %d %d %d\n",  
+	 Actuator(SERVO_FRONT), Actuator(SERVO_BACK), Actuator(SERVO_RIGHT), Actuator(SERVO_LEFT));
+
   booz_sim_actuators_values[0] = (double)Actuator(SERVO_FRONT) / BOOZ_SUPERVISION_MAX_CMD;
   booz_sim_actuators_values[1] = (double)Actuator(SERVO_BACK) / BOOZ_SUPERVISION_MAX_CMD;
   booz_sim_actuators_values[2] = (double)Actuator(SERVO_RIGHT) / BOOZ_SUPERVISION_MAX_CMD;
   booz_sim_actuators_values[3] = (double)Actuator(SERVO_LEFT) / BOOZ_SUPERVISION_MAX_CMD;
 
-  printf("%f %f %f %f\n",  booz_sim_actuators_values[0], booz_sim_actuators_values[1], booz_sim_actuators_values[2], booz_sim_actuators_values[3]);
+  //  printf("%f %f %f %f\n",  booz_sim_actuators_values[0], booz_sim_actuators_values[1], booz_sim_actuators_values[2], booz_sim_actuators_values[3]);
 
 }