diff --git a/conf/airframes/booz2_a2p.xml b/conf/airframes/booz2_a2p.xml
index 7ea81f3a25..319b53fedc 100644
--- a/conf/airframes/booz2_a2p.xml
+++ b/conf/airframes/booz2_a2p.xml
@@ -33,30 +33,29 @@
     <define name="ACCEL_Y_CHAN" value="3"/>
     <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"/>
-    <define name="ACCEL_Z_SENS" value="-2.58223257" integer="16"/>
+    <define name="ACCEL_X_SENS" value="-2.19476868" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.88368188" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57172803" integer="16"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="32877"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32415"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32612"/>
+    <define name="ACCEL_X_NEUTRAL" value="33160"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32523"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32418"/>
 
     <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="4.73914612" integer="16"/>
+    <define name="MAG_Y_SENS" value="-5.34705586" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.57580805" integer="16"/>
 
-    <define name="MAG_X_SENS" value="5.00200577" integer="16"/>
-    <define name="MAG_Y_SENS" value="-4.68598036" integer="16"/>
-    <define name="MAG_Z_SENS" value="-2.98216964" integer="16"/>
-
-    <define name="MAG_X_NEUTRAL" value="-47"/>
-    <define name="MAG_Y_NEUTRAL" value="24"/>
-    <define name="MAG_Z_NEUTRAL" value="28"/>
+    <define name="MAG_X_NEUTRAL" value="-89"/>
+    <define name="MAG_Y_NEUTRAL" value="20"/>
+    <define name="MAG_Z_NEUTRAL" value="-30"/>
 
     <define name="BODY_TO_IMU_PHI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
     <define name="BODY_TO_IMU_THETA" value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
-    <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(-45.))"/>
+    <define name="BODY_TO_IMU_PSI"   value="ANGLE_BFP_OF_REAL(RadOfDeg(0.))"/>
 
   </section>
 
@@ -98,6 +97,7 @@
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
+    <!--
     <define name="PHI_PGAIN"  value="-400"/>
     <define name="PHI_DGAIN"  value="-300"/>
     <define name="PHI_IGAIN"  value="-100"/>
@@ -109,6 +109,19 @@
     <define name="PSI_PGAIN"  value="-380"/>
     <define name="PSI_DGAIN"  value="-320"/>
     <define name="PSI_IGAIN"  value="-75"/>
+-->
+
+    <define name="PHI_PGAIN"  value="-2000"/>
+    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-2000"/>
+    <define name="THETA_DGAIN"  value="-400"/>
+    <define name="THETA_IGAIN"  value="-200"/>
+
+    <define name="PSI_PGAIN"  value="-1000"/>
+    <define name="PSI_DGAIN"  value="-350"/>
+    <define name="PSI_IGAIN"  value="-10"/>
 
     <!-- feedforward -->
     <define name="PHI_DDGAIN"   value=" 300"/>
@@ -153,7 +166,7 @@
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
-   <define name="BATTERY_SENS"   value="0.25" integer="16"/>
+   <define name="BATTERY_SENS"   value="0.19" integer="16"/>
 <!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>