diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index c081bff585..086daaf34d 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -116,13 +116,13 @@
     <define name="MAG_Z_CHAN" value="2"/>
 
     
-    <define name="MAG_X_NEUTRAL" value="2035"/>
-    <define name="MAG_Y_NEUTRAL" value="2121"/> 
-    <define name="MAG_Z_NEUTRAL" value="1943"/>
+    <define name="MAG_X_NEUTRAL" value="2038"/>
+    <define name="MAG_Y_NEUTRAL" value="1945"/> 
+    <define name="MAG_Z_NEUTRAL" value="1957"/>
 
-    <define name="MAG_X_SENS" value="-446."/>
-    <define name="MAG_Y_SENS" value=" 456."/>
-    <define name="MAG_Z_SENS" value="-474."/>
+    <define name="MAG_X_SENS" value="-401."/>
+    <define name="MAG_Y_SENS" value=" 388."/>
+    <define name="MAG_Z_SENS" value="-414."/>
 
 
   </section>
@@ -152,10 +152,10 @@
     <define name="PHI_THETA_DDGAIN" value="0"/>
     <define name="PHI_THETA_IGAIN"  value="-100"/>
 
-    <define name="PSI_PGAIN"  value="-300"/>
-    <define name="PSI_DGAIN"  value="-200"/>
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
     <define name="PSI_DDGAIN" value="0"/>
-    <define name="PSI_IGAIN"  value="-100"/>
+    <define name="PSI_IGAIN"  value="-75"/>
 
   </section>
 
diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index 0741e637b7..ffc2b6747e 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -83,7 +83,7 @@ ap.ARCH = arm7tdmi
 ap.TARGET = ap
 ap.TARGETDIR = ap
 
-ap.CFLAGS += -DKILL_MOTORS
+#ap.CFLAGS += -DKILL_MOTORS
 
 ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
 ap.srcs += $(BOOZ_PRIV)/booz2_main.c
diff --git a/conf/messages.xml b/conf/messages.xml
index e860c9b69b..99a79c47ad 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -480,15 +480,17 @@
 
   <message name="BOOZ_STATUS" ID="231">
       <field name="link_imu_nb_err" type="uint32"/>
-      <field name="blmc_nb_err" type="uint8"/>
-      <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="gps_status"  type="uint8" values="OK|LOST|REALLY_LOST"/>
-      <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"/>
+      <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="gps_status"   type="uint8" values="OK|LOST|REALLY_LOST"/>
+      <field name="ap_mode"      type="uint8" values=""/>
+      <field name="ap_in_flight" type="uint8" values=""/>
+      <field name="ap_motors_on" 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>
   </message>
 
   <message name="BOOZ_DEBUG_BAR" ID="232">
diff --git a/sw/in_progress/inertial/scilab/calibrate_mag.sce b/sw/in_progress/inertial/scilab/calibrate_mag.sce
index 4ac6eeef59..d78e8e7981 100644
--- a/sw/in_progress/inertial/scilab/calibrate_mag.sce
+++ b/sw/in_progress/inertial/scilab/calibrate_mag.sce
@@ -1,14 +1,14 @@
 clear();
 exec("calibration_utils.sci");
 
-[raw_mag, raw_accel] = read_log("log_calib_mag_3.dat");
+[raw_mag, raw_accel] = read_log("log_calib_mag_4.dat");
 
 //[fraw_mag] = filter_noise(raw_mag,15,300);
 fraw_mag = raw_mag;
 
   
-n0 = [ 1950; 2000; 2150];
-g0 = [ 2; 2; 2];
+n0 = [ 2000; 2000; 2000];
+g0 = [ 4; 4; 4];
 
 [scaled_mag] = scale_sensor(fraw_mag, g0, n0);
 [scaled_module] = compute_mod(scaled_mag);
@@ -37,7 +37,7 @@ subplot(4,1,1);
 plot2d(1:nc, raw_mag(1,:), 1);
 plot2d(1:nc, raw_mag(2,:), 2);
 plot2d(1:nc, raw_mag(3,:), 3);
-xtitle('raw senors');
+xtitle('raw sensors');
 
 subplot(4,1,2);
 [nl, nc] = size(fraw_mag);