diff --git a/conf/airframes/booz2_Aron.xml b/conf/airframes/booz2_Aron.xml
new file mode 100644
index 0000000000..0b319db361
--- /dev/null
+++ b/conf/airframes/booz2_Aron.xml
@@ -0,0 +1,203 @@
+<airframe name="BOOZ2_A2">
+
+	<servos min="0" neutral="0" max="0xff">
+		<servo name="FRONT" no="0" min="0" neutral="0" max="255" />
+		<servo name="BACK" no="1" min="0" neutral="0" max="255" />
+		<servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
+		<servo name="LEFT" 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="THRUST" failsafe_value="0" />
+	</commands>
+	
+	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+		<define name="NB" value="4" />
+		<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }" />
+	</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="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_">
+
+    <define name="GYRO_P_CHAN" value="0"/>
+    <define name="GYRO_Q_CHAN" value="4"/>
+    <define name="GYRO_R_CHAN" value="1"/>
+
+    <define name="GYRO_P_NEUTRAL" value="31799"/>
+    <define name="GYRO_Q_NEUTRAL" value="32338"/>
+    <define name="GYRO_R_NEUTRAL" value="32668"/>
+
+    <define name="GYRO_P_SENS" value=" -0.85" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" -0.85" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
+  
+    <define name="ACCEL_X_CHAN" value="5"/>
+    <define name="ACCEL_Y_CHAN" value="2"/>
+    <define name="ACCEL_Z_CHAN" value="6"/>    
+
+<define name="ACCEL_X_SENS" value="6.23079413" integer="16"/>
+<define name="ACCEL_Y_SENS" value="-6.38411981" integer="16"/>
+<define name="ACCEL_Z_SENS" value="6.27271719" integer="16"/>
+
+<define name="ACCEL_X_NEUTRAL" value="40465"/>
+<define name="ACCEL_Y_NEUTRAL" value="40252"/>
+<define name="ACCEL_Z_NEUTRAL" value="39820"/>
+
+    <define name="MAG_X_CHAN" value="0"/>
+    <define name="MAG_Y_CHAN" value="4"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+    
+    <define name="MAG_X_NEUTRAL" value="2339"/>
+    <define name="MAG_Y_NEUTRAL" value="2106"/> 
+    <define name="MAG_Z_NEUTRAL" value="1902"/>
+
+    <define name="MAG_X_SENS" value="-4.4039655" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.2959321" integer="16"/>
+    <define name="MAG_Z_SENS" value="-4.0988408" integer="16"/>
+
+    <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(0.))"/>
+
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+     <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(400)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(400)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <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"/>
+
+    <define name="THETA_PGAIN"  value="-400"/>
+    <define name="THETA_DGAIN"  value="-300"/>
+    <define name="THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="14.9" integer="16"/>
+  </section>
+
+
+  <section name="GUIDANCE_V"   prefix="BOOZ2_GUIDANCE_V_">
+
+   <define name="MIN_ERR_Z"    value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"    value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"   value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"   value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR"  value="2000000"/>
+   <define name="HOVER_KP"     value="-500"/>
+   <define name="HOVER_KD"     value="-250"/>
+   <define name="HOVER_KI"     value="-100"/>
+   <!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- SPEED_BFP_OF_REAL(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+  </section>
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <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="1" integer="16"/>-->
+ </section>
+
+ <section name="AUTOPILOT">
+   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+
+ <section name="MISC">
+   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+ </section>
+
+  <makefile>
+ARCH=lpc21
+BOARD_CFG = \"twog_booz.h\"
+
+# prevents motors from ever starting
+ap.CFLAGS += -DKILL_MOTORS
+
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+include $(CFG_BOOZ)/booz2_autopilot.makefile
+include $(CFG_BOOZ)/booz2_test_progs.makefile
+
+ap.CFLAGS += -DMODEM_BAUD=B57600
+include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
+include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
+include $(CFG_BOOZ)/subsystems/booz2_imu_crista.makefile
+include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
+
+  </makefile>
+
+</airframe>