diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 2aa3c8688f..0a0dc90bd4 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -1,4 +1,4 @@
-<airframe name="BOOZ2_flixr">
+<airframe name="BOOZ2_a1">
 
   <servos min="0" neutral="0" max="0xff">
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
@@ -138,6 +138,8 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
+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
 
@@ -145,7 +147,6 @@ 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
 
   </makefile>
 
diff --git a/conf/autopilot/booz2_actuators_buss.makefile b/conf/autopilot/booz2_actuators_buss.makefile
index 383a5f5cef..689f142cf0 100644
--- a/conf/autopilot/booz2_actuators_buss.makefile
+++ b/conf/autopilot/booz2_actuators_buss.makefile
@@ -1,7 +1,22 @@
 #
 # Booz2 Mikrokopter Actuators
 #
-# mikrokopter controllers
+#
+# required xml:
+#  <section name="BUSS_BLMC" prefix="BUSS_BLMC_">
+#   <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+#  </section>
+#
+#  <section name="SUPERVISION" prefix="SUPERVISION_">
+#    <define name="FRONT_ROTOR_CW" value="1"/>
+#    <define name="TRIM_A" value="2"/>
+#    <define name="TRIM_E" value="-1"/>
+#    <define name="TRIM_R" value="3"/>
+#  </section>
+#
+#
+
+#
 ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
 ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
 # on I2C0
diff --git a/conf/autopilot/booz2_imu_b2v1.makefile b/conf/autopilot/booz2_imu_b2v1.makefile
index 9e325be3fc..ba8ef145f3 100644
--- a/conf/autopilot/booz2_imu_b2v1.makefile
+++ b/conf/autopilot/booz2_imu_b2v1.makefile
@@ -1,3 +1,53 @@
+#
+# Booz2 IMU booz2v1
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_CHAN" value="1"/>
+#    <define name="GYRO_Y_CHAN" value="0"/>
+#    <define name="GYRO_Z_CHAN" value="2"/>
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+# 
+#    <define name="ACCEL_X_CHAN" value="3"/>
+#    <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="MAG_X_CHAN" value="4"/>
+#    <define name="MAG_Y_CHAN" value="0"/>
+#    <define name="MAG_Z_CHAN" value="2"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <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"/>
+#    <define name="MAG_45_HACK" value="1"/> 
+#
+#  </section>
+#
+#
+
 # imu Booz2 v1
 ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
 ap.CFLAGS += -DSSP_VIC_SLOT=9
@@ -10,3 +60,16 @@ ap.CFLAGS += -DUSE_AMI601
 ap.srcs += AMI601.c
 ap.CFLAGS += -DFLOAT_T=float
 ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
+
+sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
+sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
+	    $(BOOZ_PRIV)/booz2_imu_b2.c \
+            $(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \
+            $(BOOZ_PRIV)/booz2_max1168.c \
+            $(BOOZ_PRIV_SIM)/booz2_max1168_sim.c
+
+sim.CFLAGS += -DUSE_I2C1
+#  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+#sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += AMI601.c
\ No newline at end of file
diff --git a/conf/autopilot/booz2_simulator.makefile b/conf/autopilot/booz2_simulator.makefile
index 5a12344c67..a8f4fe48bc 100644
--- a/conf/autopilot/booz2_simulator.makefile
+++ b/conf/autopilot/booz2_simulator.makefile
@@ -55,31 +55,27 @@ sim.srcs   += commands.c
 sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=1
 sim.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
-sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
-sim.srcs += $(BOOZ_PRIV_SIM)/actuators_buss_twi_blmc_hw.c actuators.c
-sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
-sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-
-
-
-
-sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
-sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
-	    $(BOOZ_PRIV)/booz2_imu_b2.c \
-            $(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \
-            $(BOOZ_PRIV)/booz2_max1168.c \
-            $(BOOZ_PRIV_SIM)/booz2_max1168_sim.c
-
-sim.CFLAGS += -DUSE_I2C1
-#  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+#sim.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
+#sim.srcs += $(BOOZ_PRIV_SIM)/actuators_buss_twi_blmc_hw.c actuators.c
+#sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 #sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-sim.CFLAGS += -DUSE_AMI601
-sim.srcs += AMI601.c
+
+
+
+
+
 
 sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
 sim.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
+
+sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
+sim.srcs += $(BOOZ_PRIV)/booz2_battery.c
+
 sim.srcs += $(BOOZ_PRIV)/booz2_analog.c $(BOOZ_PRIV_SIM)/booz2_analog_hw.c
 
+
+
+
 sim.srcs += $(BOOZ_PRIV)/booz2_gps.c
 
 sim.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
diff --git a/conf/flight_plans/booz_test_1.xml b/conf/flight_plans/booz_test_1.xml
index 9282ba80d3..ed3946c846 100644
--- a/conf/flight_plans/booz_test_1.xml
+++ b/conf/flight_plans/booz_test_1.xml
@@ -2,12 +2,12 @@
 
 <flight_plan alt="250" ground_alt="0" lat0="48.8613611" lon0="1.8951388" max_dist_from_home="400" name="booz test 1" security_height="1">
   <waypoints>
-    <waypoint alt="0.0" name="HOME" x="-18.2" y="-24.6"/>
-    <waypoint alt="0.0" name="D1" x="-0.6" y="0.0"/>
-    <waypoint alt="0.0" name="D2" x="-53.7" y="-45.6"/>
-    <waypoint alt="0.0" name="p1" x="-72.8" y="-70.0"/>
-    <waypoint alt="0.0" name="p2" x="-132.2" y="-118.5"/>
-    <waypoint alt="0.0" name="p3" x="-76.0" y="-137.9"/>
+    <waypoint alt="1.5" name="HOME" x="-18.2" y="-24.6"/>
+    <waypoint alt="1.5" name="D1" x="-0.6" y="0.0"/>
+    <waypoint alt="1.5" name="D2" x="-53.7" y="-45.6"/>
+    <waypoint alt="1.5" name="p1" x="-72.8" y="-70.0"/>
+    <waypoint alt="1.5" name="p2" x="-132.2" y="-118.5"/>
+    <waypoint alt="1.5" name="p3" x="-76.0" y="-137.9"/>
   </waypoints>
   <blocks>
     <block name="stay_p1">
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 23479a8829..6590b22e33 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -6,7 +6,7 @@
     <dl_settings NAME="Misc">
        <dl_setting var="telemetry_mode_Main" min="0" step="1" max="9" module="booz2_telemetry" shortname="telemetry" values="Default|Raw sensors|Scaled sensors|Filter|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll"/>
        <dl_setting var="booz_fms_on" min="0" step="1" max="1" module="booz2_fms" shortname="fms_on" values="OFF|ON"/>
-       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/>
+<!--       <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="8" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_Z|Att_Z|Hover|Hover_Z|Nav"/> -->
     </dl_settings>
 
     <dl_settings NAME="Rate Loop">