diff --git a/conf/airframes/black_one.xml b/conf/airframes/black_one.xml
index c5cc5fb047..bfc5326ca2 100644
--- a/conf/airframes/black_one.xml
+++ b/conf/airframes/black_one.xml
@@ -81,8 +81,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="1."/>
-
     <define name="360_LATERAL_CORRECTION" value="1.3"/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/booz.xml b/conf/airframes/booz.xml
index 5bc7db6ef8..2f2ecaff7b 100644
--- a/conf/airframes/booz.xml
+++ b/conf/airframes/booz.xml
@@ -1,10 +1,10 @@
 <airframe name="BOOZ">
 
   <servos min="0" neutral="0" max="0x3ff">
-    <servo name="MOTOR_FRONT" no="1" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_BACK"  no="0" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_LEFT"  no="3" min="0" neutral="0" max="0x3ff"/>
-    <servo name="MOTOR_RIGHT" no="2" min="0" neutral="0" max="0x3ff"/>
+    <servo name="MOTOR_FRONT" no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="MOTOR_BACK"  no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="MOTOR_LEFT"  no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="MOTOR_RIGHT" no="2" min="1000" neutral="1000" max="2000"/>
   </servos>
 
   <commands>
@@ -67,7 +67,7 @@ ctl.srcs += downlink.c pprz_transport.c
 
 ctl.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
 
-ctl.CFLAGS += -DCONTROLLER -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x10
+ctl.CFLAGS += -DCONTROLLER -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DSPI_SELECT_SLAVE0_PIN=20 -DSPI_SELECT_SLAVE0_PORT=0 -DSSPCPSR_VAL=0x0C
 ctl.srcs += spi.c $(SRC_ARCH)/spi_hw.c link_imu.c
 
 ctl.srcs += booz_estimator.c booz_control.c
@@ -152,22 +152,6 @@ mtt.CFLAGS += -DIMU
 mtt.srcs += link_imu.c
 
 
-#
-# test link imu
-#
-
-tli.ARCHDIR = $(ARCHI)
-tli.ARCH = arm7tdmi
-tli.TARGET = tli
-tli.TARGETDIR = tli
-
-tli.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\"  -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)'
-tli.srcs = main_tli.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
-
-tli.CFLAGS += -DIMU
-tli.srcs += link_imu.c
-
-
   </makefile>
 
 </airframe>
diff --git a/conf/airframes/funjet1.xml b/conf/airframes/funjet1.xml
index 9246eee4f7..ab6b17f738 100644
--- a/conf/airframes/funjet1.xml
+++ b/conf/airframes/funjet1.xml
@@ -71,8 +71,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/funjetmm.xml b/conf/airframes/funjetmm.xml
index 553a697f9b..185de38b37 100755
--- a/conf/airframes/funjetmm.xml
+++ b/conf/airframes/funjetmm.xml
@@ -71,8 +71,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="1."/>
-
     <define name="360_LATERAL_CORRECTION" value="1.3"/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1.3"/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/mac06a.xml b/conf/airframes/mac06a.xml
index aeadec27ba..184016d60e 100755
--- a/conf/airframes/mac06a.xml
+++ b/conf/airframes/mac06a.xml
@@ -75,8 +75,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="1."/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/microjet6.xml b/conf/airframes/microjet6.xml
index de292ae19f..fdc5104a46 100755
--- a/conf/airframes/microjet6.xml
+++ b/conf/airframes/microjet6.xml
@@ -72,8 +72,6 @@
     <define name="CORRECTION_LEFT" value="1.0"/>
     <define name="CORRECTION_RIGHT" value="1.0"/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/microjet7.xml b/conf/airframes/microjet7.xml
index 8fefbbf3a0..fa41444662 100644
--- a/conf/airframes/microjet7.xml
+++ b/conf/airframes/microjet7.xml
@@ -77,8 +77,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/microjetI.xml b/conf/airframes/microjetI.xml
index b066aab957..5277ac88b8 100644
--- a/conf/airframes/microjetI.xml
+++ b/conf/airframes/microjetI.xml
@@ -69,8 +69,6 @@
     <define name="CORRECTION_LEFT" value="1.0"/>
     <define name="CORRECTION_RIGHT" value="1.0"/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/minimag1.xml b/conf/airframes/minimag1.xml
index c50f9c1821..26362babd5 100644
--- a/conf/airframes/minimag1.xml
+++ b/conf/airframes/minimag1.xml
@@ -80,8 +80,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/minimag_fs.xml b/conf/airframes/minimag_fs.xml
index 0692d58783..ac45dd6c07 100644
--- a/conf/airframes/minimag_fs.xml
+++ b/conf/airframes/minimag_fs.xml
@@ -79,8 +79,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/slayer1.xml b/conf/airframes/slayer1.xml
index 446e4a6f18..06242a05d0 100644
--- a/conf/airframes/slayer1.xml
+++ b/conf/airframes/slayer1.xml
@@ -71,8 +71,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.55"/>
-
     <define name="360_LATERAL_CORRECTION" value="1.25"/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1.25"/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/slayer2.xml b/conf/airframes/slayer2.xml
index 4cc91a821d..ccde75e6df 100644
--- a/conf/airframes/slayer2.xml
+++ b/conf/airframes/slayer2.xml
@@ -70,9 +70,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.78"/>
-    <define name="ESTIMATED_PHI_MINUS_PI_4" value="0.78"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/slayer3.xml b/conf/airframes/slayer3.xml
index 3e1bf1c683..458f668fef 100755
--- a/conf/airframes/slayer3.xml
+++ b/conf/airframes/slayer3.xml
@@ -69,8 +69,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="M_PI_4"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1.5"/>
diff --git a/conf/airframes/storm1.xml b/conf/airframes/storm1.xml
index acf5f93cf4..cf8061654a 100755
--- a/conf/airframes/storm1.xml
+++ b/conf/airframes/storm1.xml
@@ -94,8 +94,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/tiny2.xml b/conf/airframes/tiny2.xml
index 176e00b522..c044759a07 100644
--- a/conf/airframes/tiny2.xml
+++ b/conf/airframes/tiny2.xml
@@ -80,8 +80,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml
index f6813bdb7c..ee5de1bc9e 100644
--- a/conf/airframes/twinjet1.xml
+++ b/conf/airframes/twinjet1.xml
@@ -72,8 +72,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/twinstar6.xml b/conf/airframes/twinstar6.xml
index 1a43621627..eef4d3dae4 100644
--- a/conf/airframes/twinstar6.xml
+++ b/conf/airframes/twinstar6.xml
@@ -81,8 +81,6 @@ des 2 variateurs -->
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/tyto1.xml b/conf/airframes/tyto1.xml
index a6e92cac1d..a6abf5584c 100755
--- a/conf/airframes/tyto1.xml
+++ b/conf/airframes/tyto1.xml
@@ -82,8 +82,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/xxx1.xml b/conf/airframes/xxx1.xml
index ee3b4ebcd8..cb879f3a03 100644
--- a/conf/airframes/xxx1.xml
+++ b/conf/airframes/xxx1.xml
@@ -76,8 +76,6 @@
     <define name="CORRECTION_LEFT" value="1."/>
     <define name="CORRECTION_RIGHT" value="1."/>
 
-    <define name="ESTIMATED_PHI_PI_4" value="0.9"/>
-
     <define name="360_LATERAL_CORRECTION" value="1."/>
     <define name="360_LONGITUDINAL_CORRECTION" value="1."/>
     <define name="360_VERTICAL_CORRECTION" value="1."/>