diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 5dfc014ecb..0f38723895 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -40,18 +40,17 @@
     <define name="GYRO_P_NEUTRAL" value="33924"/>
     <define name="GYRO_Q_NEUTRAL" value="33417"/>
     <define name="GYRO_R_NEUTRAL" value="32809"/>
-
     <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
     <define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
     <define name="GYRO_R_SENS" value=" 1.01" 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="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"/>
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 3d5cad52c8..4949dcffa7 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -33,9 +33,9 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="GYRO_P_NEUTRAL" value="31948"/>
-    <define name="GYRO_Q_NEUTRAL" value="31834"/>
-    <define name="GYRO_R_NEUTRAL" value="32687"/>
+    <define name="GYRO_P_NEUTRAL" value="32858"/>
+    <define name="GYRO_Q_NEUTRAL" value="33152"/>
+    <define name="GYRO_R_NEUTRAL" value="31779"/>
     <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
     <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
     <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 0e9e9d474f..ea422a88fe 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -1,10 +1,18 @@
-<airframe name="BOOZ2_A2">
+<airframe name="BOOZ2_PpzUav_011">
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="PITCH"  no="0" min="0" neutral="0" max="255"/>
-    <servo name="ROLL"   no="1" min="0" neutral="0" max="255"/>
-    <servo name="YAW"    no="2" min="0" neutral="0" max="255"/>
-    <servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
+<!-- BOOZ2_PpzUav011
+     BOOZ2_MAIN_011 main board
+     BOOZ2_IMU_011 IMU
+     BOOZ2_GPS_011 LEA-5H GPS
+     Datamodems configured for 57600 baud
+     Asctec Speed Controllers
+     -->
+
+ <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="3" min="0" neutral="0" max="255"/>
+    <servo name="BACK"  no="0" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"  no="2" min="0" neutral="0" max="255"/>
   </servos>
 
   <commands>
@@ -14,18 +22,18 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-  <section name="IMU" prefix="IMU_">
+   <section name="IMU" prefix="IMU_">
 
     <define name="GYRO_P_CHAN" value="1"/>
     <define name="GYRO_Q_CHAN" value="0"/>
     <define name="GYRO_R_CHAN" value="2"/>
 
-    <define name="GYRO_P_NEUTRAL" value="32220"/>
-    <define name="GYRO_Q_NEUTRAL" value="31620"/>
-    <define name="GYRO_R_NEUTRAL" value="32000"/>
+    <define name="GYRO_P_NEUTRAL" value="31675"/>
+    <define name="GYRO_Q_NEUTRAL" value="31650"/>
+    <define name="GYRO_R_NEUTRAL" value="31475"/>
 
-    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
-    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_P_SENS" value=" -1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="1.01" integer="16"/>
     <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
 
 
@@ -33,51 +41,63 @@
     <define name="ACCEL_Y_CHAN" value="3"/>
     <define name="ACCEL_Z_CHAN" value="4"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="32610"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32891"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32373"/>
+    <define name="ACCEL_X_NEUTRAL" value="33026"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32976"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32329"/>
 
-    <define name="ACCEL_X_SENS" value="-2.5922049353" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="-2.55839088796" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="-2.56970688984" integer="16"/>
+    <define name="ACCEL_X_SENS" value="2.52976874461" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.5581570391" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.5247740245" integer="16"/>
 
     <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_NEUTRAL" value="-20"/>
-   <define name="MAG_Y_NEUTRAL" value="11"/>
-   <define name="MAG_Z_NEUTRAL" value="-15"/>
+    <define name="MAG_X_SENS" value="5.25214038933" integer="16"/>
+    <define name="MAG_Y_SENS" value="5.5771208609" integer="16"/>
+    <define name="MAG_Z_SENS" value="2.63954806011" integer="16"/>
 
-   <define name="MAG_X_SENS" value="5.21841333202" integer="16"/>
-   <define name="MAG_Y_SENS" value="-5.28784022883" integer="16"/>
-   <define name="MAG_Z_SENS" value="-2.92595913244" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="18"/>
+    <define name="MAG_Y_NEUTRAL" value="5"/>
+    <define name="MAG_Z_NEUTRAL" value="192"/>
 
-    <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.))"/>
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-90.)"/>
 
   </section>
 
+<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+      <!-- setpoints -->
+	<define name="SP_MAX_P" value="10000" />
+	<define name="SP_MAX_Q" value="10000" />
+	<define name="SP_MAX_R" value="10000" />
+        <define name="DEADBAND_P" value="0" />
+        <define name="DEADBAND_Q" value="0" />
+        <define name="DEADBAND_R" value="200" />
+        <define name="REF_TAU" value="4" />
 
-  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+        <!-- feedback -->
+	<define name="GAIN_P" value="-400" />
+	<define name="GAIN_Q" value="-400" />
+	<define name="GAIN_R" value="-350" />
 
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
+        <define name="IGAIN_P" value="-75" />
+        <define name="IGAIN_Q" value="-75" />
+        <define name="IGAIN_R" value="-50" />
 
-    <define name="GAIN_P" value="-400"/>
-    <define name="GAIN_Q" value="-400"/>
-    <define name="GAIN_R" value="-350"/>
-
-  </section>
+        <!-- feedforward -->
+        <define name="DDGAIN_P" value="300" />
+        <define name="DDGAIN_Q" value="300" />
+        <define name="DDGAIN_R" value="300" />
+	</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="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
@@ -97,8 +117,7 @@
     <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"/>
@@ -112,13 +131,13 @@
     <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="PHI_PGAIN"  value="-1000"/>
+    <define name="PHI_DGAIN"  value="-300"/>
+    <define name="PHI_IGAIN"  value="-100"/>
 
-    <define name="THETA_PGAIN"  value="-2000"/>
-    <define name="THETA_DGAIN"  value="-400"/>
-    <define name="THETA_IGAIN"  value="-200"/>
+    <define name="THETA_PGAIN"  value="-1000"/>
+    <define name="THETA_DGAIN"  value="-300"/>
+    <define name="THETA_IGAIN"  value="-100"/>
 
     <define name="PSI_PGAIN"  value="-1000"/>
     <define name="PSI_DGAIN"  value="-350"/>
@@ -131,77 +150,81 @@
 
   </section>
 
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <define name="TRIM_A" value="0"/>
-    <define name="TRIM_E" value="6"/>
-    <define name="TRIM_R" value="0"/>
-  </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_">
+ <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="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="REF_MIN_ZDD"  value="-1.5*9.81"/>
+   <define name="REF_MAX_ZDD"  value=" 0.5*9.81"/>
+   <define name="REF_MIN_ZD"   value="-1.5"/>
+   <define name="REF_MAX_ZD"   value=" 1.5"/>
+   <define name="HOVER_KP"     value="-150"/>
+   <define name="HOVER_KD"     value="-80"/>
+   <define name="HOVER_KI"     value="0"/>
+   <!-- 1.5m/s for full stick : 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"/>
+   <!-- <define name="INV_M" value="0.118"/> -->
   </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 name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-50"/>
+   <define name="DGAIN" value="-60"/>
+   <define name="IGAIN" value="-15"/>
+   <define name="NGAIN" value="-0"/>
+   <define name="AGAIN" 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="CATASTROPHIC_BAT_LEVEL" value="6.4" unit="V"/>
    <define name="BATTERY_SENS"   value="0.18" 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"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_NAV"/>
  </section>
 
+  <section name="INS" prefix="BOOZ_INS_">
+    <define name="BARO_SENS" value="14.9" integer="16"/>
+  </section>
 
  <section name="MISC">
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
  </section>
-
-  <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.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=B38400
-ap.CFLAGS += -DMODEM_BAUD=B57600
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-  </makefile>
-
+<!-- FIRMWARE -->
+<firmware name="rotorcraft">
+  <target name="ap" board="booz_1.0">
+    <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example--> 
+  </target>
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="actuators"     type="asctec"/>
+    <subsystem name="imu"           type="b2v1_1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+</firmware>
+<firmware name="booz_test_progs">
+    <target name="test_telemetry" board="booz_1.0"/>
+    <target name="test_baro"      board="booz_1.0"/>
+  </firmware>
 </airframe>
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
index 3a59457b35..eaee1d012b 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
@@ -2,7 +2,7 @@
 # Complementary filter for attitude estimation
 #
 
-ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
+ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DBOOZ_AHRS_FIXED_POINT
 ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile b/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
index e3253a966d..5e790091f7 100644
--- a/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
@@ -2,12 +2,13 @@
 ap.srcs += $(SRC_BOOZ)/booz_gps.c
 ap.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
 ap.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
+
+ap.CFLAGS += -DUSE_$(GPS_PORT) -D$(GPS_PORT)_BAUD=$(GPS_BAUD)
+ap.CFLAGS += -DUSE_GPS -DGPS_LINK=$(GPS_PORT) -DGPS_LED=$(GPS_LED)
+
 ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DUART0_VIC_SLOT=5
-ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart0 -DGPS_LED=4
-else ifeq ($(ARCHI), stm32) 
-ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart1 -DGPS_LED=3
+ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
 endif
+
 sim.CFLAGS += -DUSE_GPS
 sim.srcs += $(SRC_BOOZ)/booz_gps.c
diff --git a/conf/boards/booz_1.0.makefile b/conf/boards/booz_1.0.makefile
index ee17921bf2..3dd9372413 100644
--- a/conf/boards/booz_1.0.makefile
+++ b/conf/boards/booz_1.0.makefile
@@ -19,10 +19,16 @@ endif
 #
 #
 
-SYS_TIME_LED = 1
+#SYS_TIME_LED = 1 # not used
 
 RADIO_CONTROL_LED  = 1
 RADIO_CONTROL_LINK = UART0
 
 MODEM_PORT = UART1
 MODEM_BAUD = B57600
+
+AHRS_ALIGNER_LED = 3
+
+GPS_PORT=UART0
+GPS_BAUD=B38400
+GPS_LED=4
\ No newline at end of file
diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile
index 7c0a893458..5cd2ffbc3b 100644
--- a/conf/boards/lisa_l_1.0.makefile
+++ b/conf/boards/lisa_l_1.0.makefile
@@ -27,3 +27,8 @@ RADIO_CONTROL_LINK = UART3
 MODEM_PORT=UART2
 MODEM_BAUD=B57600
 
+AHRS_ALIGNER_LED = 7
+
+GPS_PORT=UART1
+GPS_BAUD=B38400
+GPS_LED = 3
diff --git a/sw/airborne/booz/booz2_main.c b/sw/airborne/booz/booz2_main.c
index 7c02ff0c34..934e5fbeee 100644
--- a/sw/airborne/booz/booz2_main.c
+++ b/sw/airborne/booz/booz2_main.c
@@ -41,6 +41,7 @@
 #include "booz_imu.h"
 #include "booz_gps.h"
 
+#include "booz/booz2_analog.h"
 #include "rotorcraft/baro.h"
 
 #include "booz2_battery.h"