diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 7f924c535f..bf412ec341 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -197,7 +197,7 @@
 	<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
 		<define name="MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
 		<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
-		<define name="AUTO2" value="BOOZ2_AP_MODE_NAV" />
+		<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
 	</section>
 
 	<makefile>
diff --git a/sw/airborne/booz/actuators/booz_supervision.c b/sw/airborne/booz/actuators/booz_supervision.c
index d967459813..79792e9a36 100644
--- a/sw/airborne/booz/actuators/booz_supervision.c
+++ b/sw/airborne/booz/actuators/booz_supervision.c
@@ -32,10 +32,17 @@
 #define INT32_MAX (2147483647)
 #endif
 
+#ifdef SITL
+static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = {    0,    0, -256,  256};
+static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = {  256, -256,    0,    0};
+static const int32_t yaw_coef[SUPERVISION_NB_MOTOR]    = { -256, -256,  256,  256};
+static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = {  256,  256,  256,  256};
+#else
 static const int32_t roll_coef[SUPERVISION_NB_MOTOR]   = SUPERVISION_ROLL_COEF;
 static const int32_t pitch_coef[SUPERVISION_NB_MOTOR]  = SUPERVISION_PITCH_COEF;
 static const int32_t yaw_coef[SUPERVISION_NB_MOTOR]    = SUPERVISION_YAW_COEF;
 static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF;
+#endif
 
 struct BoozSupervision supervision;