diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index e6627ccb74..c11363562b 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -1,204 +1,205 @@
 <airframe name="BOOZ2_F1">
 
-  <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>
+	<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="BOOZ2_MODE" prefix="BOOZ2_MODE_">
-  	<define name="MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT"/>
-  	<define name="AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-  	<define name="AUTO2"  value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
-  </section>
+	<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="BUSS_BLMC" prefix="BUSS_BLMC_">
-    <define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }"/>
-  </section>
+	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+		<define name="NB" value="4" />
+		<define name="ADDR" value="{ 0x52, 0x54, 0x58, 0x56 }" />
+	</section>
 
-  <section name="SUPERVISION" prefix="SUPERVISION_">
-    <!-- <define name="FRONT_ROTOR_CW" value="1"/> -->
-    <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"/>
-  </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="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}" />
+	</section>
 
-  <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_CHAN" value="1"/>
-    <define name="GYRO_Q_CHAN" value="0"/>
-    <define name="GYRO_R_CHAN" value="2"/>
+		<define name="GYRO_P_NEUTRAL" value="32372" />
+		<define name="GYRO_Q_NEUTRAL" value="32080" />
+		<define name="GYRO_R_NEUTRAL" value="31978" />
 
-    <define name="GYRO_P_NEUTRAL" value="32372"/>
-    <define name="GYRO_Q_NEUTRAL" value="32080"/>
-    <define name="GYRO_R_NEUTRAL" value="31978"/>
+		<define name="GYRO_P_SENS" value=" 1.1032765" integer="16" />
+		<define name="GYRO_Q_SENS" value="-1.1360802599" integer="16" />
+		<define name="GYRO_R_SENS" value="-1.1249874614" integer="16" />
 
-    <define name="GYRO_P_SENS" value=" 1.1032765"    integer="16"/>
-    <define name="GYRO_Q_SENS" value="-1.1360802599" integer="16"/>
-    <define name="GYRO_R_SENS" value="-1.1249874614" 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_CHAN" value="3" />
+		<define name="ACCEL_Y_CHAN" value="5" />
+		<define name="ACCEL_Z_CHAN" value="6" />
 
-    <define name="ACCEL_X_SENS" value="-2.46029007" integer="16"/>
-    <define name="ACCEL_Y_SENS" value="-2.45046527" integer="16"/>
-    <define name="ACCEL_Z_SENS" value="-2.48071774" integer="16"/>
+		<define name="ACCEL_X_SENS" value="-2.46029007" integer="16" />
+		<define name="ACCEL_Y_SENS" value="-2.45046527" integer="16" />
+		<define name="ACCEL_Z_SENS" value="-2.48071774" integer="16" />
 
-    <define name="ACCEL_X_NEUTRAL" value="31893"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32204"/>
-    <define name="ACCEL_Z_NEUTRAL" value="33009"/>
+		<define name="ACCEL_X_NEUTRAL" value="31893" />
+		<define name="ACCEL_Y_NEUTRAL" value="32204" />
+		<define name="ACCEL_Z_NEUTRAL" value="33009" />
 
-    <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_SENS" value="-3.3915023" integer="16"/>
-    <define name="MAG_Y_SENS" value="3.3855561" integer="16"/>
-    <define name="MAG_Z_SENS" value="-4.50143271" integer="16"/>
-    <define name="MAG_45_HACK" value="1"/>
+		<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="2054"/>
-    <define name="MAG_Y_NEUTRAL" value="1963"/>
-    <define name="MAG_Z_NEUTRAL" value="2078"/>
-    
-    <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>
+		<define name="MAG_X_SENS" value="-3.3915023" integer="16" />
+		<define name="MAG_Y_SENS" value="3.3855561" integer="16" />
+		<define name="MAG_Z_SENS" value="-4.50143271" integer="16" />
+		<define name="MAG_45_HACK" value="1" />
+
+		<define name="MAG_X_NEUTRAL" value="2054" />
+		<define name="MAG_Y_NEUTRAL" value="1963" />
+		<define name="MAG_Z_NEUTRAL" value="2078" />
+
+		<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_">
+	<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="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"/>
+		<define name="GAIN_P" value="-400" />
+		<define name="GAIN_Q" value="-400" />
+		<define name="GAIN_R" value="-350" />
 
-  </section>
+	</section>
 
 
-  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+	<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
-    <!-- setpoints -->
-    <define name="SP_MAX_PHI"     value="3000"/>
-    <define name="SP_MAX_THETA"   value="3000"/>
-    <define name="SP_MAX_R"       value="5500"/>
-    <define name="DEADBAND_R"     value="250"/>
-    <define name="DEADBAND_ROLL"  value="150"/>
-    <define name="DEADBAND_PITCH" value="150"/>
+		<!-- 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(800)"/>
-    <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
-    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+		<!-- reference -->
+		<define name="REF_OMEGA_P" value="RadOfDeg(800)" />
+		<define name="REF_ZETA_P" value="0.9" />
+		<define name="REF_MAX_P" value="RadOfDeg(300.)" />
+		<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
-    <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_Q" value="RadOfDeg(800)" />
+		<define name="REF_ZETA_Q" value="0.9" />
+		<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.)"/>
+		<define name="REF_OMEGA_R" value="RadOfDeg(500)" />
+		<define name="REF_ZETA_R" value="0.9" />
+		<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"/>
+		<!-- 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="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"/>
+		<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"/>
+		<!-- feedforward -->
+		<define name="PHI_DDGAIN" value=" 300" />
+		<define name="THETA_DDGAIN" value=" 300" />
+		<define name="PSI_DDGAIN" value=" 300" />
 
-  </section>
+	</section>
 
-  <section name="INS" prefix="BOOZ_INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
-  </section>
+	<section name="INS" prefix="BOOZ_INS_">
+		<define name="BARO_SENS" value="15." integer="16" />
+		<define name="UNTILT_ACCEL" value="1"/>
+	</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="HOVER_KP"    value="-200"/>
-   <define name="HOVER_KD"    value="-100"/>
-   <!-- 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"/>
-  </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="HOVER_KP" value="-200" />
+		<define name="HOVER_KD" value="-100" />
+		<!-- 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" />
+	</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="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="0.246" integer="16"/>
-   <define name="BATTERY_OFFSET" 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="0.246" integer="16" />
+		<define name="BATTERY_OFFSET" value="0" />
+	</section>
 
- <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
- </section>
+	<section name="MISC">
+		<define name="BOOZ2_FACE_REINJ_1" value="1024" />
+	</section>
 
- <section name="SIMULATOR" prefix="NPS_">
-   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
-   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
- </section>
+	<section name="SIMULATOR" prefix="NPS_">
+		<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}" />
+		<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;" />
+		<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;" />
+	</section>
 
-  <makefile>
-ARCH=lpc21
-BOARD_CFG = \"boards/booz2_v1_0.h\"
+	<section name="BOOZ2_MODE" prefix="BOOZ2_MODE_">
+		<define name="MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT" />
+		<define name="AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT" />
+		<define name="AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD" />
+	</section>
 
-# prevents motors from ever starting
-#ap.CFLAGS += -DKILL_MOTORS
+	<makefile>
+		ARCH=lpc21
+		BOARD_CFG = \"boards/booz2_v1_0.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-include $(CFG_BOOZ)/booz2_test_progs.makefile
+		# prevents motors from ever starting
+		#ap.CFLAGS += -DKILL_MOTORS
 
-include $(CFG_BOOZ)/booz2_simulator_nps.makefile
+		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_buss.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-include $(CFG_BOOZ)/subsystems/booz2_gps.makefile
+		include	$(CFG_BOOZ)/booz2_simulator_nps.makefile
 
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.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_b2v1.makefile
+		include	$(CFG_BOOZ)/subsystems/booz2_gps.makefile
+
+		include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
   </makefile>