diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml
index 1c92b6efae..a973292388 100644
--- a/conf/airframes/booz2_a1.xml
+++ b/conf/airframes/booz2_a1.xml
@@ -115,8 +115,8 @@
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
    <define name="HOVER_POWER" value="81"/>
-   <define name="HOVER_KP"    value="-200"/>
-   <define name="HOVER_KD"    value="-100"/>
+   <define name="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
    <define name="HOVER_KI"    value="-50"/>
   </section>
 
diff --git a/conf/airframes/booz2_a2.xml b/conf/airframes/booz2_a2.xml
index 051a499d71..1a34f8c0b3 100644
--- a/conf/airframes/booz2_a2.xml
+++ b/conf/airframes/booz2_a2.xml
@@ -97,8 +97,8 @@
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
    <define name="HOVER_POWER" value="81"/>
-   <define name="HOVER_KP"    value="-400"/>
-   <define name="HOVER_KD"    value="-300"/>
+   <define name="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
    <define name="HOVER_KI"    value="-75"/>
   </section>
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index 611c005284..ac23688dd6 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -35,8 +35,8 @@
     </dl_settings>
 
     <dl_settings NAME="Vert Loop">
-      <dl_setting var="booz2_guidance_v_kp" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
-      <dl_setting var="booz2_guidance_v_kd" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
+      <dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kp"/>
+      <dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0" module="booz2_guidance_v" shortname="kd"/>
       <dl_setting var="booz2_guidance_v_ki" min="-400" step="1" max="0" module="booz2_guidance_v" shortname="ki"/>
       <dl_setting var="booz2_guidance_v_z_sp" min="50" step="1" max="950" module="booz2_guidance_v" shortname="sp"/>
    </dl_settings>
diff --git a/sw/airborne/booz/booz2_fms_test_signal.c b/sw/airborne/booz/booz2_fms_test_signal.c
index 636b49c62d..207de61081 100644
--- a/sw/airborne/booz/booz2_fms_test_signal.c
+++ b/sw/airborne/booz/booz2_fms_test_signal.c
@@ -3,7 +3,7 @@
 #include "booz2_ins.h"
 #include "booz_geometry_mixed.h"
 
-#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD    100;
+#define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_PERIOD    200;
 #define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AMPLITUDE 20;
 #define BOOZ2_FMS_TEST_SIGNAL_DEFAULT_AXE  0