diff --git a/conf/airframes/tudelft/bebop_course_orangeavoid.xml b/conf/airframes/tudelft/bebop_course_orangeavoid.xml
index 01cf10fe61..91c718d499 100644
--- a/conf/airframes/tudelft/bebop_course_orangeavoid.xml
+++ b/conf/airframes/tudelft/bebop_course_orangeavoid.xml
@@ -36,7 +36,7 @@
       <define name="COLOR_OBJECT_DETECTOR_CB_MAX1" value="121"/>
       <define name="COLOR_OBJECT_DETECTOR_CR_MIN1" value="134"/>
       <define name="COLOR_OBJECT_DETECTOR_CR_MAX1" value="249"/>
-      <module name="ahrs" type="float_mlkf"> <!-- was int_cmpl_quat  -->
+      <module name="ahrs" type="int_cmpl_quat">
         <configure name="USE_MAGNETOMETER" value="FALSE"/>
         <define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
       </module>
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index 987dfc6344..e52ddf8e3c 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -191,6 +191,8 @@ void nps_autopilot_run_step(double time)
 
 void sim_overwrite_ahrs(void)
 {
+  stateSetInputFilter(STATE_INPUT_ATTITUDE, MODULE_NPS_ID);
+  stateSetInputFilter(STATE_INPUT_RATES, MODULE_NPS_ID);
 
   struct FloatQuat quat_f;
   QUAT_COPY(quat_f, fdm.ltp_to_body_quat);