diff --git a/conf/autopilot/booz2_simulator_nps.makefile b/conf/autopilot/booz2_simulator_nps.makefile
index 095e1794fc..5c8541adec 100644
--- a/conf/autopilot/booz2_simulator_nps.makefile
+++ b/conf/autopilot/booz2_simulator_nps.makefile
@@ -85,9 +85,11 @@ sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
 
 sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
 
-sim.CFLAGS += -DAHRS_ALIGNER_LED=3
-sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
-sim.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
+# in makefile section of airframe xml
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_lkf.makefile
+# or
+# include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile 
+#
 
 sim.srcs += $(SRC_BOOZ)/booz_stabilization.c
 sim.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
diff --git a/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile b/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile
index 48d0f2c60e..b8a858b76f 100644
--- a/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile
+++ b/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile
@@ -1,3 +1,11 @@
+#
+# Complementary filter for attitude estimation
+#
+
 ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
-ap.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
\ No newline at end of file
+ap.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
+
+sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
+sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
+sim.srcs += $(SRC_BOOZ)/ahrs/booz2_filter_attitude_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile b/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile
index b894399494..306b4e72f3 100644
--- a/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile
+++ b/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile
@@ -1,3 +1,11 @@
+#
+# Error State Space Kalman filter for attitude estimation
+#
+
 ap.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=3
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
-ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_float_lkf.c
\ No newline at end of file
+ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_float_lkf.c
+
+sim.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=3
+sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
+sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_float_lkf.c