diff --git a/conf/settings/estimation/body_to_imu.xml b/conf/settings/estimation/body_to_imu.xml
index 506ccac38e..e518b1182d 100644
--- a/conf/settings/estimation/body_to_imu.xml
+++ b/conf/settings/estimation/body_to_imu.xml
@@ -1,6 +1,6 @@
 <!DOCTYPE settings SYSTEM "../settings.dtd">
 
-<settings target="ap|nps">
+<settings target="!sim">
   <dl_settings>
     <dl_settings NAME="body2imu">
       <dl_setting MAX="90" MIN="-90" STEP="0.5" VAR="imu.body_to_imu.eulers_f.phi" shortname="b2i phi" module="subsystems/imu" param="IMU_BODY_TO_IMU_PHI" unit="rad" alt_unit="deg" handler="SetBodyToImuPhi"/>
diff --git a/sw/tools/generators/gen_settings.ml b/sw/tools/generators/gen_settings.ml
index 2c5e3c9048..c6b51fc522 100644
--- a/sw/tools/generators/gen_settings.ml
+++ b/sw/tools/generators/gen_settings.ml
@@ -276,6 +276,17 @@ let parse_rc_mode = fun xml ->
 let parse_rc_modes = fun xml ->
   List.iter parse_rc_mode (Xml.children xml)
 
+(*
+ Check if target t is marked as supported in the targets string.
+ The targets string is a pipe delimited list of supported targets, e.g. "ap|nps"
+ To specifiy a list with unsupported targets, prefix with !
+ e.g. "!sim|nps" to mark support for all targets except sim and nps.
+*)
+let supports_target = fun t targets ->
+  if (String.get targets 0) = '!' then
+    not (Str.string_match (Str.regexp (".*"^t^".*")) targets 0)
+  else
+    Str.string_match (Str.regexp (".*"^t^".*")) targets 0
 
 let join_xml_files = fun xml_files ->
   let dl_settings = ref []
@@ -302,7 +313,7 @@ let join_xml_files = fun xml_files ->
             if List.exists (fun n ->
               if Xml.tag n = "makefile" then begin
                 let t = ExtXml.attrib_or_default n "target" Env.default_module_targets in
-                Str.string_match (Str.regexp (".*"^target^".*")) t 0
+                supports_target target t
               end
               else false
               ) (Xml.children xml)
@@ -313,7 +324,7 @@ let join_xml_files = fun xml_files ->
             (* if the top <settings> node has a target attribute,
                only add if matches current target *)
             let t = ExtXml.attrib_or_default xml "target" "" in
-            if t = "" || Str.string_match (Str.regexp (".*"^target^".*")) t 0 then
+            if t = "" || (supports_target target t) then
               [xml]
             else
               []