diff --git a/conf/conf.xml.example b/conf/conf.xml.example
index b4f90d1763..0fa9106a7e 100644
--- a/conf/conf.xml.example
+++ b/conf/conf.xml.example
@@ -12,7 +12,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/telemetry_booz2.xml"
    flight_plan="flight_plans/dummy.xml"
-   settings="settings/settings_booz2.xml"
+   settings="settings/settings_booz2.xml settings/settings_booz2_ahrs_cmpl.xml"
    gui_color="white"
   />
 
diff --git a/conf/settings/settings_booz2.xml b/conf/settings/settings_booz2.xml
index e72437169f..9990bc4f9c 100644
--- a/conf/settings/settings_booz2.xml
+++ b/conf/settings/settings_booz2.xml
@@ -54,12 +54,6 @@
                   shortname="ki" handler="SetKi"/>
    </dl_settings>
 
-
-    <dl_settings NAME="Filter">
-       <dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="ahrs/booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
-    </dl_settings>
-
-
     <dl_settings NAME="Analog Baro">
       <dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
     </dl_settings>
diff --git a/conf/settings/settings_booz2_ahrs_cmpl.xml b/conf/settings/settings_booz2_ahrs_cmpl.xml
new file mode 100644
index 0000000000..a04772d0cc
--- /dev/null
+++ b/conf/settings/settings_booz2_ahrs_cmpl.xml
@@ -0,0 +1,11 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Filter">
+       <dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="ahrs/booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
\ No newline at end of file
diff --git a/conf/settings/settings_booz2_ahrs_lkf.xml b/conf/settings/settings_booz2_ahrs_lkf.xml
new file mode 100644
index 0000000000..245aa2fe98
--- /dev/null
+++ b/conf/settings/settings_booz2_ahrs_lkf.xml
@@ -0,0 +1,12 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Filter">
+       <dl_setting var="bafl_sigma_accel" min="0.1" step="0.1" max="100.0" module="ahrs/booz_ahrs_float_lkf" shortname="sigma_accel" handler="SetRaccel"/>
+	   <dl_setting var="bafl_sigma_mag" min="1.0" step="1.0" max="1000.0" module="ahrs/booz_ahrs_float_lkf" shortname="sigma_mag" handler="SetRmag"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/settings_booz2_lkf.xml b/conf/settings/settings_booz2_lkf.xml
deleted file mode 100644
index 2cc2546bb0..0000000000
--- a/conf/settings/settings_booz2_lkf.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="Misc">
-       <dl_setting var="telemetry_mode_Main" min="0" step="1" max="11" module="booz2_telemetry" shortname="telemetry" values="Default|PPM|Raw sensors|Scaled sensors|AHRS|Rate loop|Att loop|Vert loop|H loop|Aligner|HS_att_roll|Tune_hover"/>
-      <dl_setting var="booz2_autopilot_mode_auto2" min="0" step="1" max="12" module="booz2_autopilot" shortname="auto2" values="Fail|Kill|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav"/>
-      <dl_setting var="booz2_autopilot_tol" min="0" step="1" max="2" module="booz2_autopilot" shortname="tol" values="RIEN|TO|LA" handler="SetTol"/>
-    </dl_settings>
-
-    <dl_settings NAME="Rate Loop">
-      <dl_setting var="booz_stabilization_rate_gain.p" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain p"/>
-      <dl_setting var="booz_stabilization_rate_gain.q" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain q"/>
-      <dl_setting var="booz_stabilization_rate_gain.r" min="-1000" step="1" max="-1" module="stabilization/booz_stabilization_rate" shortname="gain r"/>
-    </dl_settings>
-
-
-    <dl_settings NAME="Att Loop">
-      <dl_setting var="booz_stabilization_pgain.x" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="pgain phi" />
-      <dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="dgain p"/>
-      <dl_setting var="booz_stabilization_igain.x" min="-300"  step="1" max="0"    module="stabilization/booz_stabilization_attitude" shortname="igain phi" handler="SetKiPhi"/>
-      <dl_setting var="booz_stabilization_ddgain.x" min="0"    step="1" max="1000" module="stabilization/booz_stabilization_attitude" shortname="ddgain p"/>
-      <dl_setting var="booz_stabilization_pgain.y" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="pgain tetha"/>
-      <dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="dgain q"/>
-      <dl_setting var="booz_stabilization_igain.y" min="-300"  step="1" max="0"    module="stabilization/booz_stabilization_attitude" shortname="igain theta"/>
-      <dl_setting var="booz_stabilization_ddgain.y" min="0"    step="1" max="500"  module="stabilization/booz_stabilization_attitude" shortname="ddgain q"/>
-      <dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="pgain psi"/>
-      <dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1"   module="stabilization/booz_stabilization_attitude" shortname="dgain r"/>
-      <dl_setting var="booz_stabilization_igain.z" min="-300"  step="1" max="0"    module="stabilization/booz_stabilization_attitude" shortname="igain psi"/>
-      <dl_setting var="booz_stabilization_ddgain.z" min="0"    step="1" max="1000"  module="stabilization/booz_stabilization_attitude" shortname="ddgain r"/>
-    </dl_settings>
-
-    <dl_settings NAME="Vert Loop">
-      <dl_setting var="booz2_guidance_v_kp" min="-600" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="kp"/>
-      <dl_setting var="booz2_guidance_v_kd" min="-600" step="1" max="0"   module="guidance/booz2_guidance_v" shortname="kd"/>
-      <dl_setting var="booz2_guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/booz2_guidance_v" 
-	shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="booz_ins_vff_realign" min="0" step="1" max="1" module="booz2_ins" shortname="vff_realign" values="OFF|ON"/>
-   </dl_settings>
-
-   <dl_settings NAME="Horiz Loop">
-      <dl_setting var="booz2_guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/booz2_guidance_h" 
-	          shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="booz2_guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/booz2_guidance_h" 
-	          shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
-      <dl_setting var="booz2_guidance_h_psi_sp" MIN="-180" MAX="180" STEP="5"  module="guidance/booz2_guidance_h" 
-	          shortname="sp_psi" unit="1/2^20r" alt_unit="deg" alt_unit_coef="0.000054641513360"/>
-      <dl_setting var="booz2_guidance_h_pgain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h" 
-	          shortname="kp"/>
-      <dl_setting var="booz2_guidance_h_dgain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h" 
-	          shortname="kd"/>
-      <dl_setting var="booz2_guidance_h_igain" min="-400" step="1" max="0" module="guidance/booz2_guidance_h" 
-                  shortname="ki" handler="SetKi"/>
-   </dl_settings>
-
-
-    <dl_settings NAME="Analog Baro">
-      <dl_setting var="booz2_analog_baro_offset" min="1" step="1" max="1022" module="booz2_analog_baro" handler="SetOffset" shortname="offset"/>
-    </dl_settings>
-
-
-  </dl_settings>
-</settings>