diff --git a/conf/autopilot/subsystems/booz2_actuators_asctec.makefile b/conf/autopilot/subsystems/booz2_actuators_asctec.makefile
index 2f351b9af7..eb5cd70d29 100644
--- a/conf/autopilot/subsystems/booz2_actuators_asctec.makefile
+++ b/conf/autopilot/subsystems/booz2_actuators_asctec.makefile
@@ -5,7 +5,8 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
 
-# asctec controllers
-sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
-sim.srcs += $(SRC_BOOZ_SIM)/actuators_asctec_twi_blmc_hw.c actuators.c
+# Simulator
+sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
diff --git a/conf/autopilot/subsystems/booz2_fms_datalink.makefile b/conf/autopilot/subsystems/booz2_fms_datalink.makefile
index 652816a540..e83946ff15 100644
--- a/conf/autopilot/subsystems/booz2_fms_datalink.makefile
+++ b/conf/autopilot/subsystems/booz2_fms_datalink.makefile
@@ -2,3 +2,7 @@ ap.CFLAGS += -DUSE_FMS -DBOOZ_FMS_TYPE=BOOZ_FMS_TYPE_DATALINK
 ap.srcs += $(SRC_BOOZ)/booz_fms.c
 ap.srcs += $(SRC_BOOZ)/fms/booz_fms_datalink.c
 
+sim.CFLAGS += -DUSE_FMS -DBOOZ_FMS_TYPE=BOOZ_FMS_TYPE_DATALINK
+sim.srcs += $(SRC_BOOZ)/booz_fms.c
+sim.srcs += $(SRC_BOOZ)/fms/booz_fms_datalink.c
+
diff --git a/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile b/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
index 675745aa60..89eec5f5e5 100644
--- a/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
+++ b/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
@@ -48,9 +48,10 @@
 
 # imu Booz2 v1.1
 ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-ap.srcs += $(SRC_BOOZ)/booz_imu.c
-ap.CFLAGS += -DSSP_VIC_SLOT=9 -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ap.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c \
+ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+ap.CFLAGS += -DSSP_VIC_SLOT=9
+ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
+           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
            $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
 
 ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
@@ -61,3 +62,21 @@ ap.CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
            $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
+
+#
+# Simulator
+#
+
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
+            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
+            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+
+
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1