diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index 5c6debd9f0..61981436c4 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -68,6 +68,7 @@ sim.CFLAGS += -DCONFIG=\"conf_booz.h\"
 
 sim.srcs += $(BOOZ_PRIV)/booz_imu_int.c
 sim.srcs += $(BOOZ_PRIV)/booz_estimator_int.c
+sim.srcs += $(BOOZ_PRIV)/booz_nav_filter_int.c
 sim.srcs += $(BOOZ_PRIV)/booz_cmp_flt_quat_int.c
 sim.srcs += $(BOOZ_PRIV)/booz_guidance_int.c
 sim.srcs += $(BOOZ_PRIV)/booz_stabilization_int.c
diff --git a/conf/messages.xml b/conf/messages.xml
index 317e1aaa7c..0755a7910f 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -898,6 +898,15 @@
    <field name="br"     type="int32"/>
  </message>
 
+ <message name="BOOZ2_FILTER2" ID="135">   
+   <field name="px"  type="int32"/>
+   <field name="py"  type="int32"/>
+   <field name="pz"  type="int32"/>
+   <field name="gsx" type="int32"/>
+   <field name="gsy" type="int32"/>
+   <field name="gsz" type="int32"/>
+ </message>
+
 <!--
   <message name="DC_MC_STATUS" ID="255">
       <field name="time_sec" type="uint16"/>