diff --git a/conf/autopilot/booz2_simulator.makefile b/conf/autopilot/booz2_simulator.makefile
index b0ffe1cc84..e924f31421 100644
--- a/conf/autopilot/booz2_simulator.makefile
+++ b/conf/autopilot/booz2_simulator.makefile
@@ -17,6 +17,8 @@ sim.CFLAGS  += -DSITL
 sim.CFLAGS  += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
 sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
 
+sim.CFLAGS  += -DBYPASS_AHRS
+
 sim.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I../simulator -DFLOAT_T=float
 
 sim.srcs = $(SIMDIR)/booz2_sim_main.c                \
diff --git a/sw/simulator/booz2_sim_main.c b/sw/simulator/booz2_sim_main.c
index 23a065dc55..d48683f81d 100644
--- a/sw/simulator/booz2_sim_main.c
+++ b/sw/simulator/booz2_sim_main.c
@@ -50,6 +50,7 @@ double disp_time;
 
 double booz_sim_actuators_values[] = {0., 0., 0., 0.};
 
+static void sim_bypass_ahrs(void);
 static void sim_gps_feed_data(void);
 static void sim_mag_feed_data(void);
 
@@ -118,6 +119,9 @@ static gboolean booz2_sim_periodic(gpointer data __attribute__ ((unused))) {
   if (booz_sensors_model_gyro_available()) {
     booz2_imu_feed_data();
     booz2_main_event();
+#ifdef BYPASS_AHRS
+    sim_bypass_ahrs();
+#endif /* BYPASS_AHRS */
   }
 
   if (booz_sensors_model_gps_available()) {
@@ -137,6 +141,19 @@ static gboolean booz2_sim_periodic(gpointer data __attribute__ ((unused))) {
   return TRUE;
 }
 
+#include "booz_geometry_mixed.h"
+#include "booz2_filter_attitude.h"
+static void sim_bypass_ahrs(void) {
+  booz2_filter_attitude_euler_aligned.phi   = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_PHI]);
+  booz2_filter_attitude_euler_aligned.theta = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_THETA]);
+  booz2_filter_attitude_euler_aligned.psi   = BOOZ_ANGLE_I_OF_F(bfm.state->ve[BFMS_PSI]);
+
+  booz2_filter_attitude_rate.x = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_P]);
+  booz2_filter_attitude_rate.y = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_Q]);
+  booz2_filter_attitude_rate.z = BOOZ_RATE_I_OF_F(bfm.state->ve[BFMS_R]);
+
+}
+
 #include "booz2_gps.h"
 static void sim_gps_feed_data(void) {
   booz2_gps_lat = bsm.gps_pos_lla.lat;
diff --git a/sw/simulator/booz_rc_sim.h b/sw/simulator/booz_rc_sim.h
index c74bf84cb0..fb9d39083b 100644
--- a/sw/simulator/booz_rc_sim.h
+++ b/sw/simulator/booz_rc_sim.h
@@ -22,7 +22,7 @@
     else {								\
       ppm_pulses[RADIO_YAW]      = 1500 + 0.   * (2050-950);		\
       ppm_pulses[RADIO_THROTTLE] = 1223 + 0.99 * (2050-1223);		\
-      ppm_pulses[RADIO_MODE]     = MODE_SWITCH_AUTO2;			\
+      ppm_pulses[RADIO_MODE]     = MODE_SWITCH_AUTO1;			\
     }									\
     ppm_pulses[RADIO_PITCH]    = 1500 + 0.  * (2050-950);		\
     ppm_pulses[RADIO_ROLL]     = 1500 + 0.  * (2050-950);		\