diff --git a/conf/airframes/bebop.xml b/conf/airframes/bebop.xml
index 5a178e3477..841b8dd9aa 100644
--- a/conf/airframes/bebop.xml
+++ b/conf/airframes/bebop.xml
@@ -21,11 +21,15 @@
     <subsystem name="imu" type="bebop"/>
     <subsystem name="gps" type="furuno"/>
     <subsystem name="stabilization" type="int_quat"/>
-    <subsystem name="ahrs" type="int_cmpl_quat"/>
+    <subsystem name="ahrs"          type="float_mlkf"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat">
+      <configure name="SECONDARY_AHRS" value="int_cmpl_quat"/>
+    </subsystem>
     <subsystem name="ins" type="extended"/>
   </firmware>
 
   <modules main_freq="512">
+    <load name="geo_mag.xml"/>
     <load name="send_imu_mag_current.xml"/>
     <!--load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="\\\"/data/ftp/internal_000/\\\""/>
diff --git a/conf/conf_example.xml b/conf/conf_example.xml
index 523d5e8e38..7be0976fa7 100644
--- a/conf/conf_example.xml
+++ b/conf/conf_example.xml
@@ -226,7 +226,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
    settings_modules=""
    gui_color="red"
   />
diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
index b62f3750f7..2523a7bec8 100644
--- a/conf/conf_tests.xml
+++ b/conf/conf_tests.xml
@@ -358,7 +358,7 @@
    radio="radios/cockpitSX.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/control/stabilization_att_int.xml"
+   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml"
    settings_modules=""
    gui_color="red"
   />