diff --git a/conf/autopilot/whirly_ap.makefile b/conf/autopilot/whirly_ap.makefile
index 062339506f..2d2da7bb71 100644
--- a/conf/autopilot/whirly_ap.makefile
+++ b/conf/autopilot/whirly_ap.makefile
@@ -23,6 +23,8 @@ ap.srcs+=$(SRC_FMS)/fms_serial_port.c
 ap.srcs+=$(SRC_RDY)/rdyb_estimator.c
 ap.srcs+=$(SRC_RDY)/rdyb_ahrs.c
 #ap.srcs+=$(SRC_RDY)/rdyb_control.c
+ap.srcs+=$(SRC_RDY)/booz_ahrs.c
+ap.srcs+=$(SRC_RDY)/ahrs_quat_fast_ekf.c
 
 ap.srcs+=$(SRC_RDY)/elevator_control.c
 ap.srcs+=$(SRC_RDY)/pid_generic.c