diff --git a/conf/autopilot/whirly_ap.makefile b/conf/autopilot/whirly_ap.makefile
index 2d2da7bb71..21c806fa31 100644
--- a/conf/autopilot/whirly_ap.makefile
+++ b/conf/autopilot/whirly_ap.makefile
@@ -23,7 +23,6 @@ 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
diff --git a/conf/messages.xml b/conf/messages.xml
index 8a53639b94..617d0c16ff 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1056,6 +1056,9 @@
       <field name="euler_2_error_nb" type="uint32"/>
       <field name="psi_mag_1_error_nb" type="uint32"/>
       <field name="psi_mag_2_error_nb" type="uint32"/>
+      <field name="gyro1x_lp" type="float"/>
+      <field name="gyro1y_lp" type="float"/>
+      <field name="gyro1z_lp" type="float"/>
     </message>
 
     <message name="WHIRLY_MOTORCONTROL" id="183">