diff --git a/conf/airframes/mmlaas_N1.xml b/conf/airframes/mmlaas_N1.xml
index f3eda10f41..90986d31e5 100644
--- a/conf/airframes/mmlaas_N1.xml
+++ b/conf/airframes/mmlaas_N1.xml
@@ -218,7 +218,7 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
 
 # Hack to use the same tuning file than slayer1
 # ap.CFLAGS += -DUSE_GPIO
@@ -226,7 +226,7 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
 
 # formation
 ap.CFLAGS += -DFORMATION -DTRAFFIC_INFO
-ap.srcs += traffic_info.c formation.c
+ap.srcs += traffic_info.c formation.c snav.c
 
 # external module
 ap.srcs += external.c
@@ -240,7 +240,7 @@ ap.srcs += external.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO
-sim.srcs += nav_survey_rectangle.c external.c traffic_info.c formation.c
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/mmlaas_N2.xml b/conf/airframes/mmlaas_N2.xml
index 295ba88169..fe5334a10c 100644
--- a/conf/airframes/mmlaas_N2.xml
+++ b/conf/airframes/mmlaas_N2.xml
@@ -219,11 +219,11 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
 
 #formation
 ap.CFLAGS += -DFORMATION -DTRAFFIC_INFO
-ap.srcs += traffic_info.c formation.c
+ap.srcs += traffic_info.c formation.c snav.c
 
 # external module
 ap.srcs += external.c
@@ -237,7 +237,7 @@ ap.srcs += external.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO
-sim.srcs += nav_survey_rectangle.c external.c traffic_info.c formation.c
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/mmlaas_N3.xml b/conf/airframes/mmlaas_N3.xml
index 8d564dd11e..8e1989ca2b 100644
--- a/conf/airframes/mmlaas_N3.xml
+++ b/conf/airframes/mmlaas_N3.xml
@@ -219,11 +219,11 @@ ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c nav_line.c
 
 # formation
 ap.CFLAGS += -DFORMATION -DTRAFFIC_INFO
-ap.srcs += traffic_info.c formation.c
+ap.srcs += traffic_info.c formation.c snav.c
 
 # external module
 ap.srcs += external.c
@@ -237,7 +237,7 @@ ap.srcs += external.c
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DFORMATION -DTRAFFIC_INFO
-sim.srcs += nav_survey_rectangle.c external.c traffic_info.c formation.c
+sim.srcs += nav_survey_rectangle.c nav_line.c external.c traffic_info.c formation.c snav.c
 
   </makefile>
 </airframe>