diff --git a/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile b/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile
deleted file mode 100644
index 3a59457b35..0000000000
--- a/conf/autopilot/subsystems/booz2_ahrs_cmpl.makefile
+++ /dev/null
@@ -1,13 +0,0 @@
-#
-# Complementary filter for attitude estimation
-#
-
-ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
-ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
-ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
-ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
-
-sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
-sim.srcs += $(SRC_BOOZ)/booz_ahrs.c
-sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
-sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile
similarity index 71%
rename from conf/autopilot/subsystems/booz2_ahrs_lkf.makefile
rename to conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile
index 85a9c60326..c3261b994f 100644
--- a/conf/autopilot/subsystems/booz2_ahrs_lkf.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_lkf.makefile
@@ -2,12 +2,12 @@
 # Error State Space Kalman filter for attitude estimation
 #
 
-ap.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=3
+ap.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
 ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_float_lkf.c
 
-sim.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=3
+sim.CFLAGS += -DUSE_AHRS_LKF -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 sim.srcs += $(SRC_BOOZ)/booz_ahrs.c
 sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
 sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_float_lkf.c