diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 842c8b60d8c..11a3016f28b 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -22,6 +22,7 @@
       <!--define name="BARO_ETS_TELEMETRY"/-->
     </load>
     <load name="alt_filter.xml"/>
+    <load name="generic_com.xml"/>
   </modules>
 
   <firmware name="fixedwing">
@@ -43,7 +44,7 @@
     </subsystem>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="transparent"/>
+    <subsystem name="telemetry" type="xbee_api"/>
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control" type="new"/>
@@ -208,7 +209,7 @@
     <!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
     <define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
     <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
-    <define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/>
+    <!--define name="JSBSIM_INIT"	value="&quot;Malolo1-IC&quot;"/-->
     <define name="JSBSIM_LAUNCHSPEED"	value="15.0"/>
     <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
     <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 7d491dd3382..44b395950eb 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -211,7 +211,7 @@ jsbsim.CFLAGS 		+= -I$(SIMDIR) -I/usr/include -I$(JSBSIM_INC) -I$(OCAMLLIBDIR) `
 jsbsim.LDFLAGS		+= `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib -lJSBSim
 
 jsbsim.CFLAGS 		+= -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
-jsbsim.srcs 		+= downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/jsbsim_transport.c
+jsbsim.srcs 		+= downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/jsbsim_transport.c
 
 jsbsim.srcs 		+= subsystems/settings.c
 jsbsim.srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
diff --git a/sw/airborne/arch/sim/jsbsim_ir.c b/sw/airborne/arch/sim/jsbsim_ir.c
index 9d448d486b4..5341bb3b916 100644
--- a/sw/airborne/arch/sim/jsbsim_ir.c
+++ b/sw/airborne/arch/sim/jsbsim_ir.c
@@ -7,6 +7,7 @@
 
 #include "jsbsim_hw.h"
 #include <math.h>
+#include "estimator.h"
 
 #ifndef JSBSIM_IR_ROLL_NEUTRAL
 #define JSBSIM_IR_ROLL_NEUTRAL 0.
@@ -15,15 +16,18 @@
 #define JSBSIM_IR_PITCH_NEUTRAL 0.
 #endif
 
-void set_ir(double roll, double pitch) {
+void set_ir(double roll __attribute__ ((unused)), double pitch __attribute__ ((unused))) {
 
+#ifdef USE_INFRARED
   double ir_contrast = 150; //FIXME
   double roll_sensor = roll + JSBSIM_IR_ROLL_NEUTRAL; // ir_roll_neutral;
   double pitch_sensor = pitch + JSBSIM_IR_PITCH_NEUTRAL; // ir_pitch_neutral;
-#ifdef USE_INFRARED
   infrared.roll = sin(roll_sensor) * ir_contrast;
   infrared.pitch = sin(pitch_sensor) * ir_contrast;
   infrared.top = cos(roll_sensor) * cos(pitch_sensor) * ir_contrast;
+#else
+  estimator_phi = roll; // - ins_roll_neutral;
+  estimator_theta = pitch; // - ins_pitch_neutral;
 #endif
 
 }