diff --git a/src/modules/interface/sitaw.h b/src/modules/interface/sitaw.h
index 42df88928b..714050f631 100644
--- a/src/modules/interface/sitaw.h
+++ b/src/modules/interface/sitaw.h
@@ -42,7 +42,11 @@ void sitAwInit(void);
 void sitAwUpdateSetpoint(setpoint_t *setpoint, const sensorData_t *sensorData,
                                                const state_t *state);
 /* Enable the situation awareness framework. */
-//#define SITAW_ENABLED
+#define SITAW_ENABLED
+/* Enable the different functions of the situation awareness framework. */
+//#define SITAW_FF_ENABLED           /* Uncomment to enable */
+//#define SITAW_AR_ENABLED           /* Uncomment to enable */
+#define SITAW_TU_ENABLED           /* Uncomment to enable */
 
 /* Configuration options for the 'Free Fall' detection. */
 #define SITAW_FF_THRESHOLD 0.1     /* The default tolerance for AccWZ deviations from -1, indicating Free Fall. */
diff --git a/src/modules/src/sitaw.c b/src/modules/src/sitaw.c
index 5b2c568fab..f472caec99 100644
--- a/src/modules/src/sitaw.c
+++ b/src/modules/src/sitaw.c
@@ -322,7 +322,13 @@ bool sitAwTuDetected(void)
  */
 void sitAwInit(void)
 {
+#ifdef SITAW_FF_ENABLED
   sitAwFFInit();
+#endif
+#ifdef SITAW_AR_ENABLED
   sitAwARInit();
+#endif
+#ifdef SITAW_TU_ENABLED
   sitAwTuInit();
+#endif
 }
diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
index 4ffb710d65..eccc70983c 100644
--- a/src/modules/src/stabilizer.c
+++ b/src/modules/src/stabilizer.c
@@ -65,9 +65,10 @@ void stabilizerInit(StateEstimatorType estimator)
   stateEstimatorInit(estimator);
   stateControllerInit();
   powerDistributionInit();
-#if defined(SITAW_ENABLED)
-  sitAwInit();
-#endif
+  if (estimator == kalmanEstimator)
+  {
+    sitAwInit();
+  }
 
   xTaskCreate(stabilizerTask, STABILIZER_TASK_NAME,
               STABILIZER_TASK_STACKSIZE, NULL, STABILIZER_TASK_PRI, NULL);