diff --git a/Makefile.am b/Makefile.am
index e0b4c26..f83201b 100644
--- a/Makefile.am
+++ b/Makefile.am
@@ -1,13 +1,12 @@
+
+huboachconfdir=$(sysconfdir)/hubo-ach
+
 ACLOCAL_AMFLAGS = -I m4
-AM_CPPFLAGS = -I$(top_srcdir)/include
+AM_CPPFLAGS = -I$(top_srcdir)/include -DHUBO_ACH_CONFDIR="\"$(huboachconfdir)\""
 
 EXTRA_DIST = hubo-ach-safe-clean.sh virtualHubo.py joint.table sensor.table scripts/hubo-ach drc-hubo-beta-1-default.home drc-hubo-beta-2-default.home drc-hubo-beta-2-rainbow-default.home
 
-#huboscriptdir = $(sysconfdir)/bin
-huboscriptdir = /usr/bin
-#init_ddir = $(sysconfdir)/init.d
-init_ddir = $(huboscriptdir)
-init_d_SCRIPTS = scripts/hubo-ach 
+bin_SCRIPTS = scripts/hubo-ach
 
 # installed under $prefix/include/
 include_HEADERS = include/hubo.h include/hubo-jointparams.h include/hubo-daemonID.h
@@ -18,17 +17,14 @@ include_HEADERS = include/hubo.h include/hubo-jointparams.h include/hubo-daemonI
 #otherinclude_HEADERS = 	                \
 #	include/hubo/hubo-esdcan.h      \
 #	include/hubo/hubo-socketcan.h   \
-#	include/hubo/canID.h            
+#	include/hubo/canID.h
 
 # not installed
 
-huboachconfdir=/etc/hubo-ach
 
 huboachconf_DATA = tables/drc-hubo-beta-1-default.home tables/drc-hubo-beta-2-default.home tables/drc-hubo-beta-2-rainbow-default.home tables/huboplus.joint.table tables/drc-hubo.joint.table tables/joint.table tables/sensor.table tables/drc-hubo.sensor.table tables/huboplus.sensor.table python/virtualHubo.py hubo-ach-safe-clean.sh
 
-#hubo_jointparamsdir = $(prefix)/lib
-hubo_jointparamsdir = /usr/lib
-hubo_jointparams_LTLIBRARIES = libhuboparams.la
+lib_LTLIBRARIES = libhuboparams.la
 libhuboparams_la_SOURCES = src/hubo-jointparams.c
 libhuboparams_la_LDFLAGS = -module -avoid-version -shared
 
diff --git a/configure.ac b/configure.ac
index 5e470d2..b7c0dd9 100644
--- a/configure.ac
+++ b/configure.ac
@@ -33,3 +33,8 @@ AC_CHECK_FUNCS([clock_getTime memset socket])
 
 AC_CONFIG_FILES([ Makefile ])
 AC_OUTPUT
+
+AC_MSG_NOTICE([])
+AC_MSG_NOTICE([CONFIGURATION SUMMARY])
+AC_MSG_NOTICE([=====================])
+AC_MSG_NOTICE([PREFIX:          $prefix])
diff --git a/src/hubo-jointparams.c b/src/hubo-jointparams.c
index e390a90..cb73bec 100644
--- a/src/hubo-jointparams.c
+++ b/src/hubo-jointparams.c
@@ -30,8 +30,8 @@
 #define NUM_OF_HOME_PARAMETERS 7
 
 //set file location
-static char *jointFileLocation = "/etc/" PACKAGE_NAME "/joint.table";
-static char *sensorFileLocation = "/etc/" PACKAGE_NAME "/sensor.table";
+static char *jointFileLocation = HUBO_ACH_CONFDIR "/joint.table";
+static char *sensorFileLocation = HUBO_ACH_CONFDIR "/sensor.table";