diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
index 3c5cc89267..485ecaef96 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_dcm.makefile
@@ -1,3 +1 @@
-include $(CFG_FIXEDWING)/ahrs_float_dcm.makefile
-
-$(warning The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
+$(error The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
index 0a6e51abd3..839cd8003f 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl.makefile
@@ -1,3 +1 @@
-include $(CFG_FIXEDWING)/ahrs_float_cmpl_quat.makefile
-
-$(warning The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
+$(error The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
index ca1db41118..0260d9d5e2 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_cmpl.makefile
@@ -1,3 +1 @@
-include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_euler.makefile
-
-$(warning The ahrs_cmpl subsystem has been renamed, please replace <subsystem name="ahrs" type="cmpl"/> with <subsystem name="ahrs" type="int_cmpl_euler"/> in your airframe file.)
+$(error The ahrs_cmpl subsystem has been renamed, please replace <subsystem name="ahrs" type="cmpl"/> with <subsystem name="ahrs" type="int_cmpl_euler"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
index a032123d47..839cd8003f 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl.makefile
@@ -1,3 +1 @@
-include $(CFG_ROTORCRAFT)/ahrs_float_cmpl_quat.makefile
-
-$(warning The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
+$(error The ahrs_float_cmpl subsystem has been split, please replace <subsystem name="ahrs" type="float_cmpl"/> with <subsystem name="ahrs" type="float_cmpl_quat"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
index b0a9744e32..f91ed066fc 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_ic.makefile
@@ -1,3 +1 @@
-include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_quat.makefile
-
-$(warning The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
+$(error The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
index 69ac14ffeb..33ded3428f 100644
--- a/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/fdm_nps.makefile
@@ -1,5 +1 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-include $(CFG_ROTORCRAFT)/fdm_jsbsim.makefile
-
-$(warning The fdm_nps subsystem has been renamed, please replace <subsystem name="fdm" type="nps"/> with <subsystem name="fdm" type="jsbsim"/> in your airframe file.)
+$(error The fdm_nps subsystem has been renamed, please replace <subsystem name="fdm" type="nps"/> with <subsystem name="fdm" type="jsbsim"/> in your airframe file.)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin.makefile b/conf/firmwares/subsystems/shared/imu_aspirin.makefile
index 1c08dca87b..fa74a9e984 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin.makefile
@@ -1,3 +1 @@
-include $(CFG_SHARED)/imu_aspirin_v1.0.makefile
-
-$(warning The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
+$(error The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
index d94ba9c2b8..c51268fa2d 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.0.makefile
@@ -1,3 +1 @@
-include $(CFG_SHARED)/imu_aspirin_v2.1.makefile
-
-$(warning The imu_aspirin_v2.0 subsystem has been renamed, please replace <subsystem name="imu" type="aspirin_v2.0"/> with <subsystem name="imu" type="aspirin_v2.1"/> in your airframe file.)
+$(error The imu_aspirin_v2.0 subsystem has been renamed, please replace <subsystem name="imu" type="aspirin_v2.0"/> with <subsystem name="imu" type="aspirin_v2.1"/> in your airframe file.)