diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
index e7bb2544c4..9b420e4fe3 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
@@ -9,7 +9,6 @@ AHRS_ALIGNER_LED ?= none
 AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_IMU
 AHRS_CFLAGS += -DUSE_IMU_FLOAT
-AHRS_CFLAGS += -DUSE_GX3
 
 #fixedwings
 AHRS_CFLAGS += -DAHRS_UPDATE_FW_ESTIMATOR
@@ -26,7 +25,7 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_gx3.c
 
 GX3_PORT_LOWER=$(shell echo $(GX3_PORT) | tr A-Z a-z)
 AHRS_CFLAGS += -DUSE_$(GX3_PORT) -D$(GX3_PORT)_BAUD=$(GX3_BAUD)
-AHRS_CFLAGS += -DUSE_GX3 -DGX3_PORT=$(GX3_PORT_LOWER)
+AHRS_CFLAGS += -DGX3_PORT=$(GX3_PORT_LOWER)
 
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
index ba7f7c884a..ec5c4904d1 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -4,7 +4,7 @@
 USE_MAGNETOMETER ?= 1
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL_EULER
+AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(USE_MAGNETOMETER),0)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_ardrone2.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_ardrone2.makefile
index 020408e4fc..4d8ce6e126 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_ardrone2.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_ardrone2.makefile
@@ -3,7 +3,7 @@
 # Fixed point complementary filter using euler angles for attitude estimation
 #
 
-AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_ARDRONE2
+AHRS_CFLAGS  = -DUSE_AHRS
 
 AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_ardrone2.h\"
 AHRS_SRCS   += subsystems/ahrs.c
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_gx3.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_gx3.makefile
index 84684937f4..b5cd5a6f82 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_gx3.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_gx3.makefile
@@ -9,7 +9,6 @@ AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DAHRS_FLOAT
 AHRS_CFLAGS += -DUSE_IMU
 AHRS_CFLAGS += -DUSE_IMU_FLOAT
-AHRS_CFLAGS += -DUSE_GX3
 
 ifneq ($(AHRS_ALIGNER_LED),none)
   AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
@@ -22,7 +21,7 @@ AHRS_SRCS   += subsystems/ahrs/ahrs_gx3.c
 
 GX3_PORT_LOWER=$(shell echo $(GX3_PORT) | tr A-Z a-z)
 AHRS_CFLAGS += -DUSE_$(GX3_PORT) -D$(GX3_PORT)_BAUD=$(GX3_BAUD)
-AHRS_CFLAGS += -DUSE_GX3 -DGX3_PORT=$(GX3_PORT_LOWER)
+AHRS_CFLAGS += -DGX3_PORT=$(GX3_PORT_LOWER)
 
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
index 1efba93150..8f932d1fb0 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
@@ -6,7 +6,7 @@
 USE_MAGNETOMETER ?= 1
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_CMPL_EULER
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(USE_MAGNETOMETER),0)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
index ee2a2c102b..e08b97e223 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -7,7 +7,7 @@
 
 USE_MAGNETOMETER ?= 1
 
-AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_CMPL_QUAT
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(USE_MAGNETOMETER),0)
diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile
index 448148fedc..4934f223ea 100644
--- a/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/stabilization_float_quat.makefile
@@ -1,5 +1,4 @@
 STAB_ATT_CFLAGS  = -DSTABILIZATION_ATTITUDE_TYPE_FLOAT
-STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
 STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_quat_float.h\"
 STAB_ATT_SRCS  = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_float.c
 STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_float.c
diff --git a/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
index 50e15da7b1..7b6f5a5ac7 100644
--- a/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/stabilization_int_quat.makefile
@@ -1,5 +1,4 @@
 STAB_ATT_CFLAGS  = -DSTABILIZATION_ATTITUDE_TYPE_INT
-STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_QUAT
 STAB_ATT_CFLAGS += -DSTABILIZATION_ATTITUDE_TYPE_H=\"stabilization/stabilization_attitude_quat_int.h\"
 STAB_ATT_SRCS  = $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_quat_int.c
 STAB_ATT_SRCS += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_quat_int.c
diff --git a/conf/modules/rotorcraft_cam.xml b/conf/modules/rotorcraft_cam.xml
index 05142e146d..8aedbd50c5 100644
--- a/conf/modules/rotorcraft_cam.xml
+++ b/conf/modules/rotorcraft_cam.xml
@@ -26,7 +26,6 @@
   <periodic fun="rotorcraft_cam_periodic()" freq="10."/>
   <datalink message="ROTORCRAFT_CAM_STICK" fun="ROTORCRAFT_CAM_STICK_PARSE(dl_buffer)"/>
   <makefile>
-    <define name="USE_CAM"/>
     <file name="rotorcraft_cam.c"/>
   </makefile>
 </module>