diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 9e418d14a5..a06d374537 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -127,10 +127,17 @@ PRINT_CONFIG_VAR(MODULES_FREQUENCY)
 #define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
+#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
+#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
+#endif
+
 #ifndef AHRS_CORRECT_FREQUENCY
 #define AHRS_CORRECT_FREQUENCY PERIODIC_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
+#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
+#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
+#endif
 
 static inline void on_gyro_event( void );
 static inline void on_accel_event( void );
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index dbdaffcfcd..04d8dbec31 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -60,11 +60,17 @@ PRINT_CONFIG_MSG("LOW PASS FILTER ON GYRO RATES")
 #define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_PROPAGATE_FREQUENCY)
+#if AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY
+#warning PERIODIC_FREQUENCY should be >= AHRS_PROPAGATE_FREQUENCY
+#endif
 
 #ifndef AHRS_CORRECT_FREQUENCY
 #define AHRS_CORRECT_FREQUENCY AHRS_PROPAGATE_FREQUENCY
 #endif
 PRINT_CONFIG_VAR(AHRS_CORRECT_FREQUENCY)
+#if AHRS_CORRECT_FREQUENCY > PERIODIC_FREQUENCY
+#warning PERIODIC_FREQUENCY should be >= AHRS_CORRECT_FREQUENCY
+#endif
 
 #ifndef AHRS_MAG_CORRECT_FREQUENCY
 #define AHRS_MAG_CORRECT_FREQUENCY 50