diff --git a/conf/firmwares/subsystems/rotorcraft/ins.makefile b/conf/firmwares/subsystems/rotorcraft/ins.makefile
index c23c0333ca..fd4878813c 100644
--- a/conf/firmwares/subsystems/rotorcraft/ins.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ins.makefile
@@ -8,5 +8,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
-$(TARGET).CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./$(PERIODIC_FREQUENCY).)'
+$(TARGET).CFLAGS += -DUSE_VFF
 
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
index e4ecf1b674..6ce7f94af9 100644
--- a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
@@ -8,5 +8,5 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int_extended.c
 
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c
-$(TARGET).CFLAGS += -DUSE_VFF_EXTENDED -DDT_VFILTER='(1./$(PERIODIC_FREQUENCY).)'
+$(TARGET).CFLAGS += -DUSE_VFF_EXTENDED
 
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
index 48d96f0b09..6e34cecfd7 100644
--- a/sw/airborne/subsystems/ins/vf_extended_float.c
+++ b/sw/airborne/subsystems/ins/vf_extended_float.c
@@ -30,6 +30,7 @@
  */
 
 #include "subsystems/ins/vf_extended_float.h"
+#include "generated/airframe.h"
 
 #define DEBUG_VFF_EXTENDED 1
 
@@ -39,6 +40,14 @@
 #include "subsystems/datalink/downlink.h"
 #endif
 
+#ifndef INS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
+
+#define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))
+
+
 /*
 
 X = [ z zdot accel_bias baro_offset ]
diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c
index 54bf0c612b..7a2d023ac4 100644
--- a/sw/airborne/subsystems/ins/vf_float.c
+++ b/sw/airborne/subsystems/ins/vf_float.c
@@ -27,6 +27,14 @@
  */
 
 #include "subsystems/ins/vf_float.h"
+#include "generated/airframe.h"
+
+#ifndef INS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
+
+#define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))
 
 /*