diff --git a/sw/airborne/subsystems/ahrs.c b/sw/airborne/subsystems/ahrs.c
index f68a86af67..44e7cafb30 100644
--- a/sw/airborne/subsystems/ahrs.c
+++ b/sw/airborne/subsystems/ahrs.c
@@ -22,7 +22,4 @@
 #include "subsystems/ahrs.h"
 
 struct Ahrs ahrs;
-struct AhrsFloat ahrs_float;
-
-float ahrs_mag_offset;
 
diff --git a/sw/airborne/subsystems/ahrs.h b/sw/airborne/subsystems/ahrs.h
index 1eafd751e6..76c9438fbc 100644
--- a/sw/airborne/subsystems/ahrs.h
+++ b/sw/airborne/subsystems/ahrs.h
@@ -39,73 +39,13 @@
 #include AHRS_TYPE_H
 #endif
 
-/** Attitude and Heading Reference System state (fixed point version) */
+/** Attitude and Heading Reference System state */
 struct Ahrs {
-
-  struct Int32Quat   ltp_to_imu_quat;  ///< Rotation from LocalTangentPlane to IMU frame as unit quaternion
-  struct Int32Eulers ltp_to_imu_euler; ///< Rotation from LocalTangentPlane to IMU frame as Euler angles
-  struct Int32RMat   ltp_to_imu_rmat;  ///< Rotation from LocalTangentPlane to IMU frame as Rotation Matrix
-  struct Int32Rates  imu_rate;         ///< Rotational velocity in IMU frame
-
-  struct Int32Quat   ltp_to_body_quat;  ///< Rotation from LocalTangentPlane to body frame as unit quaternion
-  struct Int32Eulers ltp_to_body_euler; ///< Rotation from LocalTangentPlane to body frame as Euler angles
-  struct Int32RMat   ltp_to_body_rmat;  ///< Rotation from LocalTangentPlane to body frame as Rotation Matrix
-  struct Int32Rates  body_rate;         ///< Rotational velocity in body frame
-
   uint8_t status; ///< status of the AHRS, AHRS_UNINIT or AHRS_RUNNING
 };
 
-/** Attitude and Heading Reference System state (floating point version) */
-struct AhrsFloat {
-  struct FloatQuat   ltp_to_imu_quat;  ///< Rotation from LocalTangentPlane to IMU frame as unit quaternion
-  struct FloatEulers ltp_to_imu_euler; ///< Rotation from LocalTangentPlane to IMU frame as Euler angles
-  struct FloatRMat   ltp_to_imu_rmat;  ///< Rotation from LocalTangentPlane to IMU frame as Rotation Matrix
-  struct FloatRates  imu_rate;         ///< Rotational velocity in IMU frame
-  struct FloatRates  imu_rate_previous;
-  struct FloatRates  imu_rate_d;
-
-  struct FloatQuat   ltp_to_body_quat;  ///< Rotation from LocalTangentPlane to body frame as unit quaternion
-  struct FloatEulers ltp_to_body_euler; ///< Rotation from LocalTangentPlane to body frame as Euler angles
-  struct FloatRMat   ltp_to_body_rmat;  ///< Rotation from LocalTangentPlane to body frame as Rotation Matrix
-  struct FloatRates  body_rate;         ///< Rotational velocity in body frame
-  struct FloatRates  body_rate_d;
-
-  // always use status from fixed point ahrs struct for now
-  //uint8_t status;
-};
-
-/** global AHRS state (fixed point version) */
+/** global AHRS state */
 extern struct Ahrs ahrs;
-/** global AHRS state (floating point version) */
-extern struct AhrsFloat ahrs_float;
-
-extern float ahrs_mag_offset;
-
-#define AHRS_FLOAT_OF_INT32() {						       \
-    QUAT_FLOAT_OF_BFP(ahrs_float.ltp_to_body_quat, ahrs.ltp_to_body_quat);     \
-    EULERS_FLOAT_OF_BFP(ahrs_float.ltp_to_body_euler, ahrs.ltp_to_body_euler); \
-    RATES_FLOAT_OF_BFP(ahrs_float.body_rate, ahrs.body_rate);		       \
-  }
-
-#define AHRS_INT_OF_FLOAT() {                                                  \
-    QUAT_BFP_OF_REAL(ahrs.ltp_to_body_quat, ahrs_float.ltp_to_body_quat);      \
-    EULERS_BFP_OF_REAL(ahrs.ltp_to_body_euler, ahrs_float.ltp_to_body_euler);  \
-    RMAT_BFP_OF_REAL(ahrs.ltp_to_body_rmat, ahrs_float.ltp_to_body_rmat);      \
-    RATES_BFP_OF_REAL(ahrs.body_rate, ahrs_float.body_rate);                   \
-  }
-
-#define AHRS_IMU_INT_OF_FLOAT() {                                       \
-    QUAT_BFP_OF_REAL(ahrs.ltp_to_imu_quat, ahrs_float.ltp_to_imu_quat); \
-    EULERS_BFP_OF_REAL(ahrs.ltp_to_imu_euler, ahrs_float.ltp_to_imu_euler); \
-    RMAT_BFP_OF_REAL(ahrs.ltp_to_imu_rmat, ahrs_float.ltp_to_imu_rmat); \
-    RATES_BFP_OF_REAL(ahrs.imu_rate, ahrs_float.imu_rate);            \
-}
-
-/* copy attitude to state interface */
-#define AHRS_BODY_TO_STATE() {                          \
-    stateSetNedToBodyQuat_i(&ahrs.ltp_to_body_quat);    \
-    stateSetBodyRates_i(&ahrs.body_rate);               \
-  }
 
 /** AHRS initialization. Called at startup.
  *  Needs to be implemented by each AHRS algorithm.
@@ -135,6 +75,11 @@ extern void ahrs_update_accel(void);
  *  Needs to be implemented by each AHRS algorithm.
  */
 extern void ahrs_update_mag(void);
+
+/** Update AHRS state with GPS measurements.
+ *  Reads the global #gps data struct.
+ *  Needs to be implemented by each AHRS algorithm.
+ */
 extern void ahrs_update_gps(void);
 
 #endif /* AHRS_H */