diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
index cc1374d385..9171256a81 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
@@ -1,13 +1,13 @@
 #
-# Complementary filter for attitude estimation
+# Fixed point complementary filter using euler angles for attitude estimation
 #
 
 ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT
 ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
 ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_cmpl_euler.c
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
 
 sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DAHRS_FIXED_POINT
 sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
 sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_cmpl_euler.c
+sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 5b702b387f..90abfa9bca 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -325,24 +325,24 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 
 
 #ifdef USE_AHRS_CMPL
-#include "subsystems/ahrs/ahrs_cmpl_euler.h"
-#define PERIODIC_SEND_FILTER(_chan) {				\
-    DOWNLINK_SEND_FILTER(_chan,					\
-			       &ahrs.ltp_to_imu_euler.phi,		\
-			       &ahrs.ltp_to_imu_euler.theta,	\
-			       &ahrs.ltp_to_imu_euler.psi,		\
-			       &face_measure.phi,			\
-			       &face_measure.theta,		\
-			       &face_measure.psi,			\
-			       &face_corrected.phi,		\
-			       &face_corrected.theta,		\
-			       &face_corrected.psi,		\
-			       &face_residual.phi,		\
-			       &face_residual.theta,		\
-			       &face_residual.psi,		\
-			       &face_gyro_bias.p,			\
-			       &face_gyro_bias.q,			\
-			       &face_gyro_bias.r);		\
+#include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
+#define PERIODIC_SEND_FILTER(_chan) {					\
+    DOWNLINK_SEND_FILTER(_chan,						\
+			 &ahrs.ltp_to_imu_euler.phi,			\
+			 &ahrs.ltp_to_imu_euler.theta,			\
+			 &ahrs.ltp_to_imu_euler.psi,			\
+			 &face_measure.phi,				\
+			 &face_measure.theta,				\
+			 &face_measure.psi,				\
+			 &face_corrected.phi,				\
+			 &face_corrected.theta,				\
+			 &face_corrected.psi,				\
+			 &face_residual.phi,				\
+			 &face_residual.theta,				\
+			 &face_residual.psi,				\
+			 &face_gyro_bias.p,				\
+			 &face_gyro_bias.q,				\
+			 &face_gyro_bias.r);				\
   }
 #else
 #define PERIODIC_SEND_FILTER(_chan) {}
diff --git a/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
similarity index 98%
rename from sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
rename to sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
index 33273aa3a0..5dfacda61d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
@@ -1,7 +1,7 @@
 /*
  * $Id:  $
  *
- * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ * Copyright (C) 2008-2010 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "ahrs_cmpl_euler.h"
+#include "ahrs_int_cmpl_euler.h"
 
 #include "subsystems/imu.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_cmpl_euler.h
rename to sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h