diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 248e74abab..36b6d9f51a 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -691,6 +691,10 @@ static inline void on_gyro_event( void ) {
   ahrs_update_accel();
   ahrs_update_fw_estimator();
 
+#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
+  new_ins_attitude = 1;
+#endif
+
 #else //PERIODIC_FREQUENCY
   static uint8_t _reduced_propagation_rate = 0;
   static uint8_t _reduced_correction_rate = 0;
@@ -723,8 +727,13 @@ static inline void on_gyro_event( void ) {
       INT_VECT3_ZERO(acc_avg);
       ImuScaleAccel(imu);
       ahrs_update_accel();
-      ahrs_update_fw_estimator();
     }
+
+    ahrs_update_fw_estimator();
+
+#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
+    new_ins_attitude = 1;
+#endif
   }
 #endif //PERIODIC_FREQUENCY
 
@@ -732,10 +741,6 @@ static inline void on_gyro_event( void ) {
     LED_OFF(AHRS_CPU_LED);
 #endif
 
-#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
-  new_ins_attitude = 1;
-#endif
-
 }
 
 static inline void on_mag_event(void)