diff --git a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
index b7eac685bf..cc7fa61c83 100644
--- a/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
+++ b/conf/firmwares/subsystems/shared/imu_ardrone2.makefile
@@ -15,6 +15,12 @@ endif
 ap.CFLAGS += $(imu_CFLAGS)
 ap.srcs += $(imu_srcs)
 
+# Set the AHRS propegation frequencies
+AHRS_PROPAGATE_FREQUENCY ?= 200
+AHRS_CORRECT_FREQUENCY ?= 200
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
 #
 # Simulator
 #