diff --git a/conf/airframes/CDW/LisaFw.xml b/conf/airframes/CDW/LisaFw.xml
index 2c667efd6c..528e902da2 100644
--- a/conf/airframes/CDW/LisaFw.xml
+++ b/conf/airframes/CDW/LisaFw.xml
@@ -193,7 +193,7 @@
 
     <!-- Sensors -->
     <subsystem name="radio_control" 	type="ppm"/>
-    <!--<subsystem name="attitude"  	type="infrared">
+    <!--<subsystem name="ahrs"  	type="infrared">
       <configure name="ADC_IR1"        value="ADC_1"/>
       <configure name="ADC_IR2"        value="ADC_2"/>
       <configure name="ADC_IR_TOP"     value="ADC_0"/>
diff --git a/conf/airframes/CDW/TinyFw.xml b/conf/airframes/CDW/TinyFw.xml
index c6cc4ae453..b80617c624 100644
--- a/conf/airframes/CDW/TinyFw.xml
+++ b/conf/airframes/CDW/TinyFw.xml
@@ -186,7 +186,7 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"      type="roll"/>
-    <subsystem name="attitude"  type="infrared"/>
+    <subsystem name="ahrs"  type="infrared"/>
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 4490c38600..b63e9d722f 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -19,7 +19,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <!--subsystem name="attitude"      type="infrared"/-->
+    <!--subsystem name="ahrs"      type="infrared"/-->
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 820b6b9350..f4eebf8834 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -22,7 +22,7 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="navigation" />
-<!--    <subsystem name="attitude" type="infrared"/>-->
+<!--    <subsystem name="ahrs" type="infrared"/>-->
     <subsystem name="control"/>
     <subsystem name="gps" type="ublox"/>
   </firmware>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index be8133bcc9..7bbddee3bb 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -33,7 +33,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="xbee_api"/>
     <subsystem name="control"       type="new"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 80e16b86ce..ad562eda88 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -23,7 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared">
       <configure name="ADC_IR1" value="ADC_1"/>
       <configure name="ADC_IR2" value="ADC_0"/>
       <configure name="ADC_IR_TOP" value="ADC_2"/>
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index 3863fd19ee..7e9e8101d9 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -23,7 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared">
       <configure name="ADC_IR1" value="ADC_0"/>
       <configure name="ADC_IR2" value="ADC_1"/>
       <configure name="ADC_IR_TOP" value="ADC_2"/>
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index c6877b0211..ee336237bc 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -23,7 +23,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared">
+    <subsystem name="ahrs" 		type="infrared">
       <configure name="ADC_IR1" value="ADC_0"/>
       <configure name="ADC_IR2" value="ADC_1"/>
       <configure name="ADC_IR_TOP" value="ADC_2"/>
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index f207399ce6..413fca4c2b 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -15,7 +15,7 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index 7b9a62075f..e7fda3f45b 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -15,7 +15,7 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 3c61ec196b..69ed649fb7 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -260,7 +260,7 @@
 <!--    <subsystem name="gyro"		type="roll">
       <configure name="ADC_GYRO_ROLL" 	value="ADC_3" />
     </subsystem>
--->    <subsystem name="attitude" 		type="infrared"/>
+-->    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox_utm"/>
     <subsystem name="control"	/>
     <subsystem name="navigation"	type="extra"/>
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index 63256bbf06..8425099b1d 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -17,7 +17,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 34404f643d..bbdadfb008 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -168,7 +168,7 @@
     <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 3bc7913c82..47dbd5b23a 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -24,7 +24,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"    type="extra"/>
   </firmware>
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index f1241e5274..be87c02e21 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -23,7 +23,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" type="infrared"/>
+    <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index 21578763b8..af3c6b4cd1 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -27,7 +27,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
 
     <subsystem name="navigation"    type="extra"/>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index 967e9cb736..da838f689c 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -27,7 +27,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
 
     <subsystem name="navigation"/>
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 9c70b45f8e..f055f95a87 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -216,7 +216,7 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 54be2a848c..499feca3b5 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -23,7 +23,7 @@
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" type="infrared"/>
+    <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="navigation" type="extra"/>
   </firmware>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 24a5fd43fd..39b0f54a29 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -187,7 +187,7 @@
     <subsystem name="control"/>
     <!-- Sensors -->
     <subsystem name="gyro"          type="roll"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index ba0ea6213f..29d8ab4862 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -16,7 +16,7 @@
     </target>
     <subsystem name="telemetry"        type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 55f565b058..7eed8a4b6f 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -9,7 +9,7 @@
     </target>
     <subsystem name="telemetry"        type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index faf6c1cb79..ea4e70bb8c 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -22,7 +22,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control_adaptive"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <subsystem name="navigation_bomb"/>
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index 22a4d7fb0c..25454cfed4 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -20,7 +20,7 @@
     <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <!--subsystem name="attitude" 		type="infrared"/-->
+    <!--subsystem name="ahrs" 		type="infrared"/-->
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
     <!-- Interfaces -->
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 3b1da5e839..5abdc6e79a 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 5c134054fa..679994b166 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 66bd573829..c10a88deab 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -33,7 +33,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox_utm"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 3c3955a099..47223818d1 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -28,7 +28,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index 2831f87b3c..c0783dd711 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -16,7 +16,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox">
       <configure name="GPS_PORT"         value="UART3"/>
     </subsystem>
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index ba9395fce4..2ccdce786c 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -16,7 +16,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox">
       <configure name="GPS_PORT"         value="UART3"/>
     </subsystem>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 1bd560aef8..bad0ec5807 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -36,7 +36,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="mediatek_diy"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index 6e35899c2f..a49ab053c5 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -34,7 +34,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <!--subsystem name="attitude"         type="infrared"/-->
+    <!--subsystem name="ahrs"         type="infrared"/-->
     <subsystem name="gps"              type="ublox"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 3aaa7e5f4b..86edca5120 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -181,7 +181,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox_utm"/>
     <!-- Nav -->
     <subsystem name="navigation"/>
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 7632f529d5..6906b7eaf5 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -22,7 +22,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 226b3d2f19..b2459356c5 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -23,7 +23,7 @@
     <subsystem name="radio_control"     type="ppm"/>
     <subsystem name="telemetry" 	type="xbee_api"/>
     <subsystem name="control"/>
-    <subsystem name="attitude" 		type="infrared"/>
+    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/osam_xsens_twog.xml b/conf/airframes/osam_xsens_twog.xml
index 26eb2afceb..42f4bd6000 100644
--- a/conf/airframes/osam_xsens_twog.xml
+++ b/conf/airframes/osam_xsens_twog.xml
@@ -31,7 +31,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <!--subsystem name="attitude"         type="infrared"/-->
+    <!--subsystem name="ahrs"         type="infrared"/-->
     <subsystem name="gps"              type="ugear"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 58a8205193..d2128f0639 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -21,7 +21,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gyro"          type="roll"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index 52b4e0f3d9..45479d9772 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -24,7 +24,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gyro"          type="roll"/>
     <subsystem name="gps"           type="ublox_hitl"/>
     <subsystem name="navigation"/>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index c5187f7674..c5af6e399c 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -22,7 +22,7 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="attitude"      type="infrared"/>
+    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox_utm"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 7a011cbf86..8baa7f8b88 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -14,7 +14,7 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude"         type="infrared"/>
+    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
index 8348ca111b..1057e81c2a 100644
--- a/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
+++ b/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
@@ -1,42 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
-# attitude via IR sensors
+include $(CFG_FIXEDWING)/ahrs_infrared.makefile
 
-#
-# default values for tiny and twog are:
-# ADC_IR1    = ADC_1
-# ADC_IR2    = ADC_2
-# ADC_IR_TOP = ADC_0
-# ADC_IR_NB_SAMPLES = 16
-#
-# to change just redefine these before including this file
-#
-
-#
-# LPC only has one ADC
-#
-ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
-ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
-ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
-endif
-
-#
-# On STM32 let's hardwire infrared sensors to AD1 for now
-#
-ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DUSE_AD1
-ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1_CHAN) -DUSE_AD1_$(ADC_IR1)
-ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2_CHAN) -DUSE_AD1_$(ADC_IR2)
-ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP_CHAN) -DUSE_AD1_$(ADC_IR_TOP)
-endif
-
-ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
-
-$(TARGET).CFLAGS += -DUSE_INFRARED
-$(TARGET).srcs += subsystems/sensors/infrared.c
-$(TARGET).srcs += subsystems/sensors/infrared_adc.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-
-# is already added to sources in autopilot.makefile
-#jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
+$(warning Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace <subsystem name="attitude" type="infrared"/> with <subsystem name="ahrs" type="infrared"/> in your airframe file.)