diff --git a/.gitignore b/.gitignore
index 78379d4bf0..168491e809 100644
--- a/.gitignore
+++ b/.gitignore
@@ -165,3 +165,5 @@
 /sw/airborne/test/test_algebra
 /sw/airborne/test/test_matrix
 /sw/airborne/test/test_att
+
+/sw/airborne/test/ahrs/run_ahrs_on_synth
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.c b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.c
index 20008096c1..0c7e277b3d 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.c
@@ -67,7 +67,7 @@ static void update_sp_quat_from_eulers(void) {
     INT32_QUAT_WRAP_SHORTEST(stab_att_sp_quat);
 }
 
-/*
+/* FIXME: what is up with this???
 void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane)
 {
   pprz_t roll = radio_control.values[RADIO_ROLL];
@@ -110,6 +110,7 @@ void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t
 
 void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight) {
 
+  // FIXME: wtf???
 #ifdef AIRPLANE_STICKS
   pprz_t roll = radio_control.values[RADIO_ROLL];
   pprz_t pitch = radio_control.values[RADIO_PITCH];
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.h
index c88ee2f8cd..d9f6694878 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/quat_setpoint.h
@@ -12,7 +12,10 @@
 #include "stabilization/stabilization_attitude_ref_int.h"
 
 void stabilization_attitude_sp_enter(void);
-void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane);
+
+// FIXME: apparently unused... still needed??
+//void stabilization_attitude_read_rc_incremental(bool_t enable_alpha_vane, bool_t enable_beta_vane);
+
 void stabilization_attitude_read_rc_absolute(struct Int32Eulers sp, bool_t in_flight);
 void quat_setpoint_enter_absolute(void);
 void booz_stab_att_vane_on(void);
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
index f3bfa3f69c..bdd8fb5a79 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
@@ -31,14 +31,16 @@
 #include "stabilization_attitude_ref_float.h"
 
 #define RC_UPDATE_FREQ 40.
-#define ROLL_COEF   (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P     / MAX_PPRZ)
-#define ROLL_COEF_H  (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H     / MAX_PPRZ)
-#define PITCH_COEF ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ)
-#define YAW_COEF  (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI   / MAX_PPRZ)
+#define ROLL_COEF   (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PHI   / MAX_PPRZ)
+// FIXME: unused, what was it supposed to be?
+//#define ROLL_COEF_H (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P_H   / MAX_PPRZ)
+#define PITCH_COEF  (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_THETA / MAX_PPRZ)
+// FIXME: what is this supposed to be??
+#define YAW_COEF    (STABILIZATION_ATTITUDE_FLOAT_SP_MAX_PSI   / MAX_PPRZ)
 
-#define ROLL_COEF_RATE  (-STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P   / MAX_PPRZ)
+#define ROLL_COEF_RATE  (-STABILIZATION_ATTITUDE_FLOAT_SP_MAX_P / MAX_PPRZ)
 #define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_Q / MAX_PPRZ)
-#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R / MAX_PPRZ)
+#define YAW_COEF_RATE   ( STABILIZATION_ATTITUDE_FLOAT_SP_MAX_R / MAX_PPRZ)
 
 #define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
 #define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
index 672b6646d9..c307fcab6e 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
@@ -42,14 +42,16 @@
 
 
 #define RC_UPDATE_FREQ 40.
-#define ROLL_COEF   (STABILIZATION_ATTITUDE_SP_MAX_P     / MAX_PPRZ)
-#define ROLL_COEF_H  (STABILIZATION_ATTITUDE_SP_MAX_P_H     / MAX_PPRZ)
-#define PITCH_COEF ( STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
-#define YAW_COEF  (STABILIZATION_ATTITUDE_SP_MAX_PSI   / MAX_PPRZ)
+#define ROLL_COEF   (STABILIZATION_ATTITUDE_SP_MAX_PHI   / MAX_PPRZ)
+// FIXME: unused, what was it supposed to be?
+//#define ROLL_COEF_H (STABILIZATION_ATTITUDE_SP_MAX_P_H   / MAX_PPRZ)
+#define PITCH_COEF  (STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
+// FIXME: what is this supposed to be??
+#define YAW_COEF    (STABILIZATION_ATTITUDE_SP_MAX_PSI   / MAX_PPRZ)
 
-#define ROLL_COEF_RATE  (-STABILIZATION_ATTITUDE_SP_MAX_P   / MAX_PPRZ)
+#define ROLL_COEF_RATE  (-STABILIZATION_ATTITUDE_SP_MAX_P / MAX_PPRZ)
 #define PITCH_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)
-#define YAW_COEF_RATE ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
+#define YAW_COEF_RATE   ( STABILIZATION_ATTITUDE_SP_MAX_R / MAX_PPRZ)
 
 #define DEADBAND_EXCEEDED(VARIABLE, VALUE) ((VARIABLE > VALUE) || (VARIABLE < -VALUE))
 #define APPLY_DEADBAND(VARIABLE, VALUE) (DEADBAND_EXCEEDED(VARIABLE, VALUE) ? VARIABLE : 0.0)