diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 4f781de2fd..f0c9ca7613 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -40,7 +40,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="ahrs" type="float_cmpl_rmat"/>
+    <subsystem name="ahrs" type="float_cmpl"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="b2_v1.0">
diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 798ee8aedc..52ec081125 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -404,14 +404,14 @@ test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
 endif
 
 ifeq ($(AHRS), fcr2)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
 test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
 test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_rmat.c
+test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl.c
 endif
 
 ifeq ($(AHRS), fcq)
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
 test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
 test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
 test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
new file mode 100644
index 0000000000..7133690997
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl.makefile
@@ -0,0 +1,58 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# AHRS_PROPAGATE_FREQUENCY
+# AHRS_H_X
+# AHRS_H_Y
+# AHRS_H_Z
+#
+
+AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
+
+ifneq ($(AHRS_ALIGNER_LED),none)
+  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
+AHRS_SRCS   += subsystems/ahrs.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
+
+ap.CFLAGS += $(AHRS_CFLAGS)
+ap.srcs += $(AHRS_SRCS)
+
+
+
+# Extra stuff for fixedwings
+
+ifdef CPU_LED
+  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
+endif
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+else
+  AHRS_PROPAGATE_FREQUENCY = 60
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+else
+  AHRS_CORRECT_FREQUENCY = 60
+endif
+
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
+
+#
+# Simple simulation of the AHRS result
+#
+ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
+ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+
+ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
+ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
+
+sim.CFLAGS += $(ahrssim_CFLAGS)
+sim.srcs += $(ahrssim_srcs)
+
+jsbsim.CFLAGS += $(ahrssim_CFLAGS)
+jsbsim.srcs += $(ahrssim_srcs)
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
index 2783f15fc1..e65a52b324 100644
--- a/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -1,58 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# AHRS_PROPAGATE_FREQUENCY
-# AHRS_H_X
-# AHRS_H_Y
-# AHRS_H_Z
-#
+include $(CFG_FIXEDWING)/ahrs_float_cmpl.makefile
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
-AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
-
-ifneq ($(AHRS_ALIGNER_LED),none)
-  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
-AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl_rmat.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
-
-ap.CFLAGS += $(AHRS_CFLAGS)
-ap.srcs += $(AHRS_SRCS)
-
-
-
-# Extra stuff for fixedwings
-
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 60
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 60
-endif
-
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-
-
-#
-# Simple simulation of the AHRS result
-#
-ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
-
-ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
-ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
-
-sim.CFLAGS += $(ahrssim_CFLAGS)
-sim.srcs += $(ahrssim_srcs)
-
-jsbsim.CFLAGS += $(ahrssim_CFLAGS)
-jsbsim.srcs += $(ahrssim_srcs)
+$(warning The ahrs_float_cmpl_rmat subsystem has been renamed, please replace <subsystem name="ahrs" type="float_cmpl_rmat"/> with <subsystem name="ahrs" type="float_cmpl"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
new file mode 100644
index 0000000000..fb85721eb4
--- /dev/null
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl.makefile
@@ -0,0 +1,23 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# AHRS_PROPAGATE_FREQUENCY
+# AHRS_H_X
+# AHRS_H_Y
+# AHRS_H_Z
+#
+
+AHRS_CFLAGS  = -DUSE_AHRS
+AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
+ifneq ($(AHRS_ALIGNER_LED),none)
+  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
+AHRS_SRCS   += subsystems/ahrs.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
+
+ap.CFLAGS += $(AHRS_CFLAGS)
+ap.srcs += $(AHRS_SRCS)
+
+sim.CFLAGS += $(AHRS_CFLAGS)
+sim.srcs += $(AHRS_SRCS)
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
index 521ae93194..93fbb9d499 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
@@ -1,23 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# AHRS_PROPAGATE_FREQUENCY
-# AHRS_H_X
-# AHRS_H_Y
-# AHRS_H_Z
-#
+include $(CFG_ROTORCRAFT)/ahrs_float_cmpl.makefile
 
-AHRS_CFLAGS  = -DUSE_AHRS
-AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
-ifneq ($(AHRS_ALIGNER_LED),none)
-  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
-AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl_rmat.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
-
-ap.CFLAGS += $(AHRS_CFLAGS)
-ap.srcs += $(AHRS_SRCS)
-
-sim.CFLAGS += $(AHRS_CFLAGS)
-sim.srcs += $(AHRS_SRCS)
+$(warning The ahrs_float_cmpl_rmat subsystem has been renamed, please replace <subsystem name="ahrs" type="float_cmpl_rmat"/> with <subsystem name="ahrs" type="float_cmpl"/> in your airframe file.)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
rename to sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index ecee38e7fc..c50e554543 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -20,7 +20,7 @@
  */
 
 #include "subsystems/ahrs.h"
-#include "subsystems/ahrs/ahrs_float_cmpl_rmat.h"
+#include "subsystems/ahrs/ahrs_float_cmpl.h"
 #include "subsystems/ahrs/ahrs_float_utils.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
 #include "subsystems/imu.h"
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.h
rename to sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
index 6b8aa12a8f..8451f7bbbb 100644
--- a/sw/airborne/test/ahrs/Makefile
+++ b/sw/airborne/test/ahrs/Makefile
@@ -37,7 +37,7 @@ all: run_ahrs_fcr_on_flight_log run_ahrs_ice_on_flight_log
 #run_ahrs_flq_on_flight_log: ../../subsystems/ahrs/ahrs_float_lkf_quat.c $(SRCS)
 #	$(CC) -DAHRS_TYPE=AHRS_TYPE_FLQ $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
-run_ahrs_fcr_on_flight_log: ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c $(SRCS)
+run_ahrs_fcr_on_flight_log: ../../subsystems/ahrs/ahrs_float_cmpl.c $(SRCS)
 	$(CC) -DAHRS_TYPE=AHRS_TYPE_FCR $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
 run_ahrs_ice_on_flight_log: ../../subsystems/ahrs/ahrs_int_cmpl_euler.c $(SRCS)
@@ -120,14 +120,14 @@ AHRS_CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
 AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_dcm.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FCR2)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
 AHRS_CFLAGS += -DAHRS_PROPAGATE_RMAT
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c
+AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FCQ)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
 AHRS_CFLAGS += -DAHRS_PROPAGATE_QUAT
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl_rmat.c
+AHRS_SRCS   += ../../subsystems/ahrs/ahrs_float_cmpl.c
 endif
 
 
diff --git a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
index c58cadcc9e..b8e2234ea0 100644
--- a/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
+++ b/sw/airborne/test/ahrs/run_ahrs_on_flight_log.c
@@ -25,7 +25,7 @@
 #include "subsystems/ahrs/ahrs_float_lkf_quat.h"
 #define OUT_FILE "./out_flq.txt"
 #elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_FCR
-#include "subsystems/ahrs/ahrs_float_cmpl_rmat.h"
+#include "subsystems/ahrs/ahrs_float_cmpl.h"
 #define OUT_FILE "./out_fcr.txt"
 #elif defined AHRS_TYPE && AHRS_TYPE == AHRS_TYPE_ICE
 #include "subsystems/ahrs/ahrs_int_cmpl_euler.h"