diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index e2428d84fe..62824995fe 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -244,7 +244,7 @@
     <subsystem name="imu" type="aspirin_i2c"/>
     -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="attitude" type="dcm">
+    <subsystem name="ahrs" type="dcm">
 <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
 
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index f447b9d73f..c9bacfa7ed 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -295,7 +295,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="ahrs" type="dcm"/>
     <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_lea4p"/>
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 5026c40a27..fadfc8e760 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -214,7 +214,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
-    <subsystem name="attitude" type="dcm"/>
+    <subsystem name="ahrs" type="dcm"/>
     <subsystem name="gps" type="ublox_lea4p"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index 479feb9c1b..cfe4def763 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -212,7 +212,7 @@
       <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
-    <subsystem name="attitude"  type="dcm"/>
+    <subsystem name="ahrs"  type="dcm"/>
     <subsystem name="gps"       type="ublox_lea5h"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index d4b71331f0..c11a5d7754 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -10,7 +10,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
 <airframe name="Discovery">
 
   <firmware name="fixedwing">
-    <target name="ap" 			board="twog_1.0">
+    <target name="ap"           board="twog_1.0">
       <configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
@@ -20,7 +20,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
       <define name="USE_I2C0"/>
       <define name="I2C0_VIC_SLOT" value="12"/>
     </target>
-    <target name="sim" 			board="pc"/>
+    <target name="sim"          board="pc"/>
 
     <define name="LOITER_TRIM"/>
     <define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
@@ -36,8 +36,8 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="attitude" type="dcm"/>
-    
+    <subsystem name="ahrs" type="dcm"/>
+
     <subsystem name="i2c"/>
 
     <!-- Sensors -->
@@ -80,16 +80,16 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <servo name="AILERON_RIGHT" no="3" min="2000" neutral="1500" max="1000"/>
     <servo name="AILERON_LEFT"  no="4" min="2000" neutral="1500" max="1000"/>
     <servo name="RUDDER"        no="6" min="1000" neutral="1500" max="2000"/>
-    <servo name="HATCH"	  	no="7" min="1100" neutral="1100" max="1900"/>
+    <servo name="HATCH"     no="7" min="1100" neutral="1100" max="1900"/>
   </servos>
 
 <!-- commands section -->
   <commands>
-    <axis name="THROTTLE" 	failsafe_value="0"/>
-    <axis name="ROLL"	  	failsafe_value="0"/>
-    <axis name="PITCH"	  	failsafe_value="0"/>
-    <axis name="YAW"	  	failsafe_value="2000"/>
-    <axis name="HATCH"	  	failsafe_value="-9599"/>
+    <axis name="THROTTLE"   failsafe_value="0"/>
+    <axis name="ROLL"       failsafe_value="0"/>
+    <axis name="PITCH"      failsafe_value="0"/>
+    <axis name="YAW"        failsafe_value="2000"/>
+    <axis name="HATCH"      failsafe_value="-9599"/>
 <!-- maybe set to open position so we can insert the payload -->
   </commands>
 
@@ -215,7 +215,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
 
     <!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
-	If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
+    If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
     <!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
     <!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
      or  fly a long range mission you define the wanted mode behaviour here.
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
index 4d8b1c6795..30cfa01a09 100644
--- a/conf/airframes/test_hb.xml
+++ b/conf/airframes/test_hb.xml
@@ -13,7 +13,7 @@
     <subsystem name="control"/>
 
     <!-- Attitude Estimation -->
-    <subsystem name="attitude" 		type="dcm"/>
+    <subsystem name="ahrs" 		type="dcm"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="hb"/>
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
new file mode 100644
index 0000000000..91b1eb5ecd
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
@@ -0,0 +1,52 @@
+# attitude estimation for fixedwings via dcm algorithm
+
+
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+
+ifeq ($(ARCH), lpc21)
+
+ap.CFLAGS += -DUSE_AHRS
+
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
+
+ifdef AHRS_ALIGNER_LED
+  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+
+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=$(AHRS_CORRECT_FREQUENCY)
+
+endif
+
+# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
+sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
+
+sim.CFLAGS += -DUSE_INFRARED
+sim.srcs += subsystems/sensors/infrared.c
+
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_imu.c
+
+endif
+
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile b/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
index 91b1eb5ecd..6512931788 100644
--- a/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
+++ b/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
@@ -1,52 +1,4 @@
 # attitude estimation for fixedwings via dcm algorithm
 
 
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-
-ifeq ($(ARCH), lpc21)
-
-ap.CFLAGS += -DUSE_AHRS
-
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
-
-ifdef AHRS_ALIGNER_LED
-  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-
-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=$(AHRS_CORRECT_FREQUENCY)
-
-endif
-
-# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
-
-ifeq ($(TARGET), sim)
-
-sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
-sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
-
-sim.CFLAGS += -DUSE_INFRARED
-sim.srcs += subsystems/sensors/infrared.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-sim.srcs += $(SRC_ARCH)/sim_imu.c
-
-endif
-
-jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
+$(error The attitude_dcm subsystem has been renamed, please replace <subsystem name="attitude" type="dcm"/> with <subsystem name="ahrs" type="dcm"/>)