diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index 5af49f37cd..4a03deaf14 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -162,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index ef3c0bb8a1..76c9a2c34d 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -158,7 +158,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
index 8c52e4f955..b346f87f90 100644
--- a/conf/airframes/ENAC/quadrotor/g1_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -131,7 +131,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
index 9054898f6d..d67ba5f0be 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -164,7 +164,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <!--define name="SONAR_SENS" value="2.146" integer="16"/-->
     <define name="SONAR_SENS" value="3." integer="16"/>
   </section>
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 6d65cf6da5..94362a4947 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -194,7 +194,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index 9f295b9647..afba70204c 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -165,7 +165,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 6d03ffc20c..870898f9e9 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -190,7 +190,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 13907eab02..376c72fad3 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -162,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">