diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
index b41aeaa53f..c4d4bed7a0 100644
--- a/sw/airborne/subsystems/imu.c
+++ b/sw/airborne/subsystems/imu.c
@@ -32,6 +32,7 @@ void imu_init(void) {
   /* initialises neutrals */
   RATES_ASSIGN(imu.gyro_neutral,  IMU_GYRO_P_NEUTRAL,  IMU_GYRO_Q_NEUTRAL,  IMU_GYRO_R_NEUTRAL);
   VECT3_ASSIGN(imu.accel_neutral, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL);
+  //FIXME should not assume that every imu has a mag and this id defined?
   VECT3_ASSIGN(imu.mag_neutral,   IMU_MAG_X_NEUTRAL,   IMU_MAG_Y_NEUTRAL,   IMU_MAG_Z_NEUTRAL);
 
   /*
diff --git a/sw/airborne/subsystems/imu.h b/sw/airborne/subsystems/imu.h
index cffa2b6f4a..57d1c4135c 100644
--- a/sw/airborne/subsystems/imu.h
+++ b/sw/airborne/subsystems/imu.h
@@ -26,6 +26,7 @@
 
 #include "math/pprz_algebra_int.h"
 #include "math/pprz_algebra_float.h"
+#include "generated/airframe.h"
 
 /* must be defined by underlying hardware */
 extern void imu_impl_init(void);
diff --git a/sw/airborne/subsystems/imu/imu_analog.c b/sw/airborne/subsystems/imu/imu_analog.c
index 0e9b0230e8..c5a0fd5452 100644
--- a/sw/airborne/subsystems/imu/imu_analog.c
+++ b/sw/airborne/subsystems/imu/imu_analog.c
@@ -22,9 +22,7 @@
  */
 
 #include "imu_analog.h"
-#include "generated/airframe.h"
 #include "mcu_periph/adc.h"
-#include "subsystems/imu.h"
 #include "mcu_periph/uart.h"
 
 volatile bool_t analog_imu_available;
diff --git a/sw/airborne/subsystems/imu/imu_analog.h b/sw/airborne/subsystems/imu/imu_analog.h
index 2d25688c50..c5a12413d1 100644
--- a/sw/airborne/subsystems/imu/imu_analog.h
+++ b/sw/airborne/subsystems/imu/imu_analog.h
@@ -46,7 +46,7 @@ extern volatile bool_t analog_imu_available;
   }
 
 #define ImuMagEvent(_mag_handler) {             \
-    if (false) {                                \
+    if (0) {                                    \
       _mag_handler();                           \
     }                                           \
   }