diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
index 85318f3940..0782b9d328 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm.xml
@@ -13,7 +13,7 @@
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.0"/>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
@@ -73,7 +73,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index dd779d1092..606606bf5b 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -67,7 +67,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index b3f63b31b7..508b7f9342 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -101,7 +101,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index fab903f5ce..d4228b4616 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -50,6 +50,10 @@
 #warning "Using magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
 #endif
 
+#ifndef AHRS_PROPAGATE_FREQUENCY
+#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+
 void ahrs_update_mag_full(void);
 void ahrs_update_mag_2d(void);
 void ahrs_update_mag_2d_dumb(void);
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index efba353895..0455ebd98d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -46,6 +46,10 @@ static inline void ahrs_update_mag_2d(void);
 #warning "Using magnetometer and GPS course to update heading. Probably better to set USE_MAGNETOMETER=0 if you want to use GPS course."
 #endif
 
+#ifndef AHRS_PROPAGATE_FREQUENCY
+#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
+#endif
+
 struct AhrsIntCmpl ahrs_impl;
 
 static inline void compute_imu_euler_and_rmat_from_quat(void);