diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.c b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
new file mode 100644
index 0000000000..7ad9146df6
--- /dev/null
+++ b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "subsystems/ahrs/ahrs_infrared.h"
+#include "subsystems/sensors/infrared.h"
+
+void ahrs_init(void) {
+  ahrs_float.status = AHRS_UNINIT;
+
+  /* set ltp_to_body to zero */
+  FLOAT_QUAT_ZERO(ahrs_float.ltp_to_body_quat);
+  FLOAT_EULERS_ZERO(ahrs_float.ltp_to_body_euler);
+  FLOAT_RMAT_ZERO(ahrs_float.ltp_to_body_rmat);
+  FLOAT_RATES_ZERO(ahrs_float.body_rate);
+
+  /* set ltp_to_body to zero */
+  FLOAT_QUAT_ZERO(ahrs_float.ltp_to_imu_quat);
+  FLOAT_EULERS_ZERO(ahrs_float.ltp_to_imu_euler);
+  FLOAT_RMAT_ZERO(ahrs_float.ltp_to_imu_rmat);
+  FLOAT_RATES_ZERO(ahrs_float.imu_rate);
+}
+
+void ahrs_align(void) {
+
+  //TODO set gyro bias if used
+
+  ahrs.status = AHRS_RUNNING;
+}
+
+void ahrs_propagate(void) {
+}
+
+void ahrs_update_accel(void) {
+}
+
+void ahrs_update_mag(void) {
+}
+
+void ahrs_update_infrared(void) {
+  ahrs_float.ltp_to_body_euler.phi  = atan2(infrared.roll, infrared.top) - infrared.roll_neutral;
+
+  ahrs_float.ltp_to_body_euler.theta  = atan2(infrared.pitch, infrared.top) - infrared.pitch_neutral;
+
+  if (ahrs_float.ltp_to_body_euler.theta < -M_PI_2)
+    ahrs_float.ltp_to_body_euler.theta += M_PI;
+  else if (ahrs_float.ltp_to_body_euler.theta > M_PI_2)
+    ahrs_float.ltp_to_body_euler.theta -= M_PI;
+
+  if (ahrs_float.ltp_to_body_euler.phi >= 0)
+    ahrs_float.ltp_to_body_euler.phi *= infrared.correction_right;
+  else
+    ahrs_float.ltp_to_body_euler.phi *= infrared.correction_left;
+
+  if (ahrs_float.ltp_to_body_euler.theta >= 0)
+    ahrs_float.ltp_to_body_euler.theta *= infrared.correction_up;
+  else
+    ahrs_float.ltp_to_body_euler.theta *= infrared.correction_down;
+}
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.h b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
new file mode 100644
index 0000000000..7ef33f7154
--- /dev/null
+++ b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef AHRS_INFRARED_H
+#define AHRS_INFRARED_H
+
+#include "subsystems/ahrs.h"
+#include "std.h"
+
+
+#endif /* AHRS_INFRARED_H */