diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
index 3ab0560043..a9c10259b0 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -7,7 +7,7 @@ ifndef USE_MAGNETOMETER
 USE_MAGNETOMETER = 1
 endif
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL
+AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL_EULER
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(USE_MAGNETOMETER),0)
diff --git a/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile b/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile
index c1120f52db..a4c811ea07 100644
--- a/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile
+++ b/conf/firmwares/subsystems/lisa_passthrough/ahrs_cmpl.makefile
@@ -2,7 +2,7 @@
 # Complementary filter for attitude estimation
 #
 
-stm_passthrough.CFLAGS += -DUSE_AHRS_CMPL
+stm_passthrough.CFLAGS += -DUSE_AHRS_CMPL_EULER
 ifneq ($(AHRS_ALIGNER_LED),none)
   stm_passthrough.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
index 32c0fd89e9..f5d6fca89a 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
@@ -7,7 +7,7 @@ ifndef USE_MAGNETOMETER
 USE_MAGNETOMETER = 1
 endif
 
-AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_CMPL
+AHRS_CFLAGS  = -DUSE_AHRS -DUSE_AHRS_CMPL_EULER
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(USE_MAGNETOMETER),0)
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 19df687679..80502d42de 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -326,7 +326,7 @@
   }
 
 
-#if USE_AHRS_CMPL
+#if USE_AHRS_CMPL_EULER
 #include "subsystems/ahrs/ahrs_int_cmpl_euler.h"
 #define PERIODIC_SEND_FILTER(_trans, _dev) {					\
     DOWNLINK_SEND_FILTER(_trans, _dev,						\