diff --git a/conf/airframes/CDW/LisaAspirin2.xml b/conf/airframes/CDW/LisaAspirin2.xml
index bc508b65ab..7f098b1dc6 100644
--- a/conf/airframes/CDW/LisaAspirin2.xml
+++ b/conf/airframes/CDW/LisaAspirin2.xml
@@ -209,7 +209,6 @@
       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
 
       <configure name="AHRS_ALIGNER_LED" value="1"/>
-      <configure name="CPU_LED" value="1"/>
     </target>
     <target name="sim" board="pc"/>
 
diff --git a/conf/airframes/CDW/yapa3_aspirin2.xml b/conf/airframes/CDW/yapa3_aspirin2.xml
index 0c0b8a3890..99815c167a 100644
--- a/conf/airframes/CDW/yapa3_aspirin2.xml
+++ b/conf/airframes/CDW/yapa3_aspirin2.xml
@@ -233,7 +233,6 @@
       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
 
       <configure name="AHRS_ALIGNER_LED" value="3"/>
-      <configure name="CPU_LED" value="3"/>
     </target>
     <target name="sim" board="pc"/>
 
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index c98a1dcf0c..ccafddf140 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -225,7 +225,6 @@
       <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
 
       <configure name="AHRS_ALIGNER_LED" value="3"/>
-      <configure name="CPU_LED" value="3"/>
     </target>
     <target name="sim" board="pc"/>
 
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 894bed4499..39d6cb2243 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -13,7 +13,6 @@
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
       <configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
       <configure name="AHRS_ALIGNER_LED" value="2"/>
-      <!--configure name="CPU_LED" value="2"/-->
       <configure name="SYS_TIME_LED" value="1"/>
       <configure name="GPS_LED" value="none"/>
       <!-- for airspeed sensor
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
index fe4b04a0ee..776a1f313f 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -34,10 +34,6 @@ ap.srcs += $(AHRS_SRCS)
 
 # Extra stuff for fixedwings
 
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
 ifdef AHRS_PROPAGATE_FREQUENCY
 else
   AHRS_PROPAGATE_FREQUENCY = 60
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
index 50c352f4eb..b9a40ea5dd 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -34,10 +34,6 @@ ap.srcs += $(AHRS_SRCS)
 
 # Extra stuff for fixedwings
 
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
 ifdef AHRS_PROPAGATE_FREQUENCY
 else
   AHRS_PROPAGATE_FREQUENCY = 60
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
index bb22a1105d..0c38464a2b 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -25,10 +25,6 @@ ifneq ($(AHRS_ALIGNER_LED),none)
   ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
 
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
 ifdef AHRS_PROPAGATE_FREQUENCY
 else
   AHRS_PROPAGATE_FREQUENCY = 60
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
index a9c10259b0..708d859b25 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -30,10 +30,6 @@ ap.srcs += $(AHRS_SRCS)
 
 # Extra stuff for fixedwings
 
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
 ifdef AHRS_PROPAGATE_FREQUENCY
 else
   AHRS_PROPAGATE_FREQUENCY = 60
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
index 62189bbc32..0849421c28 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -33,10 +33,6 @@ ap.srcs += $(AHRS_SRCS)
 
 # Extra stuff for fixedwings
 
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
 ifndef AHRS_PROPAGATE_FREQUENCY
   AHRS_PROPAGATE_FREQUENCY = 60
 endif
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 1859d46ffc..ca2fcbca1b 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -647,10 +647,6 @@ static inline void on_gyro_event( void ) {
 
   ahrs_timeout_counter = 0;
 
-#ifdef AHRS_CPU_LED
-  LED_ON(AHRS_CPU_LED);
-#endif
-
 #if USE_AHRS_ALIGNER
   // Run aligner on raw data as it also makes averages.
   if (ahrs.status == AHRS_UNINIT) {
@@ -717,10 +713,6 @@ static inline void on_gyro_event( void ) {
   }
 #endif //PERIODIC_FREQUENCY
 
-#ifdef AHRS_CPU_LED
-    LED_OFF(AHRS_CPU_LED);
-#endif
-
 }
 
 static inline void on_mag_event(void)