diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml
index 32f9861730..967a12bfd8 100644
--- a/conf/modules/ins_xsens.xml
+++ b/conf/modules/ins_xsens.xml
@@ -3,7 +3,7 @@
 <module name="ins">
   <!-- <depend conflict="ins" -->
   <header>
-    <file name="subsystems/ins.h"/>
+    <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
   <periodic fun="ins_periodic_task()" freq="60"/>
diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml
index d3d3f15ad3..6d82eed2fd 100644
--- a/conf/modules/ins_xsens_MTiG_Uart0.xml
+++ b/conf/modules/ins_xsens_MTiG_Uart0.xml
@@ -4,7 +4,7 @@
   <!-- <depend conflict="ins" -->
   <!-- <depend require="gps_xsens" -->
   <header>
-    <file name="subsystems/ins.h"/>
+    <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
   <periodic fun="ins_periodic_task()" freq="60"/>
diff --git a/conf/modules/ins_xsens_MTiG_fixedwing.xml b/conf/modules/ins_xsens_MTiG_fixedwing.xml
index 9bb22ac51e..05ca9d8154 100644
--- a/conf/modules/ins_xsens_MTiG_fixedwing.xml
+++ b/conf/modules/ins_xsens_MTiG_fixedwing.xml
@@ -4,7 +4,7 @@
   <!-- <depend conflict="ins" -->
   <!-- <depend require="gps_xsens" -->
   <header>
-    <file name="subsystems/ins.h"/>
+    <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
   <periodic fun="ins_periodic_task()" freq="60"/>
diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml
index aff24b9138..ef2bd4e97a 100644
--- a/conf/modules/ins_xsens_MTi_Uart0.xml
+++ b/conf/modules/ins_xsens_MTi_Uart0.xml
@@ -3,7 +3,7 @@
 <module name="ins">
   <!-- <depend conflict="ins" -->
   <header>
-    <file name="subsystems/ins.h"/>
+    <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
   <periodic fun="ins_periodic_task()" freq="60"/>
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index 9c07f6807a..aadfdb7ddd 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -44,6 +44,11 @@
 #include "subsystems/radio_control.h"
 #include "main_fbw.h"
 
+#ifndef SINGLE_MCU
+#include "radio.h"
+#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
+#endif
+
 /** Data structure shared by fbw and ap processes */
 struct fbw_state {
 #if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1
diff --git a/sw/airborne/modules/ins/ins.h b/sw/airborne/modules/ins/ins_module.h
similarity index 100%
rename from sw/airborne/modules/ins/ins.h
rename to sw/airborne/modules/ins/ins_module.h
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index a2854a3730..5c7c15a879 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -26,7 +26,7 @@
  * \brief Parser for the Xsens protocol
  */
 
-#include "subsystems/ins.h"
+#include "ins_module.h"
 
 #include <inttypes.h>