diff --git a/conf/autopilot/lisa_test_progs.makefile b/conf/autopilot/lisa_test_progs.makefile
index 31199813a3..798ee8aedc 100644
--- a/conf/autopilot/lisa_test_progs.makefile
+++ b/conf/autopilot/lisa_test_progs.makefile
@@ -384,8 +384,8 @@ endif
 ifeq ($(AHRS), icq)
 #test_ahrs.CFLAGS += -DAHRS_TYPE=\"ICQ\"
 test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
-test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
-test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl.c
+test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
+test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl_quat.c
 endif
 
 ifeq ($(AHRS), flq)
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
index 0c44fdaab0..9c13097256 100644
--- a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -12,9 +12,9 @@ AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 ifneq ($(AHRS_ALIGNER_LED),none)
   AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
 AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_quat.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
 ap.CFLAGS += $(AHRS_CFLAGS)
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
index 2f316c9ed0..a2e5f6c5ff 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -11,9 +11,9 @@ AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 ifneq ($(AHRS_ALIGNER_LED),none)
   AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
 AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_quat.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
 ap.CFLAGS += $(AHRS_CFLAGS)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
similarity index 99%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
rename to sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index 5ed6e29148..f5b6aba1a3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -25,7 +25,7 @@
 // gravity heuristic
 //
 
-#include "subsystems/ahrs/ahrs_int_cmpl.h"
+#include "subsystems/ahrs/ahrs_int_cmpl_quat.h"
 #include "subsystems/ahrs/ahrs_aligner.h"
 #include "subsystems/ahrs/ahrs_int_utils.h"
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
similarity index 100%
rename from sw/airborne/subsystems/ahrs/ahrs_int_cmpl.h
rename to sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
diff --git a/sw/airborne/test/ahrs/Makefile b/sw/airborne/test/ahrs/Makefile
index 867e9d8543..6b8aa12a8f 100644
--- a/sw/airborne/test/ahrs/Makefile
+++ b/sw/airborne/test/ahrs/Makefile
@@ -104,8 +104,8 @@ AHRS_CFLAGS += -DFACE_REINJ_1=1024
 AHRS_SRCS   += ../../subsystems/ahrs/ahrs_int_cmpl_euler.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_ICQ)
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
-AHRS_SRCS   += ../../subsystems/ahrs/ahrs_int_cmpl.c
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
+AHRS_SRCS   += ../../subsystems/ahrs/ahrs_int_cmpl_quat.c
 endif
 ifeq ($(AHRS_TYPE), AHRS_TYPE_FLQ)
 AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"