diff --git a/conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml b/conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml
index 8342728928..009456002a 100644
--- a/conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml
+++ b/conf/airframes/TUDELFT/tudelft_ladylisa_bluegiga_stereoboard.xml
@@ -181,10 +181,10 @@
     <define name="H_X" value="0.39049610"/>
     <define name="H_Y" value="0.00278894"/>
     <define name="H_Z" value="0.92060036"/>
-    <define name="USE_GPS_HEADING" value="1"/>
+    <define name="USE_GPS_HEADING" value="0"/>
   </section>
-<define name="USE_GPS" value="FALSE"/>
- <define name="USE_GPS_HEADING" value="FALSE"/>
+
+
 
  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
    <define name="PGAIN" value="10"/>
@@ -223,7 +223,7 @@
     <target name="ap" board="lisa_s_1.0">
       <subsystem name="radio_control" type="datalink">
       </subsystem>
-      <configure name="USE_MAGNETOMETER" value="0"/>
+      <configure name="USE_MAGNETOMETER" value="1"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
       <define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
     </target>
@@ -252,6 +252,8 @@
     <subsystem name="gps" type="datalink"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs" type="int_cmpl_quat"/>
-    <subsystem name="ins" />
+    <subsystem name="ins">
+       <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
+    </subsystem>
   </firmware>
 </airframe>
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 80b1c5d9eb..7081e20635 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -130,6 +130,9 @@ static void baro_cb(uint8_t sender_id, float pressure);
 #ifndef INS_INT_IMU_ID
 #define INS_INT_IMU_ID ABI_BROADCAST
 #endif
+#ifndef INS_INT_GPS_ID
+#define INS_INT_GPS_ID ABI_BROADCAST
+#endif
 static abi_event accel_ev;
 static abi_event gps_ev;
 
@@ -512,9 +515,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
                    uint32_t stamp __attribute__((unused)),
                    struct GpsState *gps_s)
 {
-#if use_GPS
   ins_int_update_gps(gps_s);
-#endif
 }
 
 static void vel_est_cb(uint8_t sender_id __attribute__((unused)),
@@ -570,6 +571,6 @@ void ins_int_register(void)
    * Subscribe to scaled IMU measurements and attach callbacks
    */
   AbiBindMsgIMU_ACCEL_INT32(INS_INT_IMU_ID, &accel_ev, accel_cb);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_INT_GPS_ID, &gps_ev, gps_cb);
   AbiBindMsgVELOCITY_ESTIMATE(INS_INT_VEL_ID, &vel_est_ev, vel_est_cb);
 }