diff --git a/conf/modules/ins_extended.xml b/conf/modules/ins_extended.xml
index 24df9dbb99..0c4c39d343 100644
--- a/conf/modules/ins_extended.xml
+++ b/conf/modules/ins_extended.xml
@@ -11,7 +11,6 @@
     <define name="INS_INT_GPS_ID" value="GPS_MULTI_ID" description="The ABI sender id of the GPS to use"/>
     <define name="INS_INT_IMU_ID" value="ABI_BROADCAST" description="The ABI sender id of the IMU to use"/>
     <define name="INS_INT_VEL_ID" value="ABI_BROADCAST" description="The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow"/>
-    <define name="INS_SONAR_OFFSET" value="0.0" description="sonar offset in meters"/>
     <define name="INS_SONAR_MIN_RANGE" value="0.001" description="min sonar range in meters"/>
     <define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
     <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 584f9c2080..637b7d9042 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -71,9 +71,6 @@ static void sonar_cb(uint8_t sender_id, float distance);
 #include "firmwares/rotorcraft/stabilization.h"
 #endif
 
-#ifndef INS_SONAR_OFFSET
-#define INS_SONAR_OFFSET 0.
-#endif
 #ifndef INS_SONAR_MIN_RANGE
 #define INS_SONAR_MIN_RANGE 0.001
 #endif