diff --git a/conf/airframes/gorazoptere_brushless_3DMG.xml b/conf/airframes/gorazoptere_brushless_3DMG.xml
index 08f1512b4f..1a67b5e2d3 100644
--- a/conf/airframes/gorazoptere_brushless_3DMG.xml
+++ b/conf/airframes/gorazoptere_brushless_3DMG.xml
@@ -1,6 +1,5 @@
 <airframe name="Gorazoptere_brushless_3DMG" ctl_board="V1_2_1" gps="SAM_LS">
   <section name="IMU_3DMG" prefix="IMU_">
-    <define name="TYPE_3DMG" value="1"/>
   </section>
   <section name="rate_loop">
     <define name="ROLL_DOT_PGAIN" value="-192."/>
diff --git a/conf/airframes/gorazoptere_brushless_ANALOG.xml b/conf/airframes/gorazoptere_brushless_ANALOG.xml
index 2582ddc521..46836524d9 100644
--- a/conf/airframes/gorazoptere_brushless_ANALOG.xml
+++ b/conf/airframes/gorazoptere_brushless_ANALOG.xml
@@ -1,6 +1,5 @@
 <airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2" gps="SAM_LS">
   <section name="IMU_ANALOG" prefix="IMU_">
-    <define name="TYPE_ANALOG" value="1"/>
     <define name="ADC_ROLL_DOT" value="1"/>
     <define name="ADC_PITCH_DOT" value="2"/>
     <define name="ADC_YAW_DOT" value="3"/>
diff --git a/sw/airborne/autopilot/estimator.c b/sw/airborne/autopilot/estimator.c
index 91df74d4b1..5e07dd4a2b 100644
--- a/sw/airborne/autopilot/estimator.c
+++ b/sw/airborne/autopilot/estimator.c
@@ -149,7 +149,7 @@ void estimator_update_state_infrared( void ) {
 }
 
 
-#ifdef IMU_TYPE_3DMG
+#ifdef SECTION_IMU_3DMG
 #include "link_fbw.h"
 void estimator_update_state_3DMG ( void ) {
   estimator_phi = from_fbw.euler[0];
diff --git a/sw/airborne/autopilot/main.c b/sw/airborne/autopilot/main.c
index 7ed585fd01..70af43c5e8 100644
--- a/sw/airborne/autopilot/main.c
+++ b/sw/airborne/autopilot/main.c
@@ -492,7 +492,7 @@ inline void periodic_task( void ) {
   }
   case 2:
     ir_update();
-#ifndef IMU_TYPE_3DMG
+#ifndef SECTION_IMU_3DMG
     estimator_update_state_infrared();
 #endif
     roll_pitch_pid_run(); /* Set  desired_aileron & desired_elevator */
diff --git a/sw/airborne/autopilot/mainloop.c b/sw/airborne/autopilot/mainloop.c
index a8b703970a..35213ec224 100644
--- a/sw/airborne/autopilot/mainloop.c
+++ b/sw/airborne/autopilot/mainloop.c
@@ -100,7 +100,7 @@ int main( void ) {
       /* receive radio control task from fbw */
       link_fbw_receive_complete = FALSE;
       radio_control_task();
-#ifdef IMU_TYPE_3DMG
+#ifdef SECTION_IMU_3DMG
       DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
       estimator_update_state_3DMG();
 #endif