diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index 1cca106105..84634fed0b 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -303,10 +303,10 @@ void Drift_correction(void)
 
   //*****YAW***************
 
-#if USE_MAGNETOMETER==1
+#ifdef USE_MAGNETOMETER
   // We make the gyro YAW drift correction based on compass magnetic heading
-  mag_heading_x = cos(MAG_Heading);
-  mag_heading_y = sin(MAG_Heading);
+  float mag_heading_x = cos(MAG_Heading);
+  float mag_heading_y = sin(MAG_Heading);
   errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x);  //Calculating YAW error
   Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
index e7a56bec67..c6de59991b 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
@@ -65,8 +65,6 @@ void ahrs_update_fw_estimator(void);
 // Mode 1 = DCM integration with Kp and Ki
 // Mode 2 = direct accelerometer -> euler
 
-#define MAGNETOMETER 1
-extern float MAG_Heading;
 
 #define PERFORMANCE_REPORTING 0
 #if PERFORMANCE_REPORTING == 1