diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index ee48120890..f772e82372 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -29,6 +29,7 @@
     <subsystem name="actuators"     type="asctec"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index b8acf7af5e..e8f6fbd90f 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -34,6 +34,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 37229f6b1d..19222336b0 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -16,6 +16,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index e894ef65de..edda84a77b 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -15,6 +15,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 395583d8e9..098f386727 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -206,6 +206,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 213a7d9510..76468c990c 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -235,6 +235,7 @@
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <!--subsystem name="ahrs"          type="cmpl"/-->
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="ic"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index 478600ab30..e5c5226b4d 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -185,6 +185,7 @@
 <!--    <subsystem name="imu"           type="b2_v1.1"/> -->
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 66b39fd1ed..d8a7ec2290 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -293,6 +293,7 @@ second attempt
 	<subsystem name="actuators"     type="mkk"/>
 	<subsystem name="imu"           type="crista"/>
 	<subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
 	<subsystem name="ahrs"          type="cmpl"/>
 	<subsystem name="ins"           type="hff"/>
 
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 36dde5dd6d..3c7e9766cd 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -202,6 +202,7 @@
     <subsystem name="actuators"     type="heli"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index 9847fa9a0e..a624234444 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -252,6 +252,7 @@
 	<subsystem name="actuators"     type="mkk"/>
 	<subsystem name="imu"           type="b2_v1.1"/>
 	<subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
 	<subsystem name="ahrs"          type="cmpl"/>
 	<subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index ce88da0d18..a168d959eb 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -18,6 +18,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index b0ec00deec..d24d7a156e 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -208,6 +208,7 @@
     <subsystem name="actuators"     type="asctec"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
 </firmware>
 <firmware name="booz_test_progs">
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 9296ea4891..5e1f0b4aea 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -194,6 +194,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="stabilization" type="quaternion"/>
   </firmware>
 
 
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index b677e8e3cc..532218f44a 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -202,6 +202,7 @@
 
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index 6aa143ec58..04f00b91c6 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -204,6 +204,7 @@
 
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index 9d87c99f6a..1e9368344f 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -225,6 +225,7 @@
 
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="ic"/>
   </firmware>
 
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index 34491a043a..b32a7b33c4 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -204,6 +204,7 @@
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
     <!--<subsystem name="ahrs"          type="ic"/>-->
   </firmware>
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index 5146d71f5e..f8ebedbca7 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -208,6 +208,7 @@
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <!--subsystem name="ahrs"          type="cmpl"/-->
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="ic"/>
   </firmware>
 
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index 409ec50983..2e27d93ad0 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -203,6 +203,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_PORT"     value="UART3"/>
     </subsystem>
+    <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="cmpl"/>
   </firmware>
 
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index 708eff5803..5239f3c461 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -189,13 +189,6 @@ ap.srcs += math/pprz_trig_int.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization.c
 ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
 
-
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
-ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
-ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
-ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c
-
 ap.CFLAGS += -DUSE_NAVIGATION
 ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
 ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c