diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
index d626f4bf66..04555bd674 100644
--- a/sw/airborne/subsystems/ins/vf_extended_float.c
+++ b/sw/airborne/subsystems/ins/vf_extended_float.c
@@ -33,7 +33,7 @@
 #include "generated/airframe.h"
 #include "std.h"
 
-#ifndef DEBUG_VFF_EXTENDED 
+#ifndef DEBUG_VFF_EXTENDED
 #define DEBUG_VFF_EXTENDED 0
 #else
 PRINT_CONFIG_VAR(DEBUG_VFF_EXTENDED)
@@ -46,8 +46,12 @@ PRINT_CONFIG_VAR(DEBUG_VFF_EXTENDED)
 #endif
 
 #ifndef INS_PROPAGATE_FREQUENCY
+#ifdef AHRS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY AHRS_PROPAGATE_FREQUENCY
+#else
 #define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
+#endif
 PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
 
 #define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))
diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c
index 1ab2c51ed9..b0561a9efd 100644
--- a/sw/airborne/subsystems/ins/vf_float.c
+++ b/sw/airborne/subsystems/ins/vf_float.c
@@ -31,8 +31,12 @@
 #include "std.h"
 
 #ifndef INS_PROPAGATE_FREQUENCY
+#ifdef AHRS_PROPAGATE_FREQUENCY
+#define INS_PROPAGATE_FREQUENCY AHRS_PROPAGATE_FREQUENCY
+#else
 #define INS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
+#endif
 PRINT_CONFIG_VAR(INS_PROPAGATE_FREQUENCY)
 
 #define DT_VFILTER (1./(INS_PROPAGATE_FREQUENCY))