diff --git a/conf/airframes/ENAC/fixed-wing/drops.xml b/conf/airframes/ENAC/fixed-wing/drops.xml
index 2fdede5787..a1281815ae 100644
--- a/conf/airframes/ENAC/fixed-wing/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/drops.xml
@@ -248,7 +248,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 5514d9894c..eb4502783e 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -233,8 +233,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
-#ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
+#ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
 #ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml
index 790c7ef219..e449ae9643 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml
@@ -257,7 +257,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 2a5ae3b41d..1e8551b53b 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -199,7 +199,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/fixed-wing/slayer2.xml b/conf/airframes/ENAC/fixed-wing/slayer2.xml
index 75d9cb4a56..649d209ad4 100644
--- a/conf/airframes/ENAC/fixed-wing/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/slayer2.xml
@@ -230,7 +230,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index 147a8550bf..6bdeb1a1a5 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -203,8 +203,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-# ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
+# ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/ENAC/fixed-wing/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/solarstorm.xml
index f51591dc8b..83e6bbf828 100644
--- a/conf/airframes/ENAC/fixed-wing/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/solarstorm.xml
@@ -226,8 +226,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
-#ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
+#ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml
index 6d7665e940..d289eff1c2 100644
--- a/conf/airframes/ENAC/fixed-wing/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocII.xml
@@ -233,7 +233,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index f9e4ffc1a4..bc5b5ba99b 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -258,7 +258,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 ########## GPS
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 24b7cd9ec3..3a1ef13ea5 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -257,7 +257,7 @@
 # prevents motors from ever starting
 #ap.CFLAGS += -DKILL_MOTORS
 
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 #ap.CFLAGS += -DUSE_GPS_ACC4R
 
 #ap.CFLAGS += -DGUIDANCE_H_USE_REF
diff --git a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
index 29a371d40f..03564973a0 100644
--- a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
@@ -180,8 +180,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-# GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2 
+# USE_GPS configuration
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index aa6736e712..9e05da1098 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -3,7 +3,7 @@
 <!-- PPZUAV_BOOZ2_ASCTEC_EXAMPLE
      Booz2 main board
      Booz2 IMU
-     LEA-5H GPS configured for Booz2
+     LEA-5H USE_GPS configured for Booz2
      Datamodems configured for 57600 baud
      Asctec speed controllers-->
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 3acd5c171a..7c4c1e8e8a 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -3,7 +3,7 @@
 <!-- PPZUAV_BOOZ2_MKK_EXAMPLE
      Booz2 main board
      Booz2 IMU
-     LEA-5H GPS configured for Booz2
+     LEA-5H USE_GPS configured for Booz2
      Datamodems configured for 57600 baud
      MKK style speed controllers-->
 
diff --git a/conf/airframes/Paul/minimag1.xml b/conf/airframes/Paul/minimag1.xml
index 0e0b9b2c88..0cb9591812 100644
--- a/conf/airframes/Paul/minimag1.xml
+++ b/conf/airframes/Paul/minimag1.xml
@@ -196,7 +196,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
diff --git a/conf/airframes/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml
index 6dedfbba7b..483da1b958 100644
--- a/conf/airframes/Poine/antenna.xml
+++ b/conf/airframes/Poine/antenna.xml
@@ -36,7 +36,7 @@ ant.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
 ant.srcs += datalink.c
 ant.srcs += traffic_info.c
 
-ant.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ant.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ant.srcs += estimator.c gps_ubx.c gps.c
 
 ant.srcs += avr/ant_tracker.c
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 808669cb93..ed7388ddb1 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -256,9 +256,9 @@ overo_test_uart.srcs    += $(SRC_FMS)/udp_transport2.c downlink.c
 overo_test_uart.srcs    += $(SRC_FMS)/fms_network.c
 overo_test_uart.LDFLAGS += -levent -lm
 overo_test_uart.srcs    += $(SRC_BETH)/overo_gcs_com.c
-#overo_test_uart.CFLAGS  += -DUBX -DGPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"modules/gps_i2c/runtime_configure.h\" -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
-#overo_test_uart.CFLAGS  += -DUBX -DGPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
-overo_test_uart.CFLAGS  += -DUBX -DGPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
+#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"modules/gps_i2c/runtime_configure.h\" -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
+#overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B9600 -DGPS_CONFIGURE -DGPS_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
+overo_test_uart.CFLAGS  += -DUBX -DUSE_GPS -DUSE_UART0 -DUART0_BAUD=B38400 -DGPS_LINK=Uart0 -DGPS_USE_LATLONG
 overo_test_uart.srcs    += gps_ubx.c gps.c latlong.c $(SRC_BETH)/uart_hw.c
 overo_test_uart.CFLAGS  +=-DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ 
 overo_test_uart.srcs    += pprz_transport.c $(SRC_BETH)/rcv_telemetry.c
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index f69b5a6873..bacf1c29a3 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -185,7 +185,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml
index 7f6164df25..93ade9c70e 100644
--- a/conf/airframes/Poine/pt_ant.xml
+++ b/conf/airframes/Poine/pt_ant.xml
@@ -47,7 +47,7 @@ main.srcs += AMI601.c i2c.c $(SRC_ARCH)/i2c_hw.c
 #main.srcs += pt_ant_estimator.c
 
 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
-#main.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart1
+#main.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart1
 #main.CFLAGS += -DGPS_USER_CALLBACK=pt_ant_estimator_update_self_gps -DGPS_USER_CALLBACK_HEADER=\"pt_ant_estimator.h\" 
 #main.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 #main.srcs += gps_ubx.c gps.c
diff --git a/conf/airframes/TUDelft/Trip50A.xml b/conf/airframes/TUDelft/Trip50A.xml
index 08d36d1fae..745fb2fec6 100644
--- a/conf/airframes/TUDelft/Trip50A.xml
+++ b/conf/airframes/TUDelft/Trip50A.xml
@@ -277,7 +277,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DGYRO -DIDG300
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
diff --git a/conf/airframes/TUDelft/Trip50B.xml b/conf/airframes/TUDelft/Trip50B.xml
index 3cf392ae40..b8b4e489b9 100644
--- a/conf/airframes/TUDelft/Trip50B.xml
+++ b/conf/airframes/TUDelft/Trip50B.xml
@@ -282,7 +282,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DGYRO -DIDG300
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET -DSTRONG_WIND
diff --git a/conf/airframes/TUDelft/holiday50.xml b/conf/airframes/TUDelft/holiday50.xml
index 8ec2847a94..eaae02382b 100644
--- a/conf/airframes/TUDelft/holiday50.xml
+++ b/conf/airframes/TUDelft/holiday50.xml
@@ -274,8 +274,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-# GPS on UART1
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+# USE_GPS on UART1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 #ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index bee3a3fa4a..3bd37f4813 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -343,7 +343,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index b1862dacc0..fe7204faf8 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -292,7 +292,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8
 #-DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 195bde6754..e2189844cc 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -248,7 +248,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8
 #-DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 82afe762c7..a1d966b225 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -304,7 +304,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 ap.CFLAGS += -DFAILSAFE_GROUND_DETECT
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/booz2_NoVa.xml b/conf/airframes/booz2_NoVa.xml
index 0a81b294fc..5a050ecd98 100644
--- a/conf/airframes/booz2_NoVa.xml
+++ b/conf/airframes/booz2_NoVa.xml
@@ -244,7 +244,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/booz2_NoVa_001.xml b/conf/airframes/booz2_NoVa_001.xml
index ff0fd70a5f..3962ee5378 100644
--- a/conf/airframes/booz2_NoVa_001.xml
+++ b/conf/airframes/booz2_NoVa_001.xml
@@ -244,7 +244,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/booz2_NoVa_002.xml b/conf/airframes/booz2_NoVa_002.xml
index 878d3347fa..198745a46e 100644
--- a/conf/airframes/booz2_NoVa_002.xml
+++ b/conf/airframes/booz2_NoVa_002.xml
@@ -245,7 +245,7 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
 
 
 include $(CFG_BOOZ)/subsystems/ins_hff.makefile
-#set GPS lag for horizontal filter
+#set USE_GPS lag for horizontal filter
 ap.CFLAGS += -DGPS_LAG=0.8 -DUSE_GPS_ACC4R
 ap.CFLAGS += -DGPS_USE_LATLONG
 
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index 764de1e0a5..919a869c67 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -188,7 +188,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 ########## GPS
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ########## IR sensors
diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/hitl_usb.xml
index ccfea0584e..c192922080 100644
--- a/conf/airframes/hitl_usb.xml
+++ b/conf/airframes/hitl_usb.xml
@@ -136,7 +136,7 @@ ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
 
-ap.CFLAGS += -DGPS -DUBX
+ap.CFLAGS += -DUSE_GPS -DUBX
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/microjet_raw_makefile.xml b/conf/airframes/microjet_raw_makefile.xml
index 3ac5356afe..c387a94e29 100644
--- a/conf/airframes/microjet_raw_makefile.xml
+++ b/conf/airframes/microjet_raw_makefile.xml
@@ -194,7 +194,7 @@
  ap.srcs += inter_mcu.c
  ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
  ap.srcs += $(SRC_ARCH)/adc_hw.c
- ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
  ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
  ap.srcs += gps_ubx.c gps.c latlong.c
  ap.CFLAGS += -DUSE_INFRARED
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index e2697f251f..bb2d3ddff1 100755
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -252,7 +252,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 1309db1306..6f8128e43b 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -270,7 +270,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index a46d745a92..c5e62eb2b8 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -228,7 +228,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 # -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 218122ead5..fe5c3eaff7 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -229,7 +229,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 # -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index ece279d275..559e6e0cf7 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -232,7 +232,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 1fdd869eb9..0e2f1b3a36 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -231,7 +231,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index b29d947dab..f059e1c16e 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -231,7 +231,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index d351c6737a..1d02408d13 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -209,7 +209,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 104c11a0ed..d1f05053ac 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -220,7 +220,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DGPS_LED=2 -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index ed97dafa0a..97d430bce3 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -210,7 +210,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index 774741deff..b38885cb59 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -211,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 670970cfd1..8b356fa240 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -211,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 5f35a705bc..d205327bd5 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -211,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index ec947f5540..116595be4d 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -211,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 68d1ca025d..c5228ba9c4 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -211,7 +211,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 05e3e68914..608dd22c5f 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -237,7 +237,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 # -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 400d9cef46..d2ecc86943 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -206,7 +206,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 # -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index 197f1d06d1..d27f5364ac 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -200,7 +200,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 14d6fccde0..899bc5fe43 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -252,7 +252,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 5e43576f08..c9c8a76d47 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -266,7 +266,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index ede9e8222a..95bfd5eb83 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -228,7 +228,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 4e9baeb2d8..4dfd4de0f8 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -239,7 +239,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index 19e5e17a40..cffbf5f8b1 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -229,7 +229,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
 ap.CFLAGS += -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 115bfdc359..8270362ff4 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -203,7 +203,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
 ap.CFLAGS += -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index bf54c67b3d..ffffb63724 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -230,7 +230,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
 ap.CFLAGS += -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index 45079b8772..9a36a3049d 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -230,7 +230,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index fccf9d384c..e0c31db35b 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -224,7 +224,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 50623ece4e..076cf60620 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -250,7 +250,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_CONFIGURE -DZ_CONTRAST_DEFAULT=1
 ap.CFLAGS += -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index 00ddcb9b04..55bd1c9864 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -202,8 +202,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-# GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
+# USE_GPS configuration
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
diff --git a/conf/airframes/obsolete/example.xml b/conf/airframes/obsolete/example.xml
index fc36b7c49b..81bd9b7c2b 100644
--- a/conf/airframes/obsolete/example.xml
+++ b/conf/airframes/obsolete/example.xml
@@ -9,7 +9,7 @@ FLASH_MODE = IAP
 
 
 #
-# GPS :
+# USE_GPS :
 #
 #
 example_gps.ARCHDIR = $(ARCHI)
@@ -31,7 +31,7 @@ example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_D
 example_gps.srcs += downlink.c pprz_transport.c
 
 example_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-example_gps.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0 -DGPS_BAUD=38400
+example_gps.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart0 -DGPS_BAUD=38400
 example_gps.srcs += gps_ubx.c gps.c latlong.c
 
 
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 3595d7b8b2..8e5c721c67 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -182,8 +182,8 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-# GPS configuration
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
+# USE_GPS configuration
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index efc1393c6e..0afdcb0935 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -195,7 +195,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 9883794cee..7dbda597a2 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -205,7 +205,7 @@ ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_5 -DUSE_AD1_7 -DUSE_AD1_3 -DUSE_AD1_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index da005ecec4..d2877c4774 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -227,7 +227,7 @@ ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 1055ee8bf0..a276c2e8af 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -213,7 +213,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 #ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index f818d79c64..12483ad78d 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -213,7 +213,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index a46a50bd4f..5a71726084 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -202,7 +202,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 #ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index d883a21dcc..e43bc1550f 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -204,7 +204,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index c52021b899..41f6cb5cba 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -216,7 +216,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index d9ef913983..b3560170a6 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -218,7 +218,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD1 -DUSE_AD1_3 -DUSE_AD1_5 -DUSE_AD1_2 -DUSE_AD1_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c
 
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index 19f9c83d45..ceaf2c47e0 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -201,7 +201,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B57600
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B57600
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 3cc102efc6..61b2d91b38 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -2,7 +2,7 @@
 
 <!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
      Two ailevons
-     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
+     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured USE_GPS at 9600
      3 cells lipo
      Gimballed camera on pitch and roll (in this order) axis -->
 
@@ -211,7 +211,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index 68088a2868..6f676d997c 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -2,7 +2,7 @@
 
 <!-- Slicer (http://www.recherche.enac.fr/wiki/index.php/Image:Slicer.jpg)
      Two ailevons
-     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured GPS at 9600
+     Tiny 1.1, tilted infrared sensor, roll gyro, unconfigured USE_GPS at 9600
      3 cells lipo
      Fixed camera pointing down -->
 
@@ -193,7 +193,7 @@ ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 -DGPS_LED=2 -DDOWNLINK_GPS_1Hz
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index 231e4102aa..5f114abf95 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -207,7 +207,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_6
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index dcdb91f480..4600b911b2 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -195,7 +195,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index b4e2e3ceeb..129fe4b9f2 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -260,7 +260,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index b8c06ad91d..ef4c1f645c 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -223,7 +223,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
 
diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml
index 5bfeb5719a..2aa4ab9b33 100644
--- a/conf/airframes/obsolete/tl.xml
+++ b/conf/airframes/obsolete/tl.xml
@@ -106,7 +106,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.
 ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)"
 ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DDOWNLINK_GPS_DEVICE=DOWNLINK_AP_DEVICE -DGPS_CONFIGURE -DUSER_GPS_CONFIGURE=\"$(TL)/tl_gps_configure.h\" -DGPS_BAUD=38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.srcs += $(TL)/tl_imu.c
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index fd2e90fd3c..63704a355c 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -205,7 +205,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 # ADCs for infrared
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 4e85159bda..4d3425b523 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -210,7 +210,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c pprz_trans
 ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 # ADCs for infrared
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index ea0bf7935e..c612957397 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -228,7 +228,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
+ap.CFLAGS += -DUSE_GPS -DGPS_CONFIGURE -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 # -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index fe9fe7c260..69276a4b1b 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -234,7 +234,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -DUSE_ADC_5
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 -DGPS_LED=2
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DIR_360
diff --git a/conf/airframes/tiny_hitl.xml b/conf/airframes/tiny_hitl.xml
index 201fa94f87..162f5a4be5 100644
--- a/conf/airframes/tiny_hitl.xml
+++ b/conf/airframes/tiny_hitl.xml
@@ -187,7 +187,7 @@ ap.srcs += inter_mcu.c
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
+ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
 
 ap.srcs += gps_ubx.c gps.c latlong.c
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
index 1ed43507c7..d4fab5b815 100644
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
@@ -1,7 +1,7 @@
 # UBlox LEA 4P
 
 
-ap.CFLAGS += -DGPS -DUBX
+ap.CFLAGS += -DUSE_GPS -DUBX
 ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
 ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
index 58c60f8ef6..27f46bc630 100644
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
@@ -1,7 +1,7 @@
 # UBlox LEA 5H
 
 
-ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
 ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
 ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
diff --git a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
index 5667e809cc..4cde327f95 100755
--- a/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
+++ b/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h_hitl.makefile
@@ -1,6 +1,6 @@
 # UBlox LEA 5H
 
 
-ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
+ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_USE_LATLONG
 
 ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
diff --git a/conf/autopilot/twin_mcu.makefile b/conf/autopilot/twin_mcu.makefile
index e96724e994..3cdaca95c4 100644
--- a/conf/autopilot/twin_mcu.makefile
+++ b/conf/autopilot/twin_mcu.makefile
@@ -1,5 +1,5 @@
 ap.srcs += $(SRC_FIRMWARE)/main_ap.c sys_time.c $(SRC_FIRMWARE)/main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c spi.c rc_settings.c latlong.c nav_survey_rectangle.c
-ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DUSE_INFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI -DNAV -DRADIO_CONTROL_SETTINGS
+ap.CFLAGS += -DMCU_SPI_LINK -DUSE_GPS -DUBX -DUSE_INFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI -DNAV -DRADIO_CONTROL_SETTINGS
 
 fbw.srcs +=  sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c pprz_transport.c downlink.c  inter_mcu.c spi.c link_mcu.c
 fbw.CFLAGS += -DRADIO_CONTROL -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400 -DSPI_SLAVE -DUSE_SPI
diff --git a/conf/modules/gps_i2c.xml b/conf/modules/gps_i2c.xml
index aa8116495d..dabbd3176c 100644
--- a/conf/modules/gps_i2c.xml
+++ b/conf/modules/gps_i2c.xml
@@ -1,7 +1,7 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
 <!-- to be configured with
-ap.CFLAGS += -DGPS -DUBX -DGPS_LINK=gps_i2c -DGPS_LED=2
+ap.CFLAGS += -DUSE_GPS -DUBX -DGPS_LINK=gps_i2c -DGPS_LED=2
 ap.CFLAGS += -DGPS_CONFIGURE -DGPS_PORT_ID=GPS_PORT_DDC
 -->
 
diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h
index f3ae45f9e2..da90c9f3c6 100644
--- a/sw/airborne/ap_downlink.h
+++ b/sw/airborne/ap_downlink.h
@@ -167,7 +167,7 @@
 
 #define PERIODIC_SEND_TUNE_ROLL(_chan) DOWNLINK_SEND_TUNE_ROLL(_chan, &estimator_p,&estimator_phi, &h_ctl_roll_setpoint);
 
-#if defined GPS || defined SITL || defined USE_GPS_XSENS
+#if defined USE_GPS || defined SITL || defined USE_GPS_XSENS
 #define PERIODIC_SEND_GPS_SOL(_chan) DOWNLINK_SEND_GPS_SOL(_chan, &gps_Pacc, &gps_Sacc, &gps_PDOP, &gps_numSV)
 #endif
 
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index fccad92af6..805d4e0596 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -499,7 +499,7 @@ void init_ap( void ) {
 #ifdef GYRO
   gyro_init();
 #endif
-#ifdef GPS
+#ifdef USE_GPS
   gps_init();
 #endif
 #ifdef USE_UART0
@@ -590,7 +590,7 @@ void init_ap( void ) {
 /*********** EVENT ***********************************************************/
 void event_task_ap( void ) {
 
-#ifdef GPS
+#ifdef USE_GPS
 #if !(defined HITL) && !(defined UBX_EXTERNAL) /** else comes through the datalink */
   if (GpsBuffer()) {
     ReadGpsBuffer();
@@ -617,7 +617,7 @@ void event_task_ap( void ) {
       gps_pos_available = FALSE;
     }
   }
-#endif /** GPS */
+#endif /** USE_GPS */
 
 
 #if defined DATALINK