diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index 557d03acb9..87f9e38388 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -30,7 +30,7 @@
         <subsystem name="gps"           type="ublox">
             <configure name="GPS_BAUD"    value="B57600"/>
         </subsystem>
-        <subsystem name="stabilization"   type="euler"/>
+        <subsystem name="stabilization"   type="int_euler"/>
         <subsystem name="ahrs"            type="int_cmpl_quat"/>
         <subsystem name="ins"/>
     </firmware>
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index bdafdab212..f9d1c22a70 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -30,7 +30,7 @@
         <subsystem name="gps"           type="ublox">
             <configure name="GPS_BAUD"    value="B57600"/>
         </subsystem>
-        <subsystem name="stabilization"   type="euler"/>
+        <subsystem name="stabilization"   type="int_euler"/>
         <subsystem name="ahrs"            type="int_cmpl_quat"/>
         <subsystem name="ins"/>
         <define name="PRINT_CONFIG"/>
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 009f4312f1..d7467c3203 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -19,7 +19,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
   </firmware>
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 7e7320f043..af532c20f2 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -204,7 +204,7 @@
     <subsystem name="actuators"     type="asctec"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
 </firmware>
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index e035a7b5c7..144f12eb18 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -249,7 +249,7 @@ B2L -> CW
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index e9491e181a..b38357f11f 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -233,7 +233,7 @@
     </subsystem>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 </airframe>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index 6ae1d2b368..f3705ebc95 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -244,7 +244,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 00cf6e1bcc..c900b0e7ae 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -205,7 +205,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index 41d1d67104..f17936a89a 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -220,7 +220,7 @@
     </subsystem>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index 671309a1a6..f47a8715d1 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -244,7 +244,7 @@
     </subsystem>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 </airframe>
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index 368bdb9a9e..3e39b0575e 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -239,7 +239,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 3ce579cf50..99a2840dbd 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -200,7 +200,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index 6be1758980..bebf1bd2d6 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -207,7 +207,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 298bcc8244..3c97b2ad2f 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -202,7 +202,7 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
-    <!--subsystem name="stabilization"   type="euler"/>
+    <!--subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
   </firmware>
 
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 36ceee5817..dca8389581 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -210,7 +210,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index ca779e54ce..5faaedebe3 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -189,7 +189,7 @@
 <!--    <subsystem name="imu"           type="b2_v1.1"/> -->
     <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
   </firmware>
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 8b72be5c70..75f60ddfdf 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -207,7 +207,7 @@
 
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
   </firmware>
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index fe108b4d6f..143f5fb701 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -33,7 +33,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
     </subsystem>
-    <subsystem name="stabilization" type="euler"/>
+    <subsystem name="stabilization" type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
index 9633595152..18a9742bc7 100644
--- a/conf/airframes/obsolete/ENAC/mkk1.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1.xml
@@ -16,7 +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="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
index f3a066a809..0ef106ba39 100644
--- a/conf/airframes/obsolete/ENAC/nova1.xml
+++ b/conf/airframes/obsolete/ENAC/nova1.xml
@@ -15,7 +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="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/obsolete/Poine/booz2_a1.xml b/conf/airframes/obsolete/Poine/booz2_a1.xml
index 269bd6da8d..8d66978f1b 100644
--- a/conf/airframes/obsolete/Poine/booz2_a1.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a1.xml
@@ -204,7 +204,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
diff --git a/conf/airframes/obsolete/Poine/booz2_a7.xml b/conf/airframes/obsolete/Poine/booz2_a7.xml
index 905a6d4d2a..59f3bb2082 100644
--- a/conf/airframes/obsolete/Poine/booz2_a7.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a7.xml
@@ -231,7 +231,7 @@
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
diff --git a/conf/airframes/obsolete/Poine/h_hex.xml b/conf/airframes/obsolete/Poine/h_hex.xml
index b76881c9fa..252cdacf33 100644
--- a/conf/airframes/obsolete/Poine/h_hex.xml
+++ b/conf/airframes/obsolete/Poine/h_hex.xml
@@ -168,7 +168,7 @@
 <!--    <subsystem name="imu"           type="b2_v1.1"/> -->
     <subsystem name="imu"           type="aspirin_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
   </firmware>
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index a79cea2d5c..4061167138 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -291,7 +291,7 @@ second attempt
 	<subsystem name="actuators"     type="mkk"/>
 	<subsystem name="imu"           type="crista"/>
 	<subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
 	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
index ebd6bd5bbe..5f3ee2a945 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
@@ -200,7 +200,7 @@
     <subsystem name="actuators"     type="heli"/>
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 5d38914b96..564e7dbcc4 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -249,7 +249,7 @@
 	<subsystem name="actuators"     type="mkk"/>
 	<subsystem name="imu"           type="b2_v1.1"/>
 	<subsystem name="gps"           type="ublox"/>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
 	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
   </firmware>
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
index 6ed0bf3d66..e3dbdfd842 100644
--- a/conf/airframes/obsolete/example_heli_lisam.xml
+++ b/conf/airframes/obsolete/example_heli_lisam.xml
@@ -252,7 +252,7 @@ AP_MODE_NAV
     <subsystem name="imu" type="aspirin_v1.5"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="ahrs" type="int_cmpl_euler"/>
-    <subsystem name="stabilization" type="euler"/>
+    <subsystem name="stabilization" type="int_euler"/>
 
   </firmware>
 
diff --git a/conf/airframes/obsolete/mm/rotor/qmk1.xml b/conf/airframes/obsolete/mm/rotor/qmk1.xml
index 7d561384d0..8066ee667d 100644
--- a/conf/airframes/obsolete/mm/rotor/qmk1.xml
+++ b/conf/airframes/obsolete/mm/rotor/qmk1.xml
@@ -200,7 +200,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_PORT"     value="UART3"/>
     </subsystem>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization"   type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"/>
   </firmware>