diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index c1a5406c3d..e1946c7a97 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -124,7 +124,6 @@
 
   <!-- Magnetic field for Toulouse (declination -16°) -->
   <!--section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
     <define name="H_X" value=" 0.513081"/>
     <define name="H_Y" value="-0.00242783"/>
diff --git a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
index 4bd506bb07..ba442cfa0a 100644
--- a/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
+++ b/conf/airframes/TUDelft/IMAV2013/ardrone2_raw.xml
@@ -7,8 +7,6 @@
     <target name="ap" board="ardrone2_raw">
       <define name="USE_INS_NAV_INIT"/>
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="AHRS_PROPAGATE_FREQUENCY" value="200"/>
-      <define name="INS_PROPAGATE_FREQUENCY" value="200"/>
       <define name="AUTOPILOT_DISABLE_AHRS_KILL"/>
 
       <define name="LINK_HOST" value="\\\"192.168.2.255\\\""/>
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 5d1e5a9d29..1f08ba794b 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
@@ -193,7 +193,6 @@
     </section>
 
     <section name="AHRS" prefix="AHRS_">
-        <define name="PROPAGATE_FREQUENCY" value="512"/>
         <define name="H_X" value=" 0.3723657"/>
         <define name="H_Y" value=" 0.1515225"/>
         <define name="H_Z" value="-0.9156335"/>
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 a9b046ca44..2dec34d39f 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
@@ -210,7 +210,6 @@
     </section>
 
     <section name="AHRS" prefix="AHRS_">
-        <define name="PROPAGATE_FREQUENCY" value="512"/>
         <define name="H_X" value=" 0.3723657"/>
         <define name="H_Y" value=" 0.1515225"/>
         <define name="H_Z" value="-0.9156335"/>
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index c169f8c314..505982aecb 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -168,7 +168,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index 3b6c1c19b5..4c72b011bd 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -182,7 +182,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 08be665e09..7051ae5acf 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -143,7 +143,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index b3f0a62541..bf12bcc14a 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -150,7 +150,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index 120cb296c8..8f2c72587e 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -176,7 +176,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index 6bce56534d..b8042c2d06 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -178,7 +178,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 556526cbee..7a02f866f4 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -139,7 +139,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 0148d31927..8e65b9e33b 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -139,7 +139,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index d1bbc5525d..7a6603652a 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -201,7 +201,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
     <define name="H_Z" value=" 0.87161"/>
diff --git a/conf/airframes/obsolete/NoVa_L.xml b/conf/airframes/obsolete/NoVa_L.xml
index 890f626200..dc4fb86f32 100644
--- a/conf/airframes/obsolete/NoVa_L.xml
+++ b/conf/airframes/obsolete/NoVa_L.xml
@@ -181,7 +181,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>
diff --git a/conf/airframes/obsolete/Poine/booz2_a7.xml b/conf/airframes/obsolete/Poine/booz2_a7.xml
index ebaa87a22b..6f4c615536 100644
--- a/conf/airframes/obsolete/Poine/booz2_a7.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a7.xml
@@ -153,7 +153,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>
diff --git a/conf/airframes/obsolete/booz2_flixr.xml b/conf/airframes/obsolete/booz2_flixr.xml
index b3a8cab4f5..f309cf4c9f 100644
--- a/conf/airframes/obsolete/booz2_flixr.xml
+++ b/conf/airframes/obsolete/booz2_flixr.xml
@@ -113,7 +113,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value=" 0.51562740288882"/>
     <define name="H_Y" value="-0.05707735220832"/>
     <define name="H_Z" value=" 0.85490967783446"/>
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
index 33e8073432..fb3dcc45cf 100644
--- a/conf/airframes/obsolete/example_heli_lisam.xml
+++ b/conf/airframes/obsolete/example_heli_lisam.xml
@@ -196,8 +196,6 @@ AP_MODE_NAV
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
-    <define name="MAG_UPDATE_YAW_ONLY" value="1"/>
     <!-- magnetic field for Santa cruz from http://www.ngdc.noaa.gov/geomagmodels/IGRFWMM.jsp -->
     <define name="H_X" value=" 0.47577"/>
     <define name="H_Y" value=" 0.11811"/>
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
index 154bce55bf..11c03a5993 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -111,7 +111,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <!-- Ostheim v.d. Rhoen -->
     <define name="H_X" value="0.405857063"/>
     <define name="H_Y" value="0.014454969"/>
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
index 5fd31a6e33..8c00f16cac 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -75,7 +75,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
index 32b121c0f6..42e55ada9f 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -82,7 +82,6 @@
   </section>
 
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="H_X" value="0.3770441"/>
     <define name="H_Y" value="0.0193986"/>
     <define name="H_Z" value="0.9259921"/>
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
index 590645e00b..aaae7a5aa8 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -27,18 +27,17 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_float_cmpl.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
-# for fixedwings this is already added in autopilot.makefile
-#ifdef AHRS_PROPAGATE_FREQUENCY
-#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-#endif
-#
-#ifdef AHRS_CORRECT_FREQUENCY
-#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-#endif
-
 #
 # NPS uses the real algorithm
 #
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
index 005ce06b43..6e53c73e56 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -27,18 +27,18 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_quat.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+endif
+
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
-# for fixedwings this is already added in autopilot.makefile
-#ifdef AHRS_PROPAGATE_FREQUENCY
-#ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-#endif
-#
-#ifdef AHRS_CORRECT_FREQUENCY
-#ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-#endif
-
 #
 # NPS uses the real algorithm
 #
diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
index 3d0ee7f738..c51a4b805e 100644
--- a/conf/firmwares/subsystems/fixedwing/autopilot.makefile
+++ b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
@@ -165,14 +165,6 @@ ap_srcs += subsystems/air_data.c
 # BARO
 include $(CFG_SHARED)/baro_board.makefile
 
-# ahrs frequencies if configured
-ifdef AHRS_PROPAGATE_FREQUENCY
-ap_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-endif
-ifdef AHRS_CORRECT_FREQUENCY
-ap_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-endif
-
 
 ######################################################################
 ##
diff --git a/conf/firmwares/subsystems/rotorcraft/ins.makefile b/conf/firmwares/subsystems/rotorcraft/ins.makefile
index e7c485cbe4..d358cf8225 100644
--- a/conf/firmwares/subsystems/rotorcraft/ins.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ins.makefile
@@ -9,3 +9,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 #  vertical filter float version
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c
 
+ifdef INS_PROPAGATE_FREQUENCY
+$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
+endif
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
index 7f1809dd83..c439844040 100644
--- a/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ins_extended.makefile
@@ -10,3 +10,6 @@ $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/ins_int.c
 $(TARGET).srcs += $(SRC_SUBSYSTEMS)/ins/vf_extended_float.c
 $(TARGET).CFLAGS += -DUSE_VFF_EXTENDED
 
+ifdef INS_PROPAGATE_FREQUENCY
+$(TARGET).CFLAGS += -DINS_PROPAGATE_FREQUENCY=$(INS_PROPAGATE_FREQUENCY)
+endif
diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
index 87e3aa8822..0998c44b66 100644
--- a/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
+++ b/conf/firmwares/subsystems/shared/imu_krooz_sd.makefile
@@ -21,9 +21,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
 AHRS_PROPAGATE_FREQUENCY ?= 512
 AHRS_CORRECT_FREQUENCY ?= 512
 AHRS_MAG_CORRECT_FREQUENCY ?= 75
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)
diff --git a/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile b/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
index 38a5fdf33f..82058e3266 100644
--- a/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
+++ b/conf/firmwares/subsystems/shared/imu_krooz_sd_memsic.makefile
@@ -26,9 +26,9 @@ IMU_KROOZ_SRCS += peripherals/hmc58xx.c
 AHRS_PROPAGATE_FREQUENCY ?= 512
 AHRS_CORRECT_FREQUENCY ?= 512
 AHRS_MAG_CORRECT_FREQUENCY ?= 75
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-ap.CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+IMU_KROOZ_CFLAGS += -DAHRS_MAG_CORRECT_FREQUENCY=$(AHRS_MAG_CORRECT_FREQUENCY)
 
 ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
 ap.srcs   += $(IMU_KROOZ_SRCS)