diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index db334d1447..757f5d9dc1 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -162,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 345cdd9621..6b639e148d 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -158,7 +158,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
index 521d7c87ce..f6833aa79e 100644
--- a/conf/airframes/ENAC/quadrotor/g1_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -131,7 +131,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
index 03f539783f..54afa6cd75 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -164,7 +164,6 @@
 
   <section name="INS" prefix="BOOZ_INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
     <!--define name="SONAR_SENS" value="2.146" integer="16"/-->
     <define name="SONAR_SENS" value="3." integer="16"/>
   </section>
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index ee3afbe1c7..f574321c9f 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -194,7 +194,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index a3a05aadf2..3198cd7af5 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -165,7 +165,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index e4a4e36889..42794dc1bb 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -190,7 +190,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 895ac7e33b..8b408aeed4 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -162,7 +162,6 @@
 
   <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="10." integer="16"/>
-    <define name="UNTILT_ACCEL" value="1"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">