diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index d9460176ed..b50fc8af7f 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -216,7 +216,7 @@
 
  <section name="MISC">
    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
    <define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
    <define name="IMU_MAG_OFFSET" value="-9."/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 5585c6740d..9797a69135 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -204,7 +204,7 @@
 
  <section name="MISC">
    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
  </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 44fc67934f..f9c9f4906f 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -241,7 +241,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index a19cd74737..2b356a3164 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -192,7 +192,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 9d486e0159..9680371be4 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -210,7 +210,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 216d7dbbab..52266793c4 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -185,7 +185,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml
index 8f09786046..7b800642e4 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/Poine/booz2_a1p.xml
@@ -189,7 +189,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/Poine/booz2_a2.xml b/conf/airframes/Poine/booz2_a2.xml
index a5434b4d32..a7ad5b6e81 100644
--- a/conf/airframes/Poine/booz2_a2.xml
+++ b/conf/airframes/Poine/booz2_a2.xml
@@ -175,7 +175,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/Poine/booz2_a3.xml b/conf/airframes/Poine/booz2_a3.xml
index 546f7d5e62..0724249ee4 100644
--- a/conf/airframes/Poine/booz2_a3.xml
+++ b/conf/airframes/Poine/booz2_a3.xml
@@ -160,7 +160,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/Poine/booz2_a4.xml b/conf/airframes/Poine/booz2_a4.xml
index c43da7f3a3..12027c1da3 100644
--- a/conf/airframes/Poine/booz2_a4.xml
+++ b/conf/airframes/Poine/booz2_a4.xml
@@ -138,7 +138,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/Poine/booz2_a5.xml b/conf/airframes/Poine/booz2_a5.xml
index 4280e54dfb..9d4810bff0 100644
--- a/conf/airframes/Poine/booz2_a5.xml
+++ b/conf/airframes/Poine/booz2_a5.xml
@@ -171,7 +171,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
  <section name="AUTOPILOT">
diff --git a/conf/airframes/Poine/booz2_a6.xml b/conf/airframes/Poine/booz2_a6.xml
index ee86e1025d..4c7f7c0761 100644
--- a/conf/airframes/Poine/booz2_a6.xml
+++ b/conf/airframes/Poine/booz2_a6.xml
@@ -166,7 +166,7 @@
   </section>
 
   <section name="MISC">
-    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+    <define name="FACE_REINJ_1"  value="1024"/>
   </section>
 
 
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 50b486e49a..9322ef5c31 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -166,7 +166,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
  <section name="SIMULATOR" prefix="NPS_">
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 79e49c33ac..364cdf3597 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -258,7 +258,7 @@ second attempt
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+   <define name="FACE_REINJ_1" value="1024"/>
    <define name="NOMINAL_AIRSPEED" value="1"/>
 </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 0aaef70564..a7e94af2ab 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -153,7 +153,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 <!-- the board isnt really a lisa_l_1.1 we just cable it to suit. In order to use a straight through imu cable 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index 18fc32d2cf..4b617a42c9 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -226,7 +226,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 1216e14708..d56d1b5d4d 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -218,7 +218,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 5dd0629918..25292b0e0d 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -260,7 +260,7 @@ second attempt
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+   <define name="FACE_REINJ_1" value="1024"/>
    <define name="NOMINAL_AIRSPEED" value="1"/> 
 </section>
 
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/UofAdelaide/lisa_a1000.xml
index 2d62df517d..31f6609e0e 100644
--- a/conf/airframes/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/UofAdelaide/lisa_a1000.xml
@@ -161,7 +161,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/booz2_Aron.xml b/conf/airframes/booz2_Aron.xml
index 5b14345a5a..e3a131cb7f 100644
--- a/conf/airframes/booz2_Aron.xml
+++ b/conf/airframes/booz2_Aron.xml
@@ -175,7 +175,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/booz2_NoVa.xml b/conf/airframes/booz2_NoVa.xml
index 54eae8b608..0c30e8ce90 100644
--- a/conf/airframes/booz2_NoVa.xml
+++ b/conf/airframes/booz2_NoVa.xml
@@ -218,7 +218,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/booz2_NoVa_001.xml b/conf/airframes/booz2_NoVa_001.xml
index c9a8dc0400..096f4978ff 100644
--- a/conf/airframes/booz2_NoVa_001.xml
+++ b/conf/airframes/booz2_NoVa_001.xml
@@ -218,7 +218,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/booz2_NoVa_002.xml b/conf/airframes/booz2_NoVa_002.xml
index 0caf015350..b88b21c48e 100644
--- a/conf/airframes/booz2_NoVa_002.xml
+++ b/conf/airframes/booz2_NoVa_002.xml
@@ -218,7 +218,7 @@
 
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
   <makefile>
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 7297aa90a9..8f11b0b36e 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -194,7 +194,7 @@
   </section>
 
   <section name="MISC">
-    <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
+    <define name="FACE_REINJ_1" value="1024"/>
     <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="512"/>
   </section>
 
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index a3bd87acd6..f4e9edd2c3 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -196,7 +196,7 @@
   </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 <!-- FIRMWARE -->
 <firmware name="rotorcraft">
diff --git a/conf/airframes/booz2_s1.xml b/conf/airframes/booz2_s1.xml
index 55c04e49eb..d0b30abf58 100644
--- a/conf/airframes/booz2_s1.xml
+++ b/conf/airframes/booz2_s1.xml
@@ -174,7 +174,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/booz2_x1.xml b/conf/airframes/booz2_x1.xml
index 9e54f74ffb..ed119aa5ba 100644
--- a/conf/airframes/booz2_x1.xml
+++ b/conf/airframes/booz2_x1.xml
@@ -183,7 +183,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 19794839b4..4cdf30b887 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -161,7 +161,7 @@
  </section>
 
  <section name="MISC">
-   <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
+   <define name="FACE_REINJ_1"  value="1024"/>
  </section>
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
index 80d3fe0241..1b3ac34dae 100644
--- a/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
+++ b/sw/airborne/firmwares/rotorcraft/ahrs/ahrs_cmpl_euler.c
@@ -50,7 +50,7 @@ void ahrs_init(void) {
   INT_RATES_ZERO(ahrs.body_rate);
   INT_RATES_ZERO(ahrs.imu_rate);
   INT_RATES_ZERO(face_gyro_bias);
-  face_reinj_1 = BOOZ2_FACE_REINJ_1;
+  face_reinj_1 = FACE_REINJ_1;
 
   INT_EULERS_ZERO(face_uncorrected);