diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 2e22269be7..8693feef2e 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -74,6 +74,11 @@
 #define VFF_R_SONAR_0 0.1
 #define VFF_R_SONAR_OF_M 0.2
 
+#ifndef INS_SONAR_UPDATE_ON_AGL
+#define INS_SONAR_UPDATE_ON_AGL FALSE
+PRINT_CONFIG_MSG("INS_SONAR_UPDATE_ON_AGL defaulting to FALSE")
+#endif
+
 #endif // USE_SONAR
 
 #ifndef USE_INS_NAV_INIT
@@ -81,12 +86,10 @@
 PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
 #endif
 
-#ifndef INS_SONAR_UPDATE_ON_AGL
-#define INS_SONAR_UPDATE_ON_AGL FALSE
-PRINT_CONFIG_MSG("INS_SONAR_UPDATE_ON_AGL defaulting to FALSE")
+#ifdef INS_BARO_SENS
+#warning INS_BARO_SENS is obsolete, please remove it from your airframe file.
 #endif
 
-
 /** default barometer to use in INS */
 #ifndef INS_BARO_ID
 #define INS_BARO_ID BARO_BOARD_SENDER_ID