diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
index aaae7a5aa8f..ceec6d9d86f 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -8,7 +8,7 @@
 USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
@@ -48,7 +48,7 @@ nps.srcs += $(AHRS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
index b996e653c04..51d63fb73a8 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -8,7 +8,7 @@
 USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
@@ -40,7 +40,7 @@ nps.srcs += $(AHRS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
index b88c4d96cce..26b63dc8dad 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -7,7 +7,7 @@ AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
-AHRS_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS += -DUSE_AHRS
 
 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
 AHRS_CFLAGS += -DUSE_MAGNETOMETER
@@ -36,7 +36,7 @@ nps.srcs += $(AHRS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
index 9b420e4fe38..1df57d57adc 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_gx3.makefile
@@ -10,8 +10,6 @@ AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_IMU
 AHRS_CFLAGS += -DUSE_IMU_FLOAT
 
-#fixedwings
-AHRS_CFLAGS += -DAHRS_UPDATE_FW_ESTIMATOR
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifneq ($(AHRS_ALIGNER_LED),none)
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
index 6e53c73e56d..6f2de55e7ab 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -9,7 +9,7 @@
 USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
@@ -49,7 +49,7 @@ nps.srcs += $(AHRS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
index 34c7e228174..7a688bf77d3 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
@@ -37,7 +37,7 @@ nps.srcs += $(INS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
index b9589d04c54..6c856ac42f1 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
@@ -52,7 +52,7 @@ SIM_TARGETS = sim jsbsim nps
 ifneq (,$(findstring $(TARGET),$(SIM_TARGETS)))
 
 $(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-$(TARGET).CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+$(TARGET).CFLAGS += -DUSE_AHRS
 
 $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
 $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
deleted file mode 100644
index f7f280abe07..00000000000
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# Fixed point complementary filter using euler angles for attitude estimation
-#
-
-USE_MAGNETOMETER ?= 1
-AHRS_ALIGNER_LED ?= none
-
-AHRS_CFLAGS  = -DUSE_AHRS
-AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
-
-ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
-  AHRS_CFLAGS += -DUSE_MAGNETOMETER
-endif
-
-ifneq ($(AHRS_ALIGNER_LED),none)
-  AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
-AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl_euler.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
-
-ap.CFLAGS += $(AHRS_CFLAGS)
-ap.srcs += $(AHRS_SRCS)
-
-nps.CFLAGS += $(AHRS_CFLAGS)
-nps.srcs += $(AHRS_SRCS)
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
index f892e0e8b01..310df57d6b4 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -6,6 +6,7 @@
 #
 
 USE_MAGNETOMETER ?= 1
+AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
similarity index 87%
rename from conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
rename to conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
index 61a5e809379..f51c9c4d476 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
+++ b/conf/firmwares/subsystems/shared/ahrs_int_cmpl_euler.makefile
@@ -1,10 +1,12 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
+# Fixed point complementary filter using euler angles for attitude estimation
+#
 
 USE_MAGNETOMETER ?= 1
 AHRS_ALIGNER_LED ?= none
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+AHRS_CFLAGS  = -DUSE_AHRS
 AHRS_CFLAGS += -DUSE_AHRS_ALIGNER
 
 ifeq (,$(findstring $(USE_MAGNETOMETER),0 FALSE))
@@ -30,7 +32,7 @@ nps.srcs += $(AHRS_SRCS)
 # Simple simulation of the AHRS result
 #
 ahrssim_CFLAGS  = -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-ahrssim_CFLAGS += -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ahrssim_CFLAGS += -DUSE_AHRS
 
 ahrssim_srcs    = $(SRC_SUBSYSTEMS)/ahrs.c
 ahrssim_srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index 2977c599cce..8188f54c532 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -94,18 +94,6 @@ PRINT_CONFIG_VAR(AHRS_MAG_CORRECT_FREQUENCY)
 #define AHRS_GRAVITY_HEURISTIC_FACTOR 30
 #endif
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-// remotely settable
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif //AHRS_UPDATE_FW_ESTIMATOR
-
 
 void ahrs_update_mag_full(void);
 void ahrs_update_mag_2d(void);
@@ -573,16 +561,7 @@ static inline void compute_body_orientation_and_rates(void) {
   struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&imu.body_to_imu);
   FLOAT_QUAT_COMP_INV(ltp_to_body_quat, ahrs_impl.ltp_to_imu_quat, *body_to_imu_quat);
   /* Set state */
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-  struct FloatEulers neutrals_to_body_eulers = { ins_roll_neutral, ins_pitch_neutral, 0. };
-  struct FloatQuat neutrals_to_body_quat, ltp_to_neutrals_quat;
-  FLOAT_QUAT_OF_EULERS(neutrals_to_body_quat, neutrals_to_body_eulers);
-  FLOAT_QUAT_NORMALIZE(neutrals_to_body_quat);
-  FLOAT_QUAT_COMP_INV(ltp_to_neutrals_quat, ltp_to_body_quat, neutrals_to_body_quat);
-  stateSetNedToBodyQuat_f(&ltp_to_neutrals_quat);
-#else
   stateSetNedToBodyQuat_f(&ltp_to_body_quat);
-#endif
 
   /* compute body rates */
   struct FloatRates body_rate;
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
index cca2281eb22..3d756b3d03d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.h
@@ -74,10 +74,5 @@ void ahrs_update_heading(float heading);
  */
 void ahrs_realign_heading(float heading);
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-#endif
-
 
 #endif /* AHRS_FLOAT_CMPL_RMAT */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index f1a8b86f03d..8a5352fe6d3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -58,17 +58,6 @@
 #define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
 #endif
 
-// FIXME this is still needed for fixedwing integration
-// remotely settable
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-
 
 struct AhrsFloatDCM ahrs_impl;
 
@@ -538,15 +527,7 @@ static inline void set_body_orientation_and_rates(void) {
   FLOAT_RMAT_OF_EULERS(ltp_to_imu_rmat, ahrs_impl.ltp_to_imu_euler);
   FLOAT_RMAT_COMP_INV(ltp_to_body_rmat, ltp_to_imu_rmat, *body_to_imu_rmat);
 
-  // Some stupid lines of code for neutrals
-  struct FloatEulers ltp_to_body_euler;
-  FLOAT_EULERS_OF_RMAT(ltp_to_body_euler, ltp_to_body_rmat);
-  ltp_to_body_euler.phi -= ins_roll_neutral;
-  ltp_to_body_euler.theta -= ins_pitch_neutral;
-  stateSetNedToBodyEulers_f(&ltp_to_body_euler);
-
-  // should be replaced at the end by:
-  //   stateSetNedToBodyRMat_f(&ltp_to_body_rmat);
+  stateSetNedToBodyRMat_f(&ltp_to_body_rmat);
 
 }
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
index 7b1f9f0e50c..d761f08dc2b 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.h
@@ -43,11 +43,6 @@ struct AhrsFloatDCM {
 extern struct AhrsFloatDCM ahrs_impl;
 
 
-// FIXME neutrals should be a feature of state interface ?
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-
-
 // DCM Parameters
 
 //#define Kp_ROLLPITCH 0.2
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
index 275e1dcec62..b3580239e2a 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
@@ -31,17 +31,6 @@
  */
 #include "subsystems/ahrs/ahrs_gx3.h"
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-// remotely settable
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif
 
 #define GX3_CHKSM(_ubx_payload) (uint16_t)((uint16_t)(*((uint8_t*)_ubx_payload+66+1))|(uint16_t)(*((uint8_t*)_ubx_payload+66+0))<<8)
 
@@ -266,29 +255,26 @@ void gx3_packet_read_message(void) {
   // Attitude
   struct FloatRMat ltp_to_body_rmat;
   FLOAT_RMAT_COMP(ltp_to_body_rmat, ahrs_impl.gx3_rmat, *body_to_imu_rmat);
-#ifdef AHRS_UPDATE_FW_ESTIMATOR // fixedwing
+
+#if AHRS_USE_GPS_HEADING && USE_GPS
   struct FloatEulers ltp_to_body_eulers;
   FLOAT_EULERS_OF_RMAT(ltp_to_body_eulers, ltp_to_body_rmat);
-  ltp_to_body_eulers.phi -= ins_roll_neutral;
-  ltp_to_body_eulers.theta -= ins_pitch_neutral;
-#if AHRS_USE_GPS_HEADING && USE_GPS
   float course_f = (float)DegOfRad(gps.course / 1e7);
   if (course_f > 180.0) {
     course_f -= 360.0;
   }
   ltp_to_body_eulers.psi = (float)RadOfDeg(course_f);
-#endif
   stateSetNedToBodyEulers_f(&ltp_to_body_eulers);
-#else
-#ifdef IMU_MAG_OFFSET //rotorcraft
+#else // !AHRS_USE_GPS_HEADING
+#ifdef IMU_MAG_OFFSET
   struct FloatEulers ltp_to_body_eulers;
   FLOAT_EULERS_OF_RMAT(ltp_to_body_eulers, ltp_to_body_rmat);
   ltp_to_body_eulers.psi -= ahrs_impl.mag_offset;
   stateSetNedToBodyEulers_f(&ltp_to_body_eulers);
 #else
   stateSetNedToBodyRMat_f(&ltp_to_body_rmat);
-#endif
-#endif
+#endif // IMU_MAG_OFFSET
+#endif // !AHRS_USE_GPS_HEADING
 }
 
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
index cf2c464f218..25c79e585e8 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
@@ -123,9 +123,4 @@ static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler
   }
 }
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-#endif
-
 #endif /* AHRS_GX3_H*/
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.h b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
index 0ff3cd83f24..fddea4cfaef 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_infrared.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_infrared.h
@@ -32,14 +32,6 @@
 #include "subsystems/ahrs.h"
 #include "std.h"
 
-/**
- * @todo harmonize infrared neutrals with ins_neutrals
- * or get rid of ins neutrals
- * this ins only needed for sim right now
- */
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-
 extern void ahrs_update_infrared(void);
 
 #endif /* AHRS_INFRARED_H */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
index b486ed31614..b304266e9a2 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
@@ -46,19 +46,6 @@
 #define AHRS_MAG_OFFSET 0.
 #endif
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-// remotely settable (for FW)
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif
-
-
 struct AhrsIntCmplEuler ahrs_impl;
 
 static inline void get_phi_theta_measurement_fom_accel(int32_t* phi_meas, int32_t* theta_meas, struct Int32Vect3 accel);
@@ -329,15 +316,7 @@ static void set_body_state_from_euler(void) {
   /* Compute LTP to BODY rotation matrix */
   INT32_RMAT_COMP_INV(ltp_to_body_rmat, ltp_to_imu_rmat, *body_to_imu_rmat);
   /* Set state */
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-  struct Int32Eulers ltp_to_body_euler;
-  INT32_EULERS_OF_RMAT(ltp_to_body_euler, ltp_to_body_rmat);
-  ltp_to_body_euler.phi -= ANGLE_BFP_OF_REAL(ins_roll_neutral);
-  ltp_to_body_euler.theta -= ANGLE_BFP_OF_REAL(ins_pitch_neutral);
-  stateSetNedToBodyEulers_i(&ltp_to_body_euler);
-#else
   stateSetNedToBodyRMat_i(&ltp_to_body_rmat);
-#endif
 
   struct Int32Rates body_rate;
   /* compute body rates */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
index 8ad70b21473..d410bbe69a3 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.h
@@ -49,9 +49,4 @@ struct AhrsIntCmplEuler {
 extern struct AhrsIntCmplEuler ahrs_impl;
 
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-#endif
-
 #endif /* AHRS_INT_CMPL_EULER_H */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index e322002d317..acd51dca180 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -127,18 +127,6 @@ PRINT_CONFIG_VAR(AHRS_MAG_ZETA)
 #define AHRS_HEADING_UPDATE_GPS_MIN_SPEED 5.0
 #endif
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-// remotely settable
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif
-
 struct AhrsIntCmplQuat ahrs_impl;
 
 static inline void set_body_state_from_quat(void);
@@ -698,19 +686,7 @@ static inline void set_body_state_from_quat(void) {
   struct Int32Quat *body_to_imu_quat = orientationGetQuat_i(&imu.body_to_imu);
   INT32_QUAT_COMP_INV(ltp_to_body_quat, ahrs_impl.ltp_to_imu_quat, *body_to_imu_quat);
   /* Set state */
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-  struct Int32Eulers neutrals_to_body_eulers = {
-    ANGLE_BFP_OF_REAL(ins_roll_neutral),
-    ANGLE_BFP_OF_REAL(ins_pitch_neutral),
-    0 };
-  struct Int32Quat neutrals_to_body_quat, ltp_to_neutrals_quat;
-  INT32_QUAT_OF_EULERS(neutrals_to_body_quat, neutrals_to_body_eulers);
-  INT32_QUAT_NORMALIZE(neutrals_to_body_quat);
-  INT32_QUAT_COMP_INV(ltp_to_neutrals_quat, ltp_to_body_quat, neutrals_to_body_quat);
-  stateSetNedToBodyQuat_i(&ltp_to_neutrals_quat);
-#else
   stateSetNedToBodyQuat_i(&ltp_to_body_quat);
-#endif
 
   /* compute body rates */
   struct Int32Rates body_rate;
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
index e7c5fbce6d0..ae3c15eaea5 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
@@ -132,9 +132,4 @@ static inline void ahrs_int_cmpl_quat_SetMagZeta(float zeta) {
 }
 
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-#endif
-
 #endif /* AHRS_INT_CMPL_QUAT_H */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.c b/sw/airborne/subsystems/ahrs/ahrs_sim.c
index 5c1d5c726f9..7d8a10aec44 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_sim.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_sim.c
@@ -39,8 +39,7 @@ extern float sim_q;
 extern float sim_r;
 extern bool_t ahrs_sim_available;
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-// remotely settable
+// for sim of e.g. Xsens ins
 #ifndef INS_ROLL_NEUTRAL_DEFAULT
 #define INS_ROLL_NEUTRAL_DEFAULT 0
 #endif
@@ -49,15 +48,11 @@ extern bool_t ahrs_sim_available;
 #endif
 float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
 float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif //AHRS_UPDATE_FW_ESTIMATOR
+
 
 void update_ahrs_from_sim(void) {
 
   struct FloatEulers ltp_to_imu_euler = { sim_phi, sim_theta, sim_psi };
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
-  ltp_to_imu_euler.phi -= ins_roll_neutral;
-  ltp_to_imu_euler.theta -= ins_pitch_neutral;
-#endif
   struct FloatRates imu_rate = { sim_p, sim_q, sim_r };
   /* set ltp_to_body to same as ltp_to_imu, currently no difference simulated */
   stateSetNedToBodyEulers_f(&ltp_to_imu_euler);
diff --git a/sw/airborne/subsystems/ahrs/ahrs_sim.h b/sw/airborne/subsystems/ahrs/ahrs_sim.h
index 0a79b17d419..ad5ff605469 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_sim.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_sim.h
@@ -34,10 +34,8 @@
 
 extern bool_t ahrs_sim_available;
 
-#ifdef AHRS_UPDATE_FW_ESTIMATOR
 extern float ins_roll_neutral;
 extern float ins_pitch_neutral;
-#endif
 
 extern void update_ahrs_from_sim(void);
 
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index 7d5c541621c..d86e425b700 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -158,19 +158,6 @@ bool_t log_started = FALSE;
 #endif
 
 
-// FIXME this is still needed for fixedwing integration
-#if INS_UPDATE_FW_ESTIMATOR
-// remotely settable
-#ifndef INS_ROLL_NEUTRAL_DEFAULT
-#define INS_ROLL_NEUTRAL_DEFAULT 0.
-#endif
-#ifndef INS_PITCH_NEUTRAL_DEFAULT
-#define INS_PITCH_NEUTRAL_DEFAULT 0.
-#endif
-float ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT;
-float ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT;
-#endif
-
 struct InsFloatInv ins_impl;
 
 /* integration time step */
@@ -380,18 +367,7 @@ void ahrs_propagate(void) {
   FLOAT_QUAT_NORMALIZE(ins_impl.state.quat);
 
   // set global state
-#if INS_UPDATE_FW_ESTIMATOR || SEND_INVARIANT_FILTER
-  struct FloatEulers eulers;
-  FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat);
-#endif
-#if INS_UPDATE_FW_ESTIMATOR
-  // Some stupid lines of code for neutrals
-  eulers.phi -= ins_roll_neutral;
-  eulers.theta -= ins_pitch_neutral;
-  stateSetNedToBodyEulers_f(&eulers);
-#else
   stateSetNedToBodyQuat_f(&ins_impl.state.quat);
-#endif
   RATES_DIFF(body_rates, ins_impl.cmd.rates, ins_impl.state.bias);
   stateSetBodyRates_f(&body_rates);
   stateSetPositionNed_f(&ins_impl.state.pos);
@@ -405,6 +381,8 @@ void ahrs_propagate(void) {
   //------------------------------------------------------------//
 
 #if SEND_INVARIANT_FILTER
+  struct FloatEulers eulers;
+  FLOAT_EULERS_OF_QUAT(eulers, ins_impl.state.quat);
   RunOnceEvery(3,{
       DOWNLINK_SEND_INV_FILTER(DefaultChannel, DefaultDevice,
         &ins_impl.state.quat.qi,
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.h b/sw/airborne/subsystems/ins/ins_float_invariant.h
index eaebf1529ec..61ee8e55b42 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.h
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.h
@@ -113,8 +113,5 @@ struct InsFloatInv {
 
 extern struct InsFloatInv ins_impl;
 
-extern float ins_roll_neutral;
-extern float ins_pitch_neutral;
-
 #endif /* INS_FLOAT_INVARIANT_H */