diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 0979202cf2e..1d1273e99d6 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -18,7 +18,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs"          type="infrared"/>
     <subsystem name="ins"           type="alt_float"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
@@ -36,6 +35,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
     <!--load name="ins_vn100.xml"/-->
   </modules>
 
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 079f9e71afb..bb0693ab0f8 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -21,7 +21,6 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -34,15 +33,16 @@
 
   <modules>
     <load name="formation_flight.xml"/>
-   <!-- <load name="tcas.xml"/> -->
+    <!-- <load name="tcas.xml"/> -->
     <!--load name="potential.xml"/-->
-  <load name="cartography.xml"/>
-  <load name="infrared_adc.xml">
-    <configure name="ADC_IR1" value="ADC_1"/>
-    <configure name="ADC_IR2" value="ADC_0"/>
-    <configure name="ADC_IR_TOP" value="ADC_2"/>
-  </load>
-</modules>
+    <load name="cartography.xml"/>
+    <load name="infrared_adc.xml">
+      <configure name="ADC_IR1" value="ADC_1"/>
+      <configure name="ADC_IR2" value="ADC_0"/>
+      <configure name="ADC_IR_TOP" value="ADC_2"/>
+    </load>
+    <load name="ahrs_infrared.xml"/>
+  </modules>
 
 
 
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index 4bb7f089c51..b85ce26dc8f 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -21,7 +21,6 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -41,6 +40,7 @@
       <configure name="ADC_IR2" value="ADC_1"/>
       <configure name="ADC_IR_TOP" value="ADC_2"/>
     </load>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index 60211c4a9e3..3164150fea2 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -21,7 +21,6 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -41,6 +40,7 @@
       <configure name="ADC_IR2" value="ADC_1"/>
       <configure name="ADC_IR_TOP" value="ADC_2"/>
     </load>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/examples/delta_wing_minimal.xml b/conf/airframes/examples/delta_wing_minimal.xml
index 3b2a94c9c3a..20d0b293a6d 100644
--- a/conf/airframes/examples/delta_wing_minimal.xml
+++ b/conf/airframes/examples/delta_wing_minimal.xml
@@ -17,7 +17,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="gps_passthrough"/>
@@ -25,6 +24,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
   <firmware name="setup">
diff --git a/conf/airframes/examples/easy_glider.xml b/conf/airframes/examples/easy_glider.xml
index 8727684dc47..d1e5b76b578 100644
--- a/conf/airframes/examples/easy_glider.xml
+++ b/conf/airframes/examples/easy_glider.xml
@@ -170,7 +170,6 @@
     <!-- Actuators are automatically chosen according to board -->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -185,6 +184,7 @@
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7"/> <!-- current sensor -->
     </load>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 </airframe>
diff --git a/conf/airframes/examples/easystar.xml b/conf/airframes/examples/easystar.xml
index 5a3bb6259a0..0dbccfdb9f5 100644
--- a/conf/airframes/examples/easystar.xml
+++ b/conf/airframes/examples/easystar.xml
@@ -18,7 +18,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs" type="infrared"/>
     <subsystem name="gps" type="ublox"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -28,6 +27,11 @@
     <target name="tunnel" 		board="twog_1.0"/>
   </firmware>
 
+  <modules>
+    <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
+  </modules>
+
 <!-- commands section -->
   <servos>
     <servo name="THROTTLE"      no="7" min="1120" neutral="1120" max="1920"/>
diff --git a/conf/airframes/examples/easystar_ets.xml b/conf/airframes/examples/easystar_ets.xml
index 2012c95c80b..be144c7be83 100644
--- a/conf/airframes/examples/easystar_ets.xml
+++ b/conf/airframes/examples/easystar_ets.xml
@@ -23,7 +23,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
@@ -38,6 +37,7 @@
     <load name="baro_ets.xml"/>
     <load name="air_data.xml"/>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/examples/funjet.xml b/conf/airframes/examples/funjet.xml
index 2cb5c2318b7..4b3b338e257 100644
--- a/conf/airframes/examples/funjet.xml
+++ b/conf/airframes/examples/funjet.xml
@@ -26,7 +26,6 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox"/>
 
     <subsystem name="navigation"/>
@@ -35,6 +34,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
   <firmware name="setup">
diff --git a/conf/airframes/examples/funjet_cam.xml b/conf/airframes/examples/funjet_cam.xml
index b91d5245608..01f14aac26a 100644
--- a/conf/airframes/examples/funjet_cam.xml
+++ b/conf/airframes/examples/funjet_cam.xml
@@ -26,7 +26,6 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs" 		  type="infrared"/>
     <subsystem name="gps" 		  type="ublox"/>
     <subsystem name="ins"         type="gps_passthrough"/>
     <subsystem name="navigation"/>
@@ -47,6 +46,7 @@
     </load>
     <load name="sys_mon.xml"/>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/examples/microjet.xml b/conf/airframes/examples/microjet.xml
index 0029ca80f99..52d88ae54a8 100644
--- a/conf/airframes/examples/microjet.xml
+++ b/conf/airframes/examples/microjet.xml
@@ -182,13 +182,12 @@
     <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
-    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"       type="ublox_utm"/>
     <subsystem name="navigation"/>
     <subsystem name="ins" type="alt_float"/>
   </firmware>
 
-<section name="GCS">
+  <section name="GCS">
     <define name="AC_ICON" value="flyingwing"/>
   </section>
 
@@ -204,6 +203,7 @@
     <load name="nav_vertical_raster.xml"/>
     <load name="nav_bungee_takeoff.xml"/>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
     <load name="tune_airspeed.xml"/>
     <load name="digital_cam_servo.xml">
       <define name="DC_SHUTTER_SERVO" value="COMMAND_SHUTTER" />
diff --git a/conf/airframes/examples/twinjet.xml b/conf/airframes/examples/twinjet.xml
index 93fe181c06f..77e92c03adc 100644
--- a/conf/airframes/examples/twinjet.xml
+++ b/conf/airframes/examples/twinjet.xml
@@ -20,7 +20,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
@@ -41,6 +40,7 @@
       <configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
     </load>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
     <load name="nav_line.xml"/>
   </modules>
 
diff --git a/conf/airframes/examples/twinstar.xml b/conf/airframes/examples/twinstar.xml
index 77cc38b320f..b4f8ead3ac0 100644
--- a/conf/airframes/examples/twinstar.xml
+++ b/conf/airframes/examples/twinstar.xml
@@ -21,7 +21,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs"          type="infrared"/>
     <subsystem name="gps"           type="ublox_utm"/>
     <subsystem name="ins"           type="gps_passthrough"/>
     <subsystem name="navigation"/>
@@ -33,6 +32,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 <!-- commands section -->
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index d13a3554a68..4c20789c817 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -206,7 +206,6 @@
     <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
-    <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
 
@@ -214,6 +213,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
 </airframe>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index a5508b17cc4..b9012da23ff 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -23,7 +23,6 @@
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
-    <subsystem name="ahrs"          type="infrared"/>
     <subsystem name="gps"           type="ublox_hitl"/>
     <subsystem name="navigation"/>
     <subsystem name="ins"           type="gps_passthrough"/>
@@ -43,6 +42,7 @@
       <flag name="USE_ADC_5"/>
     </load>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
   <servos>
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 238921cbbec..4889a11d4ae 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -14,7 +14,6 @@
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="ahrs"         type="infrared"/>
     <subsystem name="gps"              type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
@@ -29,6 +28,7 @@
 
   <modules>
     <load name="infrared_adc.xml"/>
+    <load name="ahrs_infrared.xml"/>
   </modules>
 
   <!-- commands section -->