diff --git a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
index 34c7e228174..55592c95f2d 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ins_float_invariant.makefile
@@ -17,12 +17,6 @@ ifneq ($(AHRS_ALIGNER_LED),none)
   INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
 
-AHRS_PROPAGATE_FREQUENCY ?= 125
-AHRS_CORRECT_FREQUENCY ?= 125
-
-INS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-INS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-
 ap.CFLAGS += $(INS_CFLAGS)
 ap.srcs += $(INS_SRCS)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile b/conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile
index 8f9d1d5d9c0..c58cd389f42 100644
--- a/conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ahrs_float_mlkf.makefile
@@ -23,14 +23,6 @@ AHRS_SRCS   += subsystems/ahrs.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_float_mlkf.c
 AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
 
-ifdef AHRS_PROPAGATE_FREQUENCY
-AHRS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-AHRS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-endif
-
 ap.CFLAGS += $(AHRS_CFLAGS)
 ap.srcs += $(AHRS_SRCS)
 
diff --git a/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile b/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
index 8ea03ba1488..f0411d3daa5 100644
--- a/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/ins_float_invariant.makefile
@@ -22,19 +22,6 @@ ifneq ($(AHRS_ALIGNER_LED),none)
   INS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
 endif
 
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 125
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 125
-endif
-
-INS_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-INS_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-
 ap.CFLAGS += $(INS_CFLAGS)
 ap.srcs += $(INS_SRCS)