diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 70cbd8c994f..548aad12a06 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -35,7 +35,7 @@
 
     <!-- Actuators are automatically chosen according to board-->
     <subsystem name="imu"     type="umarim"/>
-    <subsystem name="ahrs"    type="dcm"/>
+    <subsystem name="ahrs"    type="float_dcm"/>
     <subsystem name="control" type="new"/>
     <subsystem name="navigation"/>
     <!-- Sensors -->
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index ec6b6ea16fe..73c2e59ddfd 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -30,7 +30,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index aea79635e40..5c0e701cde7 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -35,7 +35,7 @@
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 16f34fc86a8..c44af4ea1c1 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -17,7 +17,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index dcb814865e0..977d6837243 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -31,7 +31,7 @@
     <subsystem name="imu"           type="navgo"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index 7e91c0a7fe2..1d75a0ee589 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -16,7 +16,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index e78a9fdccc3..bdfeff07bf0 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -266,8 +266,8 @@
 	 <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-   <!--    <subsystem name="ahrs"          type="cmpl"/> -->
-   <subsystem name="ahrs"          type="ic"/>
+   <!--    <subsystem name="ahrs"          type="int_cmpl_euler"/> -->
+   <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index c61e31f6b47..d6bde5edf9a 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -238,13 +238,13 @@
 
     <!-- Sensors -->
     <!--
-    <subsystem name="ahrs" type="ic">
+    <subsystem name="ahrs" type="int_cmpl_quat">
       <define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" />
     </subsystem>
     <subsystem name="imu" type="aspirin_i2c"/>
     -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm">
+    <subsystem name="ahrs" type="float_dcm">
 <!--      <define name="USE_MAGNETOMETER" /> -->
     </subsystem>
 
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 098f3867274..f90a486d320 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -207,7 +207,7 @@
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index a563e80f201..1ad69f02991 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -234,9 +234,9 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index e5c5226b4d4..db9214e2621 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -186,7 +186,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
 
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index f43c11d34e3..302e063cfe2 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -295,7 +295,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="ppzuav"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
     <subsystem name="i2c"/>
 
     <subsystem name="gps" 		type="ublox_utm"/>
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index e2886febb20..fc038e964ee 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -214,7 +214,7 @@
 
     <!-- Sensors -->
     <subsystem name="imu" type="booz"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
     <subsystem name="gps" type="ublox_utm"/>
     <subsystem name="navigation"/>
 
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index d8a7ec22909..a5b96266188 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -294,7 +294,7 @@ second attempt
 	<subsystem name="imu"           type="crista"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
 
   </firmware>
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 42c914aee25..5493c8d8c50 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index a6242344448..434662d06f5 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -253,7 +253,7 @@
 	<subsystem name="imu"           type="b2_v1.1"/>
 	<subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-	<subsystem name="ahrs"          type="cmpl"/>
+	<subsystem name="ahrs"          type="int_cmpl_euler"/>
 	<subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index 568821c2ce6..6aa4a7ee6de 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -19,7 +19,7 @@
     <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="booz2_test_progs">
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 6eb77f14fd0..0961e3f73f5 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -209,7 +209,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
 </firmware>
 <firmware name="booz_test_progs">
     <target name="test_telemetry" board="booz_1.0"/>
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 9381f40d18a..cd1948f7098 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -198,7 +198,7 @@
 
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="stabilization" type="quaternion"/>
   </firmware>
 
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 44251fb9ea3..dcb7e5c6dbf 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -203,7 +203,7 @@
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index fa52416db1f..1fe9ba9e8b8 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -205,7 +205,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index 34b819a1f1d..c7aa63004bf 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -226,7 +226,7 @@
     <subsystem name="imu"           type="aspirin"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
 
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index f5a09310487..086d309423e 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -205,8 +205,8 @@
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
-    <!--<subsystem name="ahrs"          type="ic"/>-->
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <!--<subsystem name="ahrs"          type="int_cmpl_quat"/>-->
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index 2c113fb72a1..982054537c3 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -207,9 +207,9 @@
     <subsystem name="gps"           type="ublox">
 	    <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <!--subsystem name="ahrs"          type="cmpl"/-->
+    <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="ic"/>
+    <subsystem name="ahrs"          type="int_cmpl_quat"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index d212c9586dd..17be71780c1 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -212,7 +212,7 @@
       <configure name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
 
-    <subsystem name="ahrs"  type="dcm"/>
+    <subsystem name="ahrs"  type="float_dcm"/>
     <subsystem name="gps"       type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 95dd5eae073..d12127748c9 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -36,7 +36,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Control -->
     <subsystem name="control" type="new"/>
     <subsystem name="navigation" type="extra"/>
-    <subsystem name="ahrs" type="dcm"/>
+    <subsystem name="ahrs" type="float_dcm"/>
 
     <subsystem name="i2c"/>
 
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index 2e27d93ad08..2293a84efad 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -204,7 +204,7 @@
       <configure name="GPS_PORT"     value="UART3"/>
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
-    <subsystem name="ahrs"          type="cmpl"/>
+    <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
   <firmware name="lisa_l_test_progs">
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
index fc879014591..c3b11a5df89 100644
--- a/conf/airframes/test_hb.xml
+++ b/conf/airframes/test_hb.xml
@@ -13,7 +13,7 @@
     <subsystem name="control"/>
 
     <!-- Attitude Estimation -->
-    <subsystem name="ahrs" 		type="dcm"/>
+    <subsystem name="ahrs" 		type="float_dcm"/>
 
     <!-- Sensors -->
     <subsystem name="imu" type="hb"/>
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index a98b4de180b..27a2e084cf8 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -1,7 +1,5 @@
 # Hey Emacs, this is a -*- makefile -*-
 #
-# $Id$
-#
 # Copyright (C) 2010 The Paparazzi Team
 #
 # This file is part of Paparazzi.
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
index 70f8f745e8c..3c5cc89267e 100644
--- a/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_dcm.makefile
@@ -1,55 +1,3 @@
-# Hey Emacs, this is a -*- makefile -*-
+include $(CFG_FIXEDWING)/ahrs_float_dcm.makefile
 
-# attitude estimation for fixedwings via dcm algorithm
-
-
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
-
-ifeq ($(TARGET), ap)
-
-ap.CFLAGS += -DUSE_AHRS
-
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
-
-ifdef AHRS_ALIGNER_LED
-  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 60
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 60
-endif
-
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
-
-endif
-
-# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
-
-ifeq ($(TARGET), sim)
-
-sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
-sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
-
-sim.CFLAGS += -DUSE_INFRARED
-sim.srcs += subsystems/sensors/infrared.c
-sim.srcs += subsystems/sensors/infrared_adc.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-sim.srcs += $(SRC_ARCH)/sim_imu.c
-
-endif
-
-jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
+$(warning The ahrs_dcm subsystem has been renamed, please replace <subsystem name="ahrs" type="dcm"/> with <subsystem name="ahrs" type="float_dcm"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
new file mode 100644
index 00000000000..70f8f745e8c
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_float_dcm.makefile
@@ -0,0 +1,55 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# attitude estimation for fixedwings via dcm algorithm
+
+
+$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
+
+ifeq ($(TARGET), ap)
+
+ap.CFLAGS += -DUSE_AHRS
+
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+ap.srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_float_dcm.c
+
+ifdef AHRS_ALIGNER_LED
+  ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+
+ifdef CPU_LED
+  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
+endif
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+else
+  AHRS_PROPAGATE_FREQUENCY = 60
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+else
+  AHRS_CORRECT_FREQUENCY = 60
+endif
+
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
+endif
+
+# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
+sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
+
+sim.CFLAGS += -DUSE_INFRARED
+sim.srcs += subsystems/sensors/infrared.c
+sim.srcs += subsystems/sensors/infrared_adc.c
+
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_imu.c
+
+endif
+
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile
index 369d174cafe..d8336294008 100644
--- a/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_ic.makefile
@@ -1,43 +1,4 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-# AHRS_PROPAGATE_FREQUENCY
-# AHRS_H_X
-# AHRS_H_Y
-# AHRS_H_Z
-#
+include $(CFG_FIXEDWING)/ahrs_int_cmpl_quat.makefile
 
-AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
-ifdef AHRS_ALIGNER_LED
-AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
-AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
-
-ap.CFLAGS += $(AHRS_CFLAGS)
-ap.srcs += $(AHRS_SRCS)
-
-sim.CFLAGS += $(AHRS_CFLAGS)
-sim.srcs += $(AHRS_SRCS)
-
-
-# Extra stuff for fixedwings
-
-ifdef CPU_LED
-  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
-endif
-
-ifdef AHRS_PROPAGATE_FREQUENCY
-else
-  AHRS_PROPAGATE_FREQUENCY = 60
-endif
-
-ifdef AHRS_CORRECT_FREQUENCY
-else
-  AHRS_CORRECT_FREQUENCY = 60
-endif
-
-ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
-ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+$(warning The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
 
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
new file mode 100644
index 00000000000..75e0d2d75f2
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_euler.makefile
@@ -0,0 +1,40 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# AHRS_PROPAGATE_FREQUENCY
+#
+
+AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR -DUSE_AHRS_CMPL
+ifdef AHRS_ALIGNER_LED
+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)
+
+sim.CFLAGS += $(AHRS_CFLAGS)
+sim.srcs += $(AHRS_SRCS)
+
+
+# Extra stuff for fixedwings
+
+ifdef CPU_LED
+  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
+endif
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+else
+  AHRS_PROPAGATE_FREQUENCY = 60
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+else
+  AHRS_CORRECT_FREQUENCY = 60
+endif
+
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
diff --git a/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
new file mode 100644
index 00000000000..369d174cafe
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -0,0 +1,43 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# AHRS_PROPAGATE_FREQUENCY
+# AHRS_H_X
+# AHRS_H_Y
+# AHRS_H_Z
+#
+
+AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
+ifdef AHRS_ALIGNER_LED
+AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
+AHRS_SRCS   += subsystems/ahrs.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
+
+ap.CFLAGS += $(AHRS_CFLAGS)
+ap.srcs += $(AHRS_SRCS)
+
+sim.CFLAGS += $(AHRS_CFLAGS)
+sim.srcs += $(AHRS_SRCS)
+
+
+# Extra stuff for fixedwings
+
+ifdef CPU_LED
+  ap.CFLAGS += -DAHRS_CPU_LED=$(CPU_LED)
+endif
+
+ifdef AHRS_PROPAGATE_FREQUENCY
+else
+  AHRS_PROPAGATE_FREQUENCY = 60
+endif
+
+ifdef AHRS_CORRECT_FREQUENCY
+else
+  AHRS_CORRECT_FREQUENCY = 60
+endif
+
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
+
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
index 457f08f5752..ca1db41118e 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
@@ -1,16 +1,3 @@
-#
-# Fixed point complementary filter using euler angles for attitude estimation
-#
+include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_euler.makefile
 
-ifdef AHRS_ALIGNER_LED
-ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-ap.CFLAGS += -DUSE_AHRS_CMPL
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
-
-sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
-sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
+$(warning The ahrs_cmpl subsystem has been renamed, please replace <subsystem name="ahrs" type="cmpl"/> with <subsystem name="ahrs" type="int_cmpl_euler"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile
index 193d347d135..b0a9744e328 100644
--- a/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_ic.makefile
@@ -1,23 +1,3 @@
-#
-# AHRS_PROPAGATE_FREQUENCY
-# AHRS_H_X
-# AHRS_H_Y
-# AHRS_H_Z
-#
-
-AHRS_CFLAGS  = -DUSE_AHRS
-ifdef AHRS_ALIGNER_LED
-AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
-endif
-AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
-AHRS_SRCS   += subsystems/ahrs.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
-AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
-
-ap.CFLAGS += $(AHRS_CFLAGS)
-ap.srcs += $(AHRS_SRCS)
-
-sim.CFLAGS += $(AHRS_CFLAGS)
-sim.srcs += $(AHRS_SRCS)
-
+include $(CFG_ROTORCRAFT)/ahrs_int_cmpl_quat.makefile
 
+$(warning The ahrs_ic subsystem has been renamed, please replace <subsystem name="ahrs" type="ic"/> with <subsystem name="ahrs" type="int_cmpl_quat"/> in your airframe file.)
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
new file mode 100644
index 00000000000..457f08f5752
--- /dev/null
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_euler.makefile
@@ -0,0 +1,16 @@
+#
+# Fixed point complementary filter using euler angles for attitude estimation
+#
+
+ifdef AHRS_ALIGNER_LED
+ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+ap.CFLAGS += -DUSE_AHRS_CMPL
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
+
+sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
+sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
+sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
+sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
diff --git a/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
new file mode 100644
index 00000000000..b42b2e03704
--- /dev/null
+++ b/conf/autopilot/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile
@@ -0,0 +1,24 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# AHRS_PROPAGATE_FREQUENCY
+# AHRS_H_X
+# AHRS_H_Y
+# AHRS_H_Z
+#
+
+AHRS_CFLAGS  = -DUSE_AHRS
+ifdef AHRS_ALIGNER_LED
+AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
+endif
+AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
+AHRS_SRCS   += subsystems/ahrs.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_int_cmpl.c
+AHRS_SRCS   += subsystems/ahrs/ahrs_aligner.c
+
+ap.CFLAGS += $(AHRS_CFLAGS)
+ap.srcs += $(AHRS_SRCS)
+
+sim.CFLAGS += $(AHRS_CFLAGS)
+sim.srcs += $(AHRS_SRCS)
+
+