diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
index 0ce4a683628..b5f5476fc45 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
@@ -39,6 +39,10 @@
 #error "You have to define either AHRS_PROPAGATE_RMAT or AHRS_PROPAGATE_QUAT"
 #endif
 
+#ifdef AHRS_MAG_UPDATE_YAW_ONLY
+#warning "AHRS_MAG_UPDATE_YAW_ONLY is deprecated, please remove it. This is the default behaviour. Define AHRS_MAG_UPDATE_ALL_AXES to use mag for all axes and not only yaw."
+#endif
+
 void ahrs_update_mag_full(void);
 void ahrs_update_mag_2d(void);
 void ahrs_update_mag_2d_dumb(void);
@@ -197,11 +201,10 @@ void ahrs_update_accel(void) {
 
 
 void ahrs_update_mag(void) {
-#ifdef AHRS_MAG_UPDATE_YAW_ONLY
-  ahrs_update_mag_2d();
-  //  ahrs_update_mag_2d_dumb();
-#else
+#if AHRS_MAG_UPDATE_ALL_AXES
   ahrs_update_mag_full();
+#else
+  ahrs_update_mag_2d();
 #endif
 }
 
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
index 8ea3b1e5c7a..3de539f3504 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl.c
@@ -44,6 +44,9 @@
 static inline void ahrs_update_mag_full(void);
 static inline void ahrs_update_mag_2d(void);
 
+#ifdef AHRS_MAG_UPDATE_YAW_ONLY
+#warning "AHRS_MAG_UPDATE_YAW_ONLY is deprecated, please remove it. This is the default behaviour. Define AHRS_MAG_UPDATE_ALL_AXES to use mag for all axes and not only yaw."
+#endif
 
 /* in place quaternion first order integration with constante rotational velocity */
 /*  */
@@ -230,10 +233,10 @@ void ahrs_update_accel(void) {
 }
 
 void ahrs_update_mag(void) {
-#ifdef AHRS_MAG_UPDATE_YAW_ONLY
-  ahrs_update_mag_2d();
-#else
+#if AHRS_MAG_UPDATE_ALL_AXES
   ahrs_update_mag_full();
+#else
+  ahrs_update_mag_2d();
 #endif
 }