diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
index 4dc3e79289c..0cb442f4f8a 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
@@ -5,7 +5,7 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
@@ -13,6 +13,8 @@ AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 ifneq ($(AHRS_ALIGNER_LED),none)
diff --git a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
index 850cd7c4e3b..2c8c8642e3c 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_rmat.makefile
@@ -5,7 +5,7 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
@@ -13,6 +13,8 @@ AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 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 b81a94d6ab0..fe5072e11b7 100644
--- a/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
@@ -6,7 +6,7 @@
 # AHRS_H_Z
 #
 
-USE_MAGNETOMETER ?= 1
+USE_MAGNETOMETER ?= 0
 AHRS_ALIGNER_LED ?= none
 
 AHRS_CFLAGS  = -DUSE_AHRS -DAHRS_UPDATE_FW_ESTIMATOR
@@ -14,6 +14,8 @@ AHRS_CFLAGS += -DUSE_AHRS_ALIGNER -DAHRS_GRAVITY_UPDATE_COORDINATED_TURN
 
 ifneq ($(USE_MAGNETOMETER),0)
   AHRS_CFLAGS += -DUSE_MAGNETOMETER
+else
+  AHRS_CFLAGS += -DAHRS_USE_GPS_HEADING
 endif
 
 ifneq ($(AHRS_ALIGNER_LED),none)