diff --git a/conf/settings/nps.xml b/conf/settings/nps.xml
index fd58df0a73..fbd42226ea 100644
--- a/conf/settings/nps.xml
+++ b/conf/settings/nps.xml
@@ -7,6 +7,8 @@
        <dl_setting var="nps_bypass_ahrs" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ahrs" values="No|Yes"/>
        <dl_setting var="nps_bypass_ins" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="bypass_ins" values="No|Yes"/>
        <dl_setting var="gps_has_fix" min="0" step="1" max="1" module="subsystems/gps/gps_sim_nps" shortname="gps_fix" values="No|Yes"/>
+       <dl_setting var="autopilot.datalink_enabled" min="0" step="1" max="1" module="nps/nps_autopilot" shortname="datalink" values="OFF|ON"/>
+       <dl_setting var="ivy_tp.ivy_dl_enabled" min="0" step="1" max="1" module="subsystems/datalink/ivy_transport" shortname="downlink" values="OFF|ON"/>
        <dl_setting var="nps_electrical.supply_voltage" min="0" step="0.1" max="24" module="nps/nps_electrical" shortname="bat_voltage" unit="V"/>
        <dl_setting var="nps_atmosphere.wind_speed" min="0" step="0.1" max="25" module="nps/nps_atmosphere" shortname="wind_speed" unit="m/s"/>
        <dl_setting var="nps_atmosphere.wind_dir" min="0" step="1" max="360" module="nps/nps_atmosphere" shortname="wind_dir" unit="rad" alt_unit="deg"/>
diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h
index ce18596952..c25b66b2ae 100644
--- a/sw/simulator/nps/nps_autopilot.h
+++ b/sw/simulator/nps/nps_autopilot.h
@@ -27,6 +27,7 @@
 struct NpsAutopilot {
   double commands[NPS_COMMANDS_NB];
   bool_t launch;
+  bool_t datalink_enabled;
 };
 
 extern struct NpsAutopilot autopilot;
diff --git a/sw/simulator/nps/nps_autopilot_fixedwing.c b/sw/simulator/nps/nps_autopilot_fixedwing.c
index 0e1bc09855..9271269d0d 100644
--- a/sw/simulator/nps/nps_autopilot_fixedwing.c
+++ b/sw/simulator/nps/nps_autopilot_fixedwing.c
@@ -52,6 +52,9 @@
 // for launch
 #include "firmwares/fixedwing/autopilot.h"
 
+// for datalink_time hack
+#include "subsystems/datalink/datalink.h"
+
 struct NpsAutopilot autopilot;
 bool_t nps_bypass_ahrs;
 bool_t nps_bypass_ins;
@@ -72,6 +75,7 @@ bool_t nps_bypass_ins;
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char* rc_dev) {
 
   autopilot.launch = FALSE;
+  autopilot.datalink_enabled = TRUE;
 
   nps_radio_control_init(type_rc, num_rc_script, rc_dev);
   nps_electrical_init();
@@ -169,6 +173,10 @@ PRINT_CONFIG_VAR(COMMAND_YAW)
   if (!launch)
     autopilot.commands[COMMAND_THROTTLE] = 0;
 
+  // hack to reset datalink_time, since we don't use actual dl_parse_msg
+  if (autopilot.datalink_enabled) {
+    datalink_time = 0;
+  }
 }
 
 void sim_overwrite_ahrs(void) {
diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c
index d93dd90b88..6eb5a71f00 100644
--- a/sw/simulator/nps/nps_autopilot_rotorcraft.c
+++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c
@@ -42,6 +42,9 @@
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
 
+// for datalink_time hack
+#include "subsystems/datalink/datalink.h"
+
 struct NpsAutopilot autopilot;
 bool_t nps_bypass_ahrs;
 bool_t nps_bypass_ins;
@@ -60,6 +63,7 @@ bool_t nps_bypass_ins;
 
 void nps_autopilot_init(enum NpsRadioControlType type_rc, int num_rc_script, char* rc_dev) {
   autopilot.launch = TRUE;
+  autopilot.datalink_enabled = TRUE;
 
   nps_radio_control_init(type_rc, num_rc_script, rc_dev);
   nps_electrical_init();
@@ -134,6 +138,10 @@ void nps_autopilot_run_step(double time) {
   for (uint8_t i=0; i < NPS_COMMANDS_NB; i++)
     autopilot.commands[i] = (double)motor_mixing.commands[i]/MAX_PPRZ;
 
+  // hack to reset datalink_time, since we don't use actual dl_parse_msg
+  if (autopilot.datalink_enabled) {
+    datalink_time = 0;
+  }
 }
 
 
diff --git a/sw/simulator/nps/nps_ivy_common.c b/sw/simulator/nps/nps_ivy_common.c
index 5ef6f19d7b..9c5fdf76a4 100644
--- a/sw/simulator/nps/nps_ivy_common.c
+++ b/sw/simulator/nps/nps_ivy_common.c
@@ -87,6 +87,13 @@ static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
   if (atoi(argv[1]) != AC_ID)
     return;
 
+  /* HACK:
+   * we actually don't want to allow changing settings if datalink is disabled,
+   * but since we currently change this variable via settings we have to allow it
+   */
+  //if (!autopilot.datalink_enabled)
+  //  return;
+
   uint8_t index = atoi(argv[2]);
   float value = atof(argv[3]);
   DlSetting(index, value);
@@ -99,6 +106,8 @@ static void on_DL_GET_SETTING(IvyClientPtr app __attribute__ ((unused)),
                               int argc __attribute__ ((unused)), char *argv[]) {
   if (atoi(argv[1]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   uint8_t index = atoi(argv[2]);
   float value = settings_get_value(index);
@@ -109,6 +118,9 @@ static void on_DL_GET_SETTING(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_PING(IvyClientPtr app __attribute__ ((unused)),
                        void *user_data __attribute__ ((unused)),
                        int argc __attribute__ ((unused)), char *argv[] __attribute__ ((unused))) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   DOWNLINK_SEND_PONG(DefaultChannel, DefaultDevice);
 }
 
@@ -117,6 +129,8 @@ static void on_DL_BLOCK(IvyClientPtr app __attribute__ ((unused)),
                         int argc __attribute__ ((unused)), char *argv[]){
   if (atoi(argv[2]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   int block = atoi(argv[1]);
   nav_goto_block(block);
@@ -127,6 +141,9 @@ static void on_DL_BLOCK(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_RC_3CH(IvyClientPtr app __attribute__ ((unused)),
                          void *user_data __attribute__ ((unused)),
                          int argc __attribute__ ((unused)), char *argv[]){
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t throttle_mode = atoi(argv[2]);
   int8_t roll = atoi(argv[3]);
   int8_t pitch = atoi(argv[4]);
@@ -139,6 +156,8 @@ static void on_DL_RC_4CH(IvyClientPtr app __attribute__ ((unused)),
                          int argc __attribute__ ((unused)), char *argv[]){
   if (atoi(argv[1]) != AC_ID)
     return;
+  if (!autopilot.datalink_enabled)
+    return;
 
   uint8_t mode = atoi(argv[2]);
   uint8_t throttle = atoi(argv[3]);
diff --git a/sw/simulator/nps/nps_ivy_fixedwing.c b/sw/simulator/nps/nps_ivy_fixedwing.c
index f94e099a05..cbd617bc07 100644
--- a/sw/simulator/nps/nps_ivy_fixedwing.c
+++ b/sw/simulator/nps/nps_ivy_fixedwing.c
@@ -8,6 +8,7 @@
 #include "math/pprz_algebra_double.h"
 #include "subsystems/ins.h"
 #include "subsystems/navigation/common_nav.h"
+#include "nps_autopilot.h"
 
 /* fixedwing specific Datalink Ivy functions */
 void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
@@ -33,6 +34,8 @@ void nps_ivy_init(char* ivy_bus) {
 void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
                    void *user_data __attribute__ ((unused)),
                    int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   if (atoi(argv[2]) == AC_ID) {
     uint8_t wp_id = atoi(argv[1]);
diff --git a/sw/simulator/nps/nps_ivy_mission_commands.c b/sw/simulator/nps/nps_ivy_mission_commands.c
index 1e6e64416d..968202fbb6 100644
--- a/sw/simulator/nps/nps_ivy_mission_commands.c
+++ b/sw/simulator/nps/nps_ivy_mission_commands.c
@@ -93,6 +93,9 @@ void nps_ivy_mission_commands_init(void) {
 static void on_DL_MISSION_GOTO_WP(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -109,6 +112,9 @@ static void on_DL_MISSION_GOTO_WP(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_GOTO_WP_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -125,6 +131,9 @@ static void on_DL_MISSION_GOTO_WP_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_CIRCLE(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -141,6 +150,9 @@ static void on_DL_MISSION_CIRCLE(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_CIRCLE_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -157,6 +169,9 @@ static void on_DL_MISSION_CIRCLE_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_SEGMENT(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -173,6 +188,9 @@ static void on_DL_MISSION_SEGMENT(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_SEGMENT_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -189,6 +207,9 @@ static void on_DL_MISSION_SEGMENT_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_PATH(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -206,6 +227,9 @@ static void on_DL_MISSION_PATH(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_MISSION_PATH_LLA(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   uint8_t i = 0;
   float dummy;
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
@@ -223,6 +247,8 @@ static void on_DL_MISSION_PATH_LLA(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_GOTO_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
   dl_buffer[3] = (uint8_t)(atoi(argv[2])); //mission_id
@@ -233,6 +259,8 @@ static void on_DL_GOTO_MISSION(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_NEXT_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
 
@@ -242,6 +270,8 @@ static void on_DL_NEXT_MISSION(IvyClientPtr app __attribute__ ((unused)),
 static void on_DL_END_MISSION(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
 
   dl_buffer[2] = (uint8_t)(atoi(argv[1])); //ac_id
 
diff --git a/sw/simulator/nps/nps_ivy_rotorcraft.c b/sw/simulator/nps/nps_ivy_rotorcraft.c
index 9ab8dfc3b0..c3b7935309 100644
--- a/sw/simulator/nps/nps_ivy_rotorcraft.c
+++ b/sw/simulator/nps/nps_ivy_rotorcraft.c
@@ -41,6 +41,9 @@ void nps_ivy_init(char* ivy_bus) {
 static void on_DL_MOVE_WP(IvyClientPtr app __attribute__ ((unused)),
                           void *user_data __attribute__ ((unused)),
                           int argc __attribute__ ((unused)), char *argv[]) {
+  if (!autopilot.datalink_enabled)
+    return;
+
   if (atoi(argv[2]) == AC_ID) {
     uint8_t wp_id = atoi(argv[1]);
 
diff --git a/sw/simulator/nps/nps_sensor_accel.c b/sw/simulator/nps/nps_sensor_accel.c
index 7a4a2256d5..d75427962d 100644
--- a/sw/simulator/nps/nps_sensor_accel.c
+++ b/sw/simulator/nps/nps_sensor_accel.c
@@ -7,27 +7,28 @@
 #include NPS_SENSORS_PARAMS
 #include "math/pprz_algebra_int.h"
 
-void nps_sensor_accel_init(struct NpsSensorAccel* accel, double time)
+void nps_sensor_accel_init(struct NpsSensorAccel *accel, double time)
 {
   FLOAT_VECT3_ZERO(accel->value);
   accel->min = NPS_ACCEL_MIN;
   accel->max = NPS_ACCEL_MAX;
   FLOAT_MAT33_DIAG(accel->sensitivity,
-		   NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ);
+                   NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ);
   VECT3_ASSIGN(accel->neutral,
-	       NPS_ACCEL_NEUTRAL_X, NPS_ACCEL_NEUTRAL_Y, NPS_ACCEL_NEUTRAL_Z);
+               NPS_ACCEL_NEUTRAL_X, NPS_ACCEL_NEUTRAL_Y, NPS_ACCEL_NEUTRAL_Z);
   VECT3_ASSIGN(accel->noise_std_dev,
-	       NPS_ACCEL_NOISE_STD_DEV_X, NPS_ACCEL_NOISE_STD_DEV_Y, NPS_ACCEL_NOISE_STD_DEV_Z);
+               NPS_ACCEL_NOISE_STD_DEV_X, NPS_ACCEL_NOISE_STD_DEV_Y, NPS_ACCEL_NOISE_STD_DEV_Z);
   VECT3_ASSIGN(accel->bias,
-	       NPS_ACCEL_BIAS_X, NPS_ACCEL_BIAS_Y, NPS_ACCEL_BIAS_Z);
+               NPS_ACCEL_BIAS_X, NPS_ACCEL_BIAS_Y, NPS_ACCEL_BIAS_Z);
   accel->next_update = time;
   accel->data_available = FALSE;
 }
 
-void nps_sensor_accel_run_step(struct NpsSensorAccel* accel, double time, struct DoubleRMat* body_to_imu)
+void nps_sensor_accel_run_step(struct NpsSensorAccel *accel, double time, struct DoubleRMat *body_to_imu)
 {
-  if (time < accel->next_update)
+  if (time < accel->next_update) {
     return;
+  }
 
   /* transform to imu frame */
   struct DoubleVect3 accelero_imu;
@@ -44,7 +45,7 @@ void nps_sensor_accel_run_step(struct NpsSensorAccel* accel, double time, struct
   /* white noise   */
   double_vect3_add_gaussian_noise(&accelero_error, &accel->noise_std_dev);
   /* scale */
-  struct DoubleVect3 gain = {NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ};
+  struct DoubleVect3 gain = {accel->sensitivity.m[0], accel->sensitivity.m[4], accel->sensitivity.m[8]};
   VECT3_EW_MUL(accelero_error, accelero_error, gain);
   /* add error */
   VECT3_ADD(accel->value, accelero_error);
diff --git a/sw/simulator/nps/nps_sensor_accel.h b/sw/simulator/nps/nps_sensor_accel.h
index 4262e01f31..4f555b1d6d 100644
--- a/sw/simulator/nps/nps_sensor_accel.h
+++ b/sw/simulator/nps/nps_sensor_accel.h
@@ -19,7 +19,7 @@ struct NpsSensorAccel {
 };
 
 
-extern void   nps_sensor_accel_init(struct NpsSensorAccel* accel, double time);
-extern void   nps_sensor_accel_run_step(struct NpsSensorAccel* accel, double time, struct DoubleRMat* body_to_imu);
+extern void   nps_sensor_accel_init(struct NpsSensorAccel *accel, double time);
+extern void   nps_sensor_accel_run_step(struct NpsSensorAccel *accel, double time, struct DoubleRMat *body_to_imu);
 
 #endif /* NPS_SENSOR_ACCEL_H */
diff --git a/sw/simulator/nps/nps_sensor_baro.c b/sw/simulator/nps/nps_sensor_baro.c
index 22ca9f9a4c..5a10267614 100644
--- a/sw/simulator/nps/nps_sensor_baro.c
+++ b/sw/simulator/nps/nps_sensor_baro.c
@@ -8,24 +8,29 @@
 #include "nps_random.h"
 #include NPS_SENSORS_PARAMS
 
+#ifndef NPS_BARO_NOISE_STD_DEV
+#define NPS_BARO_NOISE_STD_DEV 0.
+#endif
 
-
-void nps_sensor_baro_init(struct NpsSensorBaro* baro, double time) {
+void nps_sensor_baro_init(struct NpsSensorBaro *baro, double time)
+{
   baro->value = 0.;
+  baro->noise_std_dev = NPS_BARO_NOISE_STD_DEV;
   baro->next_update = time;
   baro->data_available = FALSE;
 }
 
 
-void nps_sensor_baro_run_step(struct NpsSensorBaro* baro, double time) {
-
-  if (time < baro->next_update)
+void nps_sensor_baro_run_step(struct NpsSensorBaro *baro, double time)
+{
+  if (time < baro->next_update) {
     return;
+  }
 
   /* pressure in Pascal */
   baro->value = pprz_isa_pressure_of_altitude(fdm.hmsl);
   /* add noise with std dev Pascal */
-  baro->value += get_gaussian_noise() * NPS_BARO_NOISE_STD_DEV;
+  baro->value += get_gaussian_noise() * baro->noise_std_dev;
 
   baro->next_update += NPS_BARO_DT;
   baro->data_available = TRUE;
diff --git a/sw/simulator/nps/nps_sensor_baro.h b/sw/simulator/nps/nps_sensor_baro.h
index 0a07c4a04c..a781adb20f 100644
--- a/sw/simulator/nps/nps_sensor_baro.h
+++ b/sw/simulator/nps/nps_sensor_baro.h
@@ -8,12 +8,13 @@
 
 struct NpsSensorBaro {
   double  value;          ///< pressure in Pascal
+  double  noise_std_dev;  ///< noise standard deviation
   double  next_update;
   bool_t  data_available;
 };
 
 
-extern void nps_sensor_baro_init(struct NpsSensorBaro* baro, double time);
-extern void nps_sensor_baro_run_step(struct NpsSensorBaro* baro, double time);
+extern void nps_sensor_baro_init(struct NpsSensorBaro *baro, double time);
+extern void nps_sensor_baro_run_step(struct NpsSensorBaro *baro, double time);
 
 #endif /* NPS_SENSOR_BARO_H */
diff --git a/sw/simulator/nps/nps_sensor_gps.c b/sw/simulator/nps/nps_sensor_gps.c
index 9a63423a32..cd10957c65 100644
--- a/sw/simulator/nps/nps_sensor_gps.c
+++ b/sw/simulator/nps/nps_sensor_gps.c
@@ -7,22 +7,23 @@
 #include "nps_sensors_utils.h"
 #include NPS_SENSORS_PARAMS
 
-void nps_sensor_gps_init(struct NpsSensorGps* gps, double time) {
+void nps_sensor_gps_init(struct NpsSensorGps *gps, double time)
+{
   FLOAT_VECT3_ZERO(gps->ecef_pos);
   FLOAT_VECT3_ZERO(gps->ecef_vel);
   gps->hmsl = 0.0;
   gps->pos_latency = NPS_GPS_POS_LATENCY;
   gps->speed_latency = NPS_GPS_SPEED_LATENCY;
   VECT3_ASSIGN(gps->pos_noise_std_dev,
-			   NPS_GPS_POS_NOISE_STD_DEV, NPS_GPS_POS_NOISE_STD_DEV, NPS_GPS_POS_NOISE_STD_DEV);
+               NPS_GPS_POS_NOISE_STD_DEV, NPS_GPS_POS_NOISE_STD_DEV, NPS_GPS_POS_NOISE_STD_DEV);
   VECT3_ASSIGN(gps->speed_noise_std_dev,
-			   NPS_GPS_SPEED_NOISE_STD_DEV, NPS_GPS_SPEED_NOISE_STD_DEV, NPS_GPS_SPEED_NOISE_STD_DEV);
+               NPS_GPS_SPEED_NOISE_STD_DEV, NPS_GPS_SPEED_NOISE_STD_DEV, NPS_GPS_SPEED_NOISE_STD_DEV);
   VECT3_ASSIGN(gps->pos_bias_initial,
-			   NPS_GPS_POS_BIAS_INITIAL_X, NPS_GPS_POS_BIAS_INITIAL_Y, NPS_GPS_POS_BIAS_INITIAL_Z);
+               NPS_GPS_POS_BIAS_INITIAL_X, NPS_GPS_POS_BIAS_INITIAL_Y, NPS_GPS_POS_BIAS_INITIAL_Z);
   VECT3_ASSIGN(gps->pos_bias_random_walk_std_dev,
-			   NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X,
-			   NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y,
-			   NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z);
+               NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X,
+               NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y,
+               NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z);
   FLOAT_VECT3_ZERO(gps->pos_bias_random_walk_value);
   gps->next_update = time;
   gps->data_available = FALSE;
@@ -35,10 +36,12 @@ void nps_sensor_gps_init(struct NpsSensorGps* gps, double time) {
  *
  */
 
-void nps_sensor_gps_run_step(struct NpsSensorGps* gps, double time) {
+void nps_sensor_gps_run_step(struct NpsSensorGps *gps, double time)
+{
 
-  if (time < gps->next_update)
+  if (time < gps->next_update) {
     return;
+  }
 
 
   /*
@@ -79,7 +82,7 @@ void nps_sensor_gps_run_step(struct NpsSensorGps* gps, double time) {
    */
   /* convert current ecef reading to lla */
   struct LlaCoor_d cur_lla_reading;
-  lla_of_ecef_d(&cur_lla_reading, (struct EcefCoor_d*) &cur_pos_reading);
+  lla_of_ecef_d(&cur_lla_reading, (struct EcefCoor_d *) &cur_pos_reading);
 
   /* store that for later and retrieve a previously stored data */
   UpdateSensorLatency(time, &cur_lla_reading, &gps->lla_history, gps->pos_latency, &gps->lla_pos);
diff --git a/sw/simulator/nps/nps_sensor_gps.h b/sw/simulator/nps/nps_sensor_gps.h
index f632ea9abd..598bd30830 100644
--- a/sw/simulator/nps/nps_sensor_gps.h
+++ b/sw/simulator/nps/nps_sensor_gps.h
@@ -22,16 +22,16 @@ struct NpsSensorGps {
   struct DoubleVect3  pos_bias_random_walk_value;
   double pos_latency;
   double speed_latency;
-  GSList* hmsl_history;
-  GSList* pos_history;
-  GSList* lla_history;
-  GSList* speed_history;
+  GSList *hmsl_history;
+  GSList *pos_history;
+  GSList *lla_history;
+  GSList *speed_history;
   double next_update;
   bool_t data_available;
 };
 
 
-extern void nps_sensor_gps_init(struct NpsSensorGps* gps, double time);
-extern void nps_sensor_gps_run_step(struct NpsSensorGps* gps, double time);
+extern void nps_sensor_gps_init(struct NpsSensorGps *gps, double time);
+extern void nps_sensor_gps_run_step(struct NpsSensorGps *gps, double time);
 
 #endif /* NPS_SENSOR_GPS_H */
diff --git a/sw/simulator/nps/nps_sensor_gyro.c b/sw/simulator/nps/nps_sensor_gyro.c
index 623234fbb0..1bf66296f7 100644
--- a/sw/simulator/nps/nps_sensor_gyro.c
+++ b/sw/simulator/nps/nps_sensor_gyro.c
@@ -6,36 +6,39 @@
 #include "math/pprz_algebra_int.h"
 #include "nps_random.h"
 
-void  nps_sensor_gyro_init(struct NpsSensorGyro* gyro, double time) {
+void  nps_sensor_gyro_init(struct NpsSensorGyro *gyro, double time)
+{
   FLOAT_VECT3_ZERO(gyro->value);
   gyro->min = NPS_GYRO_MIN;
   gyro->max = NPS_GYRO_MAX;
   FLOAT_MAT33_DIAG(gyro->sensitivity,
-		   NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR);
+                   NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR);
   VECT3_ASSIGN(gyro->neutral,
-	       NPS_GYRO_NEUTRAL_P, NPS_GYRO_NEUTRAL_Q, NPS_GYRO_NEUTRAL_R);
+               NPS_GYRO_NEUTRAL_P, NPS_GYRO_NEUTRAL_Q, NPS_GYRO_NEUTRAL_R);
   VECT3_ASSIGN(gyro->noise_std_dev,
-	       NPS_GYRO_NOISE_STD_DEV_P, NPS_GYRO_NOISE_STD_DEV_Q, NPS_GYRO_NOISE_STD_DEV_R);
+               NPS_GYRO_NOISE_STD_DEV_P, NPS_GYRO_NOISE_STD_DEV_Q, NPS_GYRO_NOISE_STD_DEV_R);
   VECT3_ASSIGN(gyro->bias_initial,
-	       NPS_GYRO_BIAS_INITIAL_P, NPS_GYRO_BIAS_INITIAL_Q, NPS_GYRO_BIAS_INITIAL_R);
+               NPS_GYRO_BIAS_INITIAL_P, NPS_GYRO_BIAS_INITIAL_Q, NPS_GYRO_BIAS_INITIAL_R);
   VECT3_ASSIGN(gyro->bias_random_walk_std_dev,
-	       NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P,
-	       NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q,
-	       NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R);
+               NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_P,
+               NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_Q,
+               NPS_GYRO_BIAS_RANDOM_WALK_STD_DEV_R);
   FLOAT_VECT3_ZERO(gyro->bias_random_walk_value);
   gyro->next_update = time;
   gyro->data_available = FALSE;
 }
 
-void nps_sensor_gyro_run_step(struct NpsSensorGyro* gyro, double time, struct DoubleRMat* body_to_imu) {
+void nps_sensor_gyro_run_step(struct NpsSensorGyro *gyro, double time, struct DoubleRMat *body_to_imu)
+{
 
-  if (time < gyro->next_update)
+  if (time < gyro->next_update) {
     return;
+  }
 
   /* transform body rates to IMU frame */
-  struct DoubleVect3* rate_body = (struct DoubleVect3*)(&fdm.body_inertial_rotvel);
+  struct DoubleVect3 *rate_body = (struct DoubleVect3 *)(&fdm.body_inertial_rotvel);
   struct DoubleVect3 rate_imu;
-  MAT33_VECT3_MUL(rate_imu, *body_to_imu, *rate_body );
+  MAT33_VECT3_MUL(rate_imu, *body_to_imu, *rate_body);
   /* compute gyros readings */
   MAT33_VECT3_MUL(gyro->value, gyro->sensitivity, rate_imu);
   VECT3_ADD(gyro->value, gyro->neutral);
@@ -44,10 +47,10 @@ void nps_sensor_gyro_run_step(struct NpsSensorGyro* gyro, double time, struct Do
   VECT3_COPY(gyro_error, gyro->bias_initial);
   double_vect3_add_gaussian_noise(&gyro_error, &gyro->noise_std_dev);
   double_vect3_update_random_walk(&gyro->bias_random_walk_value, &gyro->bias_random_walk_std_dev,
-				  NPS_GYRO_DT, 5.);
+                                  NPS_GYRO_DT, 5.);
   VECT3_ADD(gyro_error, gyro->bias_random_walk_value);
 
-  struct DoubleVect3 gain = {NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR};
+  struct DoubleVect3 gain = {gyro->sensitivity.m[0], gyro->sensitivity.m[4], gyro->sensitivity.m[8]};
   VECT3_EW_MUL(gyro_error, gyro_error, gain);
 
   VECT3_ADD(gyro->value, gyro_error);
@@ -60,6 +63,3 @@ void nps_sensor_gyro_run_step(struct NpsSensorGyro* gyro, double time, struct Do
   gyro->next_update += NPS_GYRO_DT;
   gyro->data_available = TRUE;
 }
-
-
-
diff --git a/sw/simulator/nps/nps_sensor_gyro.h b/sw/simulator/nps/nps_sensor_gyro.h
index 55490e9447..ddb33703da 100644
--- a/sw/simulator/nps/nps_sensor_gyro.h
+++ b/sw/simulator/nps/nps_sensor_gyro.h
@@ -21,8 +21,8 @@ struct NpsSensorGyro {
 };
 
 
-extern void   nps_sensor_gyro_init(struct NpsSensorGyro* gyro, double time);
-extern void   nps_sensor_gyro_run_step(struct NpsSensorGyro* gyro, double time, struct DoubleRMat* body_to_imu);
+extern void   nps_sensor_gyro_init(struct NpsSensorGyro *gyro, double time);
+extern void   nps_sensor_gyro_run_step(struct NpsSensorGyro *gyro, double time, struct DoubleRMat *body_to_imu);
 
 #endif /* NPS_SENSOR_GYRO_H */
 
diff --git a/sw/simulator/nps/nps_sensor_mag.c b/sw/simulator/nps/nps_sensor_mag.c
index 08e3c40026..a34589c2ea 100644
--- a/sw/simulator/nps/nps_sensor_mag.c
+++ b/sw/simulator/nps/nps_sensor_mag.c
@@ -5,27 +5,30 @@
 #include NPS_SENSORS_PARAMS
 #include "math/pprz_algebra_int.h"
 
-void nps_sensor_mag_init(struct NpsSensorMag* mag, double time) {
+void nps_sensor_mag_init(struct NpsSensorMag *mag, double time)
+{
   VECT3_ASSIGN(mag->value, 0., 0., 0.);
   mag->min = NPS_MAG_MIN;
   mag->max = NPS_MAG_MAX;
   FLOAT_MAT33_DIAG(mag->sensitivity,
-		   NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ);
+                   NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ);
   VECT3_ASSIGN(mag->neutral,
-	       NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z);
+               NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z);
   VECT3_ASSIGN(mag->noise_std_dev,
-	       NPS_MAG_NOISE_STD_DEV_X, NPS_MAG_NOISE_STD_DEV_Y, NPS_MAG_NOISE_STD_DEV_Z);
+               NPS_MAG_NOISE_STD_DEV_X, NPS_MAG_NOISE_STD_DEV_Y, NPS_MAG_NOISE_STD_DEV_Z);
   struct DoubleEulers imu_to_sensor_eulers =
-    { NPS_MAG_IMU_TO_SENSOR_PHI, NPS_MAG_IMU_TO_SENSOR_THETA, NPS_MAG_IMU_TO_SENSOR_PSI };
+  { NPS_MAG_IMU_TO_SENSOR_PHI, NPS_MAG_IMU_TO_SENSOR_THETA, NPS_MAG_IMU_TO_SENSOR_PSI };
   DOUBLE_RMAT_OF_EULERS(mag->imu_to_sensor_rmat, imu_to_sensor_eulers);
   mag->next_update = time;
   mag->data_available = FALSE;
 }
 
-void nps_sensor_mag_run_step(struct NpsSensorMag* mag, double time, struct DoubleRMat* body_to_imu) {
+void nps_sensor_mag_run_step(struct NpsSensorMag *mag, double time, struct DoubleRMat *body_to_imu)
+{
 
-  if (time < mag->next_update)
+  if (time < mag->next_update) {
     return;
+  }
 
   /* transform magnetic field to body frame */
   struct DoubleVect3 h_body;
@@ -33,11 +36,11 @@ void nps_sensor_mag_run_step(struct NpsSensorMag* mag, double time, struct Doubl
 
   /* transform to imu frame */
   struct DoubleVect3 h_imu;
-  MAT33_VECT3_MUL(h_imu, *body_to_imu, h_body );
+  MAT33_VECT3_MUL(h_imu, *body_to_imu, h_body);
 
   /* transform to sensor frame */
   struct DoubleVect3 h_sensor;
-  MAT33_VECT3_MUL(h_sensor, mag->imu_to_sensor_rmat, h_imu );
+  MAT33_VECT3_MUL(h_sensor, mag->imu_to_sensor_rmat, h_imu);
 
   /* compute magnetometer reading */
   MAT33_VECT3_MUL(mag->value, mag->sensitivity, h_sensor);
diff --git a/sw/simulator/nps/nps_sensor_mag.h b/sw/simulator/nps/nps_sensor_mag.h
index ab0fdeb849..d1cf6f1356 100644
--- a/sw/simulator/nps/nps_sensor_mag.h
+++ b/sw/simulator/nps/nps_sensor_mag.h
@@ -19,7 +19,7 @@ struct NpsSensorMag {
 };
 
 
-extern void nps_sensor_mag_init(struct NpsSensorMag* mag, double time);
-extern void nps_sensor_mag_run_step(struct NpsSensorMag* mag, double time, struct DoubleRMat* body_to_imu);
+extern void nps_sensor_mag_init(struct NpsSensorMag *mag, double time);
+extern void nps_sensor_mag_run_step(struct NpsSensorMag *mag, double time, struct DoubleRMat *body_to_imu);
 
 #endif /* NPS_SENSOR_MAG_H */
diff --git a/sw/simulator/nps/nps_sensor_sonar.c b/sw/simulator/nps/nps_sensor_sonar.c
index 3d17a3f41c..ea33050888 100644
--- a/sw/simulator/nps/nps_sensor_sonar.c
+++ b/sw/simulator/nps/nps_sensor_sonar.c
@@ -50,22 +50,27 @@
 #endif
 
 
-void nps_sensor_sonar_init(struct NpsSensorSonar* sonar, double time) {
+void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
+{
   sonar->value = 0.;
+  sonar->offset = NPS_SONAR_OFFSET;
+  sonar->noise_std_dev = NPS_SONAR_NOISE_STD_DEV;
   sonar->next_update = time;
   sonar->data_available = FALSE;
 }
 
 
-void nps_sensor_sonar_run_step(struct NpsSensorSonar* sonar, double time) {
+void nps_sensor_sonar_run_step(struct NpsSensorSonar *sonar, double time)
+{
 
-  if (time < sonar->next_update)
+  if (time < sonar->next_update) {
     return;
+  }
 
   /* agl in meters */
-  sonar->value = fdm.agl + NPS_SONAR_OFFSET;
+  sonar->value = fdm.agl + sonar->offset;
   /* add noise with std dev meters */
-  sonar->value += get_gaussian_noise() * NPS_SONAR_NOISE_STD_DEV;
+  sonar->value += get_gaussian_noise() * sonar->noise_std_dev;
 
   sonar->next_update += NPS_SONAR_DT;
   sonar->data_available = TRUE;
diff --git a/sw/simulator/nps/nps_sensor_sonar.h b/sw/simulator/nps/nps_sensor_sonar.h
index 30df64e90e..cdae3ae3e5 100644
--- a/sw/simulator/nps/nps_sensor_sonar.h
+++ b/sw/simulator/nps/nps_sensor_sonar.h
@@ -35,13 +35,15 @@
 #include "std.h"
 
 struct NpsSensorSonar {
-  double  value;          ///< sonar reading in meters
-  double  next_update;
-  bool_t  data_available;
+  double value;          ///< sonar reading in meters
+  double offset;         ///< offset in meters
+  double noise_std_dev;  ///< noise standard deviation
+  double next_update;
+  bool_t data_available;
 };
 
 
-extern void nps_sensor_sonar_init(struct NpsSensorSonar* sonar, double time);
-extern void nps_sensor_sonar_run_step(struct NpsSensorSonar* sonar, double time);
+extern void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time);
+extern void nps_sensor_sonar_run_step(struct NpsSensorSonar *sonar, double time);
 
 #endif /* NPS_SENSOR_SONAR_H */
diff --git a/sw/simulator/nps/nps_sensors.c b/sw/simulator/nps/nps_sensors.c
index 497a6237a3..1c9209a071 100644
--- a/sw/simulator/nps/nps_sensors.c
+++ b/sw/simulator/nps/nps_sensors.c
@@ -5,10 +5,11 @@
 
 struct NpsSensors sensors;
 
-void nps_sensors_init(double time) {
+void nps_sensors_init(double time)
+{
 
   struct DoubleEulers body_to_imu_eulers =
-    { NPS_BODY_TO_IMU_PHI, NPS_BODY_TO_IMU_THETA, NPS_BODY_TO_IMU_PSI };
+  { NPS_BODY_TO_IMU_PHI, NPS_BODY_TO_IMU_THETA, NPS_BODY_TO_IMU_PSI };
   DOUBLE_RMAT_OF_EULERS(sensors.body_to_imu_rmat, body_to_imu_eulers);
 
   nps_sensor_gyro_init(&sensors.gyro, time);
@@ -20,7 +21,8 @@ void nps_sensors_init(double time) {
 }
 
 
-void nps_sensors_run_step(double time) {
+void nps_sensors_run_step(double time)
+{
   nps_sensor_gyro_run_step(&sensors.gyro, time, &sensors.body_to_imu_rmat);
   nps_sensor_accel_run_step(&sensors.accel, time, &sensors.body_to_imu_rmat);
   nps_sensor_mag_run_step(&sensors.mag, time, &sensors.body_to_imu_rmat);
@@ -30,7 +32,8 @@ void nps_sensors_run_step(double time) {
 }
 
 
-bool_t nps_sensors_gyro_available(void) {
+bool_t nps_sensors_gyro_available(void)
+{
   if (sensors.gyro.data_available) {
     sensors.gyro.data_available = FALSE;
     return TRUE;
@@ -38,7 +41,8 @@ bool_t nps_sensors_gyro_available(void) {
   return FALSE;
 }
 
-bool_t nps_sensors_mag_available(void) {
+bool_t nps_sensors_mag_available(void)
+{
   if (sensors.mag.data_available) {
     sensors.mag.data_available = FALSE;
     return TRUE;
@@ -46,7 +50,8 @@ bool_t nps_sensors_mag_available(void) {
   return FALSE;
 }
 
-bool_t nps_sensors_baro_available(void) {
+bool_t nps_sensors_baro_available(void)
+{
   if (sensors.baro.data_available) {
     sensors.baro.data_available = FALSE;
     return TRUE;
@@ -54,7 +59,8 @@ bool_t nps_sensors_baro_available(void) {
   return FALSE;
 }
 
-bool_t nps_sensors_gps_available(void) {
+bool_t nps_sensors_gps_available(void)
+{
   if (sensors.gps.data_available) {
     sensors.gps.data_available = FALSE;
     return TRUE;
@@ -62,7 +68,8 @@ bool_t nps_sensors_gps_available(void) {
   return FALSE;
 }
 
-bool_t nps_sensors_sonar_available(void) {
+bool_t nps_sensors_sonar_available(void)
+{
   if (sensors.sonar.data_available) {
     sensors.sonar.data_available = FALSE;
     return TRUE;
diff --git a/sw/simulator/nps/nps_sensors_utils.c b/sw/simulator/nps/nps_sensors_utils.c
index 0911fed2eb..684ffc12d9 100644
--- a/sw/simulator/nps/nps_sensors_utils.c
+++ b/sw/simulator/nps/nps_sensors_utils.c
@@ -3,44 +3,47 @@
 //#include <string.h>
 #include "math/pprz_algebra.h"
 
-void UpdateSensorLatency(double time, gpointer cur_reading, GSList **history, double latency, gpointer sensor_reading) {
+void UpdateSensorLatency(double time, gpointer cur_reading, GSList **history, double latency, gpointer sensor_reading)
+{
   /* add new reading */
-  struct BoozDatedSensor* cur_read = g_new(struct BoozDatedSensor, 1);
+  struct BoozDatedSensor *cur_read = g_new(struct BoozDatedSensor, 1);
   cur_read->time = time;
-  cur_read->value = (struct DoubleVect3*) g_memdup(cur_reading, sizeof(struct DoubleVect3));
+  cur_read->value = (struct DoubleVect3 *) g_memdup(cur_reading, sizeof(struct DoubleVect3));
   *history = g_slist_prepend(*history, cur_read);
   /* remove old readings */
-  GSList* last =  g_slist_last(*history);
-  while (last && ((struct BoozDatedSensor*)last->data)->time < time - latency) {
+  GSList *last =  g_slist_last(*history);
+  while (last && ((struct BoozDatedSensor *)last->data)->time < time - latency) {
     *history = g_slist_remove_link(*history, last);
-	g_free(((struct BoozDatedSensor*)last->data)->value);
-	g_free((struct BoozDatedSensor*)last->data);
+    g_free(((struct BoozDatedSensor *)last->data)->value);
+    g_free((struct BoozDatedSensor *)last->data);
     g_slist_free_1(last);
     last = g_slist_last(*history);
   }
   /* update sensor        */
   //g_memmove((gpointer)sensor_reading, (gpointer)((struct BoozDatedSensor*)last->data)->value, sizeof(struct DoubleVect3));
-  VECT3_COPY(*((struct DoubleVect3*)sensor_reading), *((struct BoozDatedSensor*)last->data)->value);
+  VECT3_COPY(*((struct DoubleVect3 *)sensor_reading), *((struct BoozDatedSensor *)last->data)->value);
 }
 
-void UpdateSensorLatency_Single(double time, gpointer cur_reading, GSList **history, double latency, gpointer sensor_reading) {
+void UpdateSensorLatency_Single(double time, gpointer cur_reading, GSList **history, double latency,
+                                gpointer sensor_reading)
+{
   /* add new reading */
-  struct BoozDatedSensor_Single* cur_read = g_new(struct BoozDatedSensor_Single, 1);
+  struct BoozDatedSensor_Single *cur_read = g_new(struct BoozDatedSensor_Single, 1);
   cur_read->time = time;
-  cur_read->value = (double*) g_memdup(cur_reading, sizeof(double));
+  cur_read->value = (double *) g_memdup(cur_reading, sizeof(double));
   *history = g_slist_prepend(*history, cur_read);
   /* remove old readings */
-  GSList* last =  g_slist_last(*history);
-  while (last && ((struct BoozDatedSensor_Single*)last->data)->time < time - latency) {
+  GSList *last =  g_slist_last(*history);
+  while (last && ((struct BoozDatedSensor_Single *)last->data)->time < time - latency) {
     *history = g_slist_remove_link(*history, last);
-	g_free(((struct BoozDatedSensor_Single*)last->data)->value);
-	g_free((struct BoozDatedSensor_Single*)last->data);
+    g_free(((struct BoozDatedSensor_Single *)last->data)->value);
+    g_free((struct BoozDatedSensor_Single *)last->data);
     g_slist_free_1(last);
     last = g_slist_last(*history);
   }
 
   /* update sensor        */
   //g_memmove((gpointer)sensor_reading, (gpointer)((struct BoozDatedSensor*)last->data)->value, sizeof(struct DoubleVect3));
-  *((double*)sensor_reading) = *(((struct BoozDatedSensor_Single*)last->data)->value);
+  *((double *)sensor_reading) = *(((struct BoozDatedSensor_Single *)last->data)->value);
 
 }
diff --git a/sw/simulator/nps/nps_sensors_utils.h b/sw/simulator/nps/nps_sensors_utils.h
index 74b8545b3a..3193cf7316 100644
--- a/sw/simulator/nps/nps_sensors_utils.h
+++ b/sw/simulator/nps/nps_sensors_utils.h
@@ -5,21 +5,21 @@
 #include "math/pprz_algebra_double.h"
 
 struct BoozDatedSensor {
-  struct DoubleVect3* value;
+  struct DoubleVect3 *value;
   double time;
 };
 
 struct BoozDatedSensor_Single {
-  double* value;
+  double *value;
   double time;
 };
 
 /* cur_reading and sensor_reading must be of a type that can be cast to DoubleVect3* */
 extern void UpdateSensorLatency(double time, gpointer cur_reading, GSList **history,
-								double latency, gpointer sensor_reading);
+                                double latency, gpointer sensor_reading);
 
 /* ...and the same for single double values */
 extern void UpdateSensorLatency_Single(double time, gpointer cur_reading, GSList **history,
-								double latency, gpointer sensor_reading);
+                                       double latency, gpointer sensor_reading);
 
 #endif /* NPS_SENSORS_UTILS_H */