diff --git a/sw/airborne/boards/apogee/imu_apogee.c b/sw/airborne/boards/apogee/imu_apogee.c
index a50293e683..34a757eb97 100644
--- a/sw/airborne/boards/apogee/imu_apogee.c
+++ b/sw/airborne/boards/apogee/imu_apogee.c
@@ -31,6 +31,7 @@
 #include "boards/apogee/imu_apogee.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -80,9 +81,6 @@ void imu_impl_init(void)
   imu_apogee.mpu.config.nb_slaves = 1;
   imu_apogee.mpu.config.slaves[0].configure = &configure_baro_slave;
   imu_apogee.mpu.config.i2c_bypass = TRUE;
-
-  imu_apogee.gyr_valid = FALSE;
-  imu_apogee.acc_valid = FALSE;
 }
 
 void imu_periodic(void)
@@ -104,6 +102,8 @@ void imu_apogee_downlink_raw(void)
 
 void imu_apogee_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   // If the itg3200 I2C transaction has succeeded: convert the data
   mpu60x0_i2c_event(&imu_apogee.mpu);
   if (imu_apogee.mpu.data_available) {
@@ -112,8 +112,10 @@ void imu_apogee_event(void)
     VECT3_ASSIGN(imu.accel_unscaled, imu_apogee.mpu.data_accel.vect.x, -imu_apogee.mpu.data_accel.vect.y,
                  -imu_apogee.mpu.data_accel.vect.z);
     imu_apogee.mpu.data_available = FALSE;
-    imu_apogee.gyr_valid = TRUE;
-    imu_apogee.acc_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_APOGEE_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_APOGEE_ID, now_ts, &imu.accel);
   }
 }
 
diff --git a/sw/airborne/boards/apogee/imu_apogee.h b/sw/airborne/boards/apogee/imu_apogee.h
index 8dfb1ea6f4..04a1c75e16 100644
--- a/sw/airborne/boards/apogee/imu_apogee.h
+++ b/sw/airborne/boards/apogee/imu_apogee.h
@@ -95,8 +95,6 @@
 #endif
 
 struct ImuApogee {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
   struct Mpu60x0_I2c mpu;
 };
 
@@ -112,19 +110,6 @@ extern void imu_periodic(void);
 extern void imu_apogee_event(void);
 extern void imu_apogee_downlink_raw(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void) __attribute__((unused)))
-{
-  imu_apogee_event();
-  if (imu_apogee.gyr_valid) {
-    imu_apogee.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_apogee.acc_valid) {
-    imu_apogee.acc_valid = FALSE;
-    _accel_handler();
-  }
-}
+#define ImuEvent imu_apogee_event
 
 #endif // IMU_APOGEE_H
diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index 55c329beb2..bbe4510e1d 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/sw/airborne/boards/ardrone/navdata.c
@@ -201,7 +201,6 @@ bool_t navdata_init()
   // Reset available flags
   navdata_available = FALSE;
   navdata.baro_calibrated = FALSE;
-  navdata.imu_available = FALSE;
   navdata.baro_available = FALSE;
   navdata.imu_lost = FALSE;
 
@@ -320,6 +319,20 @@ static void *navdata_read(void *data __attribute__((unused)))
   return NULL;
 }
 
+#include "subsystems/imu.h"
+static void navdata_publish_imu(void)
+{
+  RATES_ASSIGN(imu.gyro_unscaled, navdata.measure.vx, -navdata.measure.vy, -navdata.measure.vz);
+  VECT3_ASSIGN(imu.accel_unscaled, navdata.measure.ax, 4096 - navdata.measure.ay, 4096 - navdata.measure.az);
+  VECT3_ASSIGN(imu.mag_unscaled, -navdata.measure.mx, -navdata.measure.my, -navdata.measure.mz);
+  imu_scale_gyro(&imu);
+  imu_scale_accel(&imu);
+  imu_scale_mag(&imu);
+  uint32_t now_ts = get_sys_time_usec();
+  AbiSendMsgIMU_GYRO_INT32(IMU_ARDRONE2_ID, now_ts, &imu.gyro);
+  AbiSendMsgIMU_ACCEL_INT32(IMU_ARDRONE2_ID, now_ts, &imu.accel);
+  AbiSendMsgIMU_MAG_INT32(IMU_ARDRONE2_ID, now_ts, &imu.mag);
+}
 
 /**
  * Update the navdata (event loop)
@@ -377,7 +390,8 @@ void navdata_update()
     }
 #endif
 
-    navdata.imu_available = TRUE;
+    navdata_publish_imu();
+
     navdata.packetsRead++;
   }
   else {
diff --git a/sw/airborne/boards/ardrone/navdata.h b/sw/airborne/boards/ardrone/navdata.h
index 9550c8d5fd..cd1f326c04 100644
--- a/sw/airborne/boards/ardrone/navdata.h
+++ b/sw/airborne/boards/ardrone/navdata.h
@@ -122,7 +122,6 @@ struct navdata_t {
   struct bmp180_calib_t bmp180_calib;     //< BMP180 calibration receieved from navboard
 
   bool_t baro_calibrated;                 //< Whenever the baro is calibrated
-  bool_t imu_available;                   //< Whenever the imu is available
   bool_t baro_available;                  //< Whenever the baro is available
   bool_t imu_lost;                        //< Whenever the imu is lost
 };
diff --git a/sw/airborne/boards/hbmini/imu_hbmini.c b/sw/airborne/boards/hbmini/imu_hbmini.c
index 6b52ade639..5dfc754dd2 100644
--- a/sw/airborne/boards/hbmini/imu_hbmini.c
+++ b/sw/airborne/boards/hbmini/imu_hbmini.c
@@ -34,6 +34,7 @@
 #include "imu_hbmini.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -61,17 +62,11 @@ struct ImuHbmini imu_hbmini;
 
 void imu_impl_init(void)
 {
-
   max1168_init();
 
   /////////////////////////////////////////////////////////////////////
   // HMC58XX
   hmc58xx_init(&imu_hbmini.hmc, &(IMU_HBMINI_I2C_DEV), HMC58XX_ADDR);
-
-  imu_hbmini.gyr_valid = FALSE;
-  imu_hbmini.acc_valid = FALSE;
-  imu_hbmini.mag_valid = FALSE;
-
 }
 
 void imu_periodic(void)
@@ -97,10 +92,10 @@ void imu_hbmini_downlink_raw(void)
 
 void imu_hbmini_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
 
   max1168_event();
 
-
   if (max1168_status == MAX1168_DATA_AVAILABLE) {
     imu.gyro_unscaled.p  = max1168_values[IMU_GYRO_P_CHAN];
     imu.gyro_unscaled.q  = max1168_values[IMU_GYRO_Q_CHAN];
@@ -109,8 +104,10 @@ void imu_hbmini_event(void)
     imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN];
     imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN];
     max1168_status = MAX1168_IDLE;
-    imu_hbmini.gyr_valid = TRUE;
-    imu_hbmini.acc_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_HBMINI_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_HBMINI_ID, now_ts, &imu.accel);
   }
 
   // HMC58XX event task
@@ -121,7 +118,8 @@ void imu_hbmini_event(void)
     imu.mag_unscaled.x = imu_hbmini.hmc.data.value[IMU_MAG_Z_CHAN];
 
     imu_hbmini.hmc.data_available = FALSE;
-    imu_hbmini.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_HBMINI_ID, now_ts, &imu.mag);
   }
 
 }
diff --git a/sw/airborne/boards/hbmini/imu_hbmini.h b/sw/airborne/boards/hbmini/imu_hbmini.h
index 661b3dcbd4..0d6dab9a1f 100644
--- a/sw/airborne/boards/hbmini/imu_hbmini.h
+++ b/sw/airborne/boards/hbmini/imu_hbmini.h
@@ -37,8 +37,6 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-//#include "peripherals/itg3200.h"
-//#include "peripherals/adxl345_i2c.h"
 #include "peripherals/max1168.h"
 #include "peripherals/hmc58xx.h"
 
@@ -61,11 +59,6 @@
 
 
 struct ImuHbmini {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
-  volatile bool_t mag_valid;
-  //struct Itg3200 itg;
-  //struct Adxl345_I2c adxl;
   struct Hmc58xx hmc;
 };
 
@@ -75,21 +68,6 @@ extern struct ImuHbmini imu_hbmini;
 extern void imu_hbmini_event(void);
 extern void imu_hbmini_downlink_raw(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_hbmini_event();
-  if (imu_hbmini.gyr_valid) {
-    imu_hbmini.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_hbmini.acc_valid) {
-    imu_hbmini.acc_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_hbmini.mag_valid) {
-    imu_hbmini.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_hbmini_event
 
 #endif
diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c
index 492f348bcc..b02f3941de 100644
--- a/sw/airborne/boards/krooz/imu_krooz.c
+++ b/sw/airborne/boards/krooz/imu_krooz.c
@@ -34,6 +34,7 @@
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "filters/median_filter.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -88,10 +89,6 @@ void imu_impl_init(void)
   VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
   imu_krooz.meas_nb = 0;
 
-  imu_krooz.gyr_valid = FALSE;
-  imu_krooz.acc_valid = FALSE;
-  imu_krooz.mag_valid = FALSE;
-
   imu_krooz.hmc_eoc = FALSE;
   imu_krooz.mpu_eoc = FALSE;
 
@@ -127,8 +124,11 @@ void imu_periodic(void)
     VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
     imu_krooz.meas_nb = 0;
 
-    imu_krooz.gyr_valid = TRUE;
-    imu_krooz.acc_valid = TRUE;
+    uint32_t now_ts = get_sys_time_usec();
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_KROOZ_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_KROOZ_ID, now_ts, &imu.accel);
   }
 
   //RunOnceEvery(10,imu_krooz_downlink_raw());
@@ -170,6 +170,7 @@ void imu_krooz_event(void)
     VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
     imu_krooz.hmc.data_available = FALSE;
-    imu_krooz.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_KROOZ_ID, get_sys_time_usec(), &imu.mag);
   }
 }
diff --git a/sw/airborne/boards/krooz/imu_krooz.h b/sw/airborne/boards/krooz/imu_krooz.h
index 06cab8e5fe..88136fb680 100644
--- a/sw/airborne/boards/krooz/imu_krooz.h
+++ b/sw/airborne/boards/krooz/imu_krooz.h
@@ -105,9 +105,6 @@
 #endif
 
 struct ImuKrooz {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
-  volatile bool_t mag_valid;
   volatile bool_t mpu_eoc;
   volatile bool_t hmc_eoc;
   struct Mpu60x0_I2c mpu;
@@ -131,22 +128,6 @@ extern void imu_periodic(void);
 extern void imu_krooz_event(void);
 extern void imu_krooz_downlink_raw(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void) __attribute__((unused)))
-{
-  imu_krooz_event();
-  if (imu_krooz.gyr_valid) {
-    imu_krooz.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_krooz.acc_valid) {
-    imu_krooz.acc_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_krooz.mag_valid) {
-    imu_krooz.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_krooz_event
 
 #endif // IMU_KROOZ_H
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.c b/sw/airborne/boards/krooz/imu_krooz_memsic.c
index 53715e7cbe..de3cd7476b 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.c
+++ b/sw/airborne/boards/krooz/imu_krooz_memsic.c
@@ -36,6 +36,7 @@
 #include "led.h"
 #include "filters/median_filter.h"
 #include "mcu_periph/sys_time.h"
+#include "subsystems/abi.h"
 
 #if !defined KROOZ_LOWPASS_FILTER && !defined  KROOZ_SMPLRT_DIV
 #define KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ
@@ -89,10 +90,6 @@ void imu_impl_init(void)
   VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
   imu_krooz.meas_nb = 0;
 
-  imu_krooz.gyr_valid = FALSE;
-  imu_krooz.acc_valid = FALSE;
-  imu_krooz.mag_valid = FALSE;
-
   imu_krooz.hmc_eoc = FALSE;
   imu_krooz.mpu_eoc = FALSE;
 
@@ -133,7 +130,8 @@ void imu_periodic(void)
 
     RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
     imu_krooz.meas_nb = 0;
-    imu_krooz.gyr_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_KROOZ_ID, now_ts, &imu.gyro);
   }
 
   if (imu_krooz.meas_nb_acc.x && imu_krooz.meas_nb_acc.y && imu_krooz.meas_nb_acc.z) {
@@ -151,7 +149,8 @@ void imu_periodic(void)
 
     INT_VECT3_ZERO(imu_krooz.accel_sum);
     INT_VECT3_ZERO(imu_krooz.meas_nb_acc);
-    imu_krooz.acc_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_KROOZ_ID, now_ts, &imu.accel);
   }
 
   RunOnceEvery(128, {axis_nb = 5;});
@@ -224,6 +223,7 @@ void imu_krooz_event(void)
     VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
     imu_krooz.hmc.data_available = FALSE;
-    imu_krooz.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_KROOZ_ID, get_sys_time_usec(), &imu.mag);
   }
 }
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.h b/sw/airborne/boards/krooz/imu_krooz_memsic.h
index c53b657388..fc110b874d 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.h
+++ b/sw/airborne/boards/krooz/imu_krooz_memsic.h
@@ -108,9 +108,6 @@
 #endif
 
 struct ImuKrooz {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
-  volatile bool_t mag_valid;
   volatile bool_t mpu_eoc;
   volatile bool_t hmc_eoc;
   struct Mpu60x0_I2c mpu;
@@ -137,22 +134,6 @@ extern void imu_periodic(void);
 extern void imu_krooz_event(void);
 extern void imu_krooz_downlink_raw(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void) __attribute__((unused)))
-{
-  imu_krooz_event();
-  if (imu_krooz.gyr_valid) {
-    imu_krooz.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_krooz.acc_valid) {
-    imu_krooz.acc_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_krooz.mag_valid) {
-    imu_krooz.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_krooz_event
 
 #endif // IMU_KROOZ_H
diff --git a/sw/airborne/boards/navgo/imu_navgo.c b/sw/airborne/boards/navgo/imu_navgo.c
index 761ed8d0db..0e344e22bd 100644
--- a/sw/airborne/boards/navgo/imu_navgo.c
+++ b/sw/airborne/boards/navgo/imu_navgo.c
@@ -34,6 +34,7 @@
 #include "imu_navgo.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -87,10 +88,6 @@ void imu_impl_init(void)
   InitMedianFilterVect3Int(median_accel);
   InitMedianFilterVect3Int(median_mag);
 #endif
-
-  imu_navgo.gyr_valid = FALSE;
-  imu_navgo.acc_valid = FALSE;
-  imu_navgo.mag_valid = FALSE;
 }
 
 void imu_periodic(void)
@@ -122,6 +119,7 @@ void imu_navgo_downlink_raw(void)
 
 void imu_navgo_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
 
   // If the itg3200 I2C transaction has succeeded: convert the data
   itg3200_event(&imu_navgo.itg);
@@ -131,7 +129,8 @@ void imu_navgo_event(void)
     UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
 #endif
     imu_navgo.itg.data_available = FALSE;
-    imu_navgo.gyr_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_NAVGO_ID, now_ts, &imu.gyro);
   }
 
   // If the adxl345 I2C transaction has succeeded: convert the data
@@ -142,7 +141,8 @@ void imu_navgo_event(void)
     UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
 #endif
     imu_navgo.adxl.data_available = FALSE;
-    imu_navgo.acc_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_NAVGO_ID, now_ts, &imu.accel);
   }
 
   // HMC58XX event task
@@ -153,7 +153,8 @@ void imu_navgo_event(void)
     UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
 #endif
     imu_navgo.hmc.data_available = FALSE;
-    imu_navgo.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_NAVGO_ID, now_ts, &imu.mag);
   }
 
 }
diff --git a/sw/airborne/boards/navgo/imu_navgo.h b/sw/airborne/boards/navgo/imu_navgo.h
index e464ca6ce5..05f7d94a83 100644
--- a/sw/airborne/boards/navgo/imu_navgo.h
+++ b/sw/airborne/boards/navgo/imu_navgo.h
@@ -60,9 +60,6 @@
 
 
 struct ImuNavgo {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
-  volatile bool_t mag_valid;
   struct Itg3200 itg;
   struct Adxl345_I2c adxl;
   struct Hmc58xx hmc;
@@ -74,22 +71,6 @@ extern struct ImuNavgo imu_navgo;
 extern void imu_navgo_event(void);
 extern void imu_navgo_downlink_raw(void);
 
+#define ImuEvent imu_navgo_event
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_navgo_event();
-  if (imu_navgo.gyr_valid) {
-    imu_navgo.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_navgo.acc_valid) {
-    imu_navgo.acc_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_navgo.mag_valid) {
-    imu_navgo.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
-
-#endif // PPZUAVIMU_H
+#endif // IMU_NAVGO_H
diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c
index ae8e4ed655..456b18b52f 100644
--- a/sw/airborne/boards/umarim/imu_umarim.c
+++ b/sw/airborne/boards/umarim/imu_umarim.c
@@ -33,6 +33,7 @@
 #include "imu_umarim.h"
 #include "mcu_periph/i2c.h"
 #include "generated/airframe.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -77,9 +78,6 @@ void imu_impl_init(void)
   // change the default data rate
   imu_umarim.adxl.config.rate = UMARIM_ACCEL_RATE;
   imu_umarim.adxl.config.range = UMARIM_ACCEL_RANGE;
-
-  imu_umarim.gyr_valid = FALSE;
-  imu_umarim.acc_valid = FALSE;
 }
 
 void imu_periodic(void)
@@ -104,12 +102,15 @@ void imu_umarim_downlink_raw(void)
 
 void imu_umarim_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   // If the itg3200 I2C transaction has succeeded: convert the data
   itg3200_event(&imu_umarim.itg);
   if (imu_umarim.itg.data_available) {
     RATES_COPY(imu.gyro_unscaled, imu_umarim.itg.data.rates);
     imu_umarim.itg.data_available = FALSE;
-    imu_umarim.gyr_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_UMARIM_ID, now_ts, &imu.gyro);
   }
 
   // If the adxl345 I2C transaction has succeeded: convert the data
@@ -118,7 +119,8 @@ void imu_umarim_event(void)
     VECT3_ASSIGN(imu.accel_unscaled, imu_umarim.adxl.data.vect.y, -imu_umarim.adxl.data.vect.x,
                  imu_umarim.adxl.data.vect.z);
     imu_umarim.adxl.data_available = FALSE;
-    imu_umarim.acc_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_UMARIM_ID, now_ts, &imu.accel);
   }
 }
 
diff --git a/sw/airborne/boards/umarim/imu_umarim.h b/sw/airborne/boards/umarim/imu_umarim.h
index a15e1c87d8..d3155d2ccf 100644
--- a/sw/airborne/boards/umarim/imu_umarim.h
+++ b/sw/airborne/boards/umarim/imu_umarim.h
@@ -106,8 +106,6 @@ extern volatile bool_t gyr_valid;
 extern volatile bool_t acc_valid;
 
 struct ImuUmarim {
-  volatile bool_t gyr_valid;
-  volatile bool_t acc_valid;
   struct Itg3200 itg;
   struct Adxl345_I2c adxl;
 };
@@ -124,19 +122,6 @@ extern void imu_periodic(void);
 extern void imu_umarim_event(void);
 extern void imu_umarim_downlink_raw(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void) __attribute__((unused)))
-{
-  imu_umarim_event();
-  if (imu_umarim.gyr_valid) {
-    imu_umarim.gyr_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_umarim.acc_valid) {
-    imu_umarim.acc_valid = FALSE;
-    _accel_handler();
-  }
-}
+#define ImuEvent imu_umarim_event
 
 #endif // PPZUAVIMU_H
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index f52395f711..d3f62d5613 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -135,17 +135,12 @@ PRINT_CONFIG_VAR(BARO_PERIODIC_FREQUENCY)
 
 
 #if USE_IMU
-
 #ifdef AHRS_PROPAGATE_FREQUENCY
 #if (AHRS_PROPAGATE_FREQUENCY > PERIODIC_FREQUENCY)
 #warning "PERIODIC_FREQUENCY should be least equal or greater than AHRS_PROPAGATE_FREQUENCY"
 INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY to at least ", AHRS_PROPAGATE_FREQUENCY)
 #endif
 #endif
-
-static inline void on_gyro_event(void);
-static inline void on_accel_event(void);
-static inline void on_mag_event(void);
 #endif // USE_IMU
 
 #if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
@@ -675,7 +670,7 @@ void event_task_ap(void)
 #endif /* SINGLE_MCU */
 
 #if USE_IMU
-  ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
+  ImuEvent();
 #endif
 
 #ifdef InsEvent
@@ -715,53 +710,3 @@ void event_task_ap(void)
 
 } /* event_task_ap() */
 
-
-#if USE_IMU
-static inline void on_accel_event(void)
-{
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_accel(&imu);
-
-  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
-}
-
-static inline void on_gyro_event(void)
-{
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_gyro(&imu);
-
-  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
-
-#if USE_AHRS_ALIGNER
-  if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
-    ahrs_aligner_run();
-    return;
-  }
-#endif
-
-#if defined SITL && USE_NPS
-  if (nps_bypass_ahrs) { sim_overwrite_ahrs(); }
-#endif
-
-#ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
-  new_ins_attitude = 1;
-#endif
-
-}
-
-static inline void on_mag_event(void)
-{
-#if USE_MAGNETOMETER
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_mag(&imu);
-  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
-#endif
-}
-
-#endif // USE_IMU
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 38e93e851a..41a8f62213 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -105,11 +105,6 @@ INFO_VALUE("it is recommended to configure in your airframe PERIODIC_FREQUENCY t
 #endif
 #endif
 
-static inline void on_gyro_event(void);
-static inline void on_accel_event(void);
-static inline void on_mag_event(void);
-
-
 tid_t main_periodic_tid; ///< id for main_periodic() timer
 tid_t modules_tid;       ///< id for modules_periodic_task() timer
 tid_t failsafe_tid;      ///< id for failsafe_check() timer
@@ -319,7 +314,7 @@ STATIC_INLINE void main_event(void)
     RadioControlEvent(autopilot_on_rc_frame);
   }
 
-  ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
+  ImuEvent();
 
 #if USE_BARO_BOARD
   BaroEvent();
@@ -334,51 +329,4 @@ STATIC_INLINE void main_event(void)
 #endif
 
   modules_event_task();
-
-}
-
-static inline void on_accel_event( void ) {
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_accel(&imu);
-
-  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
-}
-
-static inline void on_gyro_event( void ) {
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_gyro(&imu);
-
-  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
-
-#if USE_AHRS_ALIGNER
-  if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
-    ahrs_aligner_run();
-    return;
-  }
-#endif
-
-#ifdef SITL
-  if (nps_bypass_ahrs) sim_overwrite_ahrs();
-#endif
-
-#ifdef USE_VEHICLE_INTERFACE
-  vi_notify_imu_available();
-#endif
-}
-
-static inline void on_mag_event(void)
-{
-  imu_scale_mag(&imu);
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
-
-#ifdef USE_VEHICLE_INTERFACE
-  vi_notify_mag_available();
-#endif
 }
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index 3ec8c222f3..25a6ecc35f 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -415,25 +415,44 @@ void handle_ins_msg(void)
 #endif
 
 #if USE_IMU
+  uint32_t now_ts = get_sys_time_usec();
 #ifdef XSENS_BACKWARDS
   if (imu_xsens.gyro_available) {
     RATES_ASSIGN(imu.gyro_unscaled, -RATE_BFP_OF_REAL(ins_p), -RATE_BFP_OF_REAL(ins_q), RATE_BFP_OF_REAL(ins_r));
+     imu_xsens.gyro_available = FALSE;
+     imu_scale_gyro(&imu);
+     AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro);
   }
   if (imu_xsens.accel_available) {
     VECT3_ASSIGN(imu.accel_unscaled, -ACCEL_BFP_OF_REAL(ins_ax), -ACCEL_BFP_OF_REAL(ins_ay), ACCEL_BFP_OF_REAL(ins_az));
+    imu_xsens.accel_available = FALSE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel);
   }
   if (imu_xsens.mag_available) {
     VECT3_ASSIGN(imu.mag_unscaled, -MAG_BFP_OF_REAL(ins_mx), -MAG_BFP_OF_REAL(ins_my), MAG_BFP_OF_REAL(ins_mz));
+    imu_xsens.mag_available = FALSE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag);
   }
 #else
   if (imu_xsens.gyro_available) {
     RATES_ASSIGN(imu.gyro_unscaled, RATE_BFP_OF_REAL(ins_p), RATE_BFP_OF_REAL(ins_q), RATE_BFP_OF_REAL(ins_r));
+    imu_xsens.gyro_available = FALSE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_XSENS_ID, now_ts, &imu.gyro);
   }
   if (imu_xsens.accel_available) {
     VECT3_ASSIGN(imu.accel_unscaled, ACCEL_BFP_OF_REAL(ins_ax), ACCEL_BFP_OF_REAL(ins_ay), ACCEL_BFP_OF_REAL(ins_az));
+    imu_xsens.accel_available = FALSE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_XSENS_ID, now_ts, &imu.accel);
   }
   if (imu_xsens.mag_available) {
     VECT3_ASSIGN(imu.mag_unscaled, MAG_BFP_OF_REAL(ins_mx), MAG_BFP_OF_REAL(ins_my), MAG_BFP_OF_REAL(ins_mz));
+    imu_xsens.mag_available = FALSE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_XSENS_ID, now_ts, &imu.mag);
   }
 #endif /* XSENS_BACKWARDS */
 #endif /* USE_IMU */
diff --git a/sw/airborne/modules/ins/ins_xsens.h b/sw/airborne/modules/ins/ins_xsens.h
index 4c3be13c07..d7ebf2a823 100644
--- a/sw/airborne/modules/ins/ins_xsens.h
+++ b/sw/airborne/modules/ins/ins_xsens.h
@@ -53,6 +53,7 @@ extern void xsens_periodic(void);
  */
 #if USE_IMU
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 
 struct ImuXsens {
   bool_t gyro_available;
@@ -61,20 +62,7 @@ struct ImuXsens {
 };
 extern struct ImuXsens imu_xsens;
 
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \
-    if (imu_xsens.accel_available) {                            \
-      imu_xsens.accel_available = FALSE;                        \
-      _accel_handler();                                         \
-    }                                                           \
-    if (imu_xsens.gyro_available) {                             \
-      imu_xsens.gyro_available = FALSE;                         \
-      _gyro_handler();                                          \
-    }                                                           \
-    if (imu_xsens.mag_available) {                              \
-      imu_xsens.mag_available = FALSE;                          \
-      _mag_handler();                                           \
-    }                                                           \
-  }
+#define ImuEvent() {}
 #endif /* USE_IMU */
 
 
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.c b/sw/airborne/modules/sensors/imu_aspirin2.c
index 624587464b..25fa7ae465 100644
--- a/sw/airborne/modules/sensors/imu_aspirin2.c
+++ b/sw/airborne/modules/sensors/imu_aspirin2.c
@@ -22,6 +22,7 @@
 #include "imu_aspirin2.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
+#include "subsystems/abi.h"
 
 // Downlink
 #include "mcu_periph/uart.h"
@@ -34,11 +35,6 @@
 #include "../../peripherals/mpu60x0.h"
 // #include "../../peripherals/hmc5843.h"
 
-// Results
-volatile bool_t mag_valid;
-volatile bool_t gyr_valid;
-volatile bool_t acc_valid;
-
 // Communication
 struct i2c_transaction aspirin2_mpu60x0;
 
@@ -189,6 +185,7 @@ void aspirin2_subsystem_downlink_raw(void)
 void aspirin2_subsystem_event(void)
 {
   int32_t x, y, z;
+  uint32_t now_ts = get_sys_time_usec();
 
   // If the itg3200 I2C transaction has succeeded: convert the data
   if (aspirin2_mpu60x0.status == I2CTransSuccess) {
@@ -208,9 +205,10 @@ void aspirin2_subsystem_event(void)
 
     // Is this is new data
     if (aspirin2_mpu60x0.buf[0] & 0x01) {
-      gyr_valid = TRUE;
-      acc_valid = TRUE;
-    } else {
+      imu_scale_gyro(&imu);
+      imu_scale_accel(&imu);
+      AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro);
+      AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel);
     }
 
     aspirin2_mpu60x0.status =
diff --git a/sw/airborne/modules/sensors/imu_aspirin2.h b/sw/airborne/modules/sensors/imu_aspirin2.h
index 4aaa08a5a9..c996ba5b80 100644
--- a/sw/airborne/modules/sensors/imu_aspirin2.h
+++ b/sw/airborne/modules/sensors/imu_aspirin2.h
@@ -24,34 +24,15 @@
 #include "std.h"
 #include "subsystems/imu.h"
 
-extern volatile bool_t gyr_valid;
-extern volatile bool_t acc_valid;
-extern volatile bool_t mag_valid;
-
 /* must be defined in order to be IMU code: declared in imu.h
 extern void imu_impl_init(void);
 extern void imu_periodic(void);
 */
 
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) {   \
-    aspirin2_subsystem_event();                \
-    if (gyr_valid) {                         \
-      gyr_valid = FALSE;                     \
-      _gyro_handler();                                  \
-    }                                                   \
-    if (acc_valid) {                         \
-      acc_valid = FALSE;                     \
-      _accel_handler();                                 \
-    }                                                   \
-    if (mag_valid) {                         \
-      mag_valid = FALSE;                     \
-      _mag_handler();                                 \
-    }                                                   \
-  }
-
 /* Own Extra Functions */
 extern void aspirin2_subsystem_event(void);
 extern void aspirin2_subsystem_downlink_raw(void);
 
+#define ImuEvent aspirin2_subsystem_event
 
 #endif // PPZUAVIMU_H
diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h
index 036e1602fe..327c09a846 100644
--- a/sw/airborne/peripherals/hmc5843.h
+++ b/sw/airborne/peripherals/hmc5843.h
@@ -71,11 +71,4 @@ extern void hmc5843_idle_task(void);
 
 #include <string.h>
 
-#define MagEvent(_m_handler) {                      \
-    hmc5843_idle_task();                            \
-    if (hmc5843.data_available) {                   \
-      _m_handler();                                 \
-    }                                               \
-  }
-
 #endif /* HMC5843_H */
diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
index 3b02d6c3b0..d0424f52ae 100644
--- a/sw/airborne/subsystems/abi_sender_ids.h
+++ b/sw/airborne/subsystems/abi_sender_ids.h
@@ -158,4 +158,104 @@
 #define GPS_SIM_ID 11
 #endif
 
+
+/*
+ * IDs of IMU sensors (accel, gyro)
+ */
+#ifndef IMU_ANALOG_ID
+#define IMU_ANALOG_ID 1
+#endif
+
+#ifndef IMU_ARDRONE2_ID
+#define IMU_ARDRONE2_ID 2
+#endif
+
+#ifndef IMU_ASPIRIN_ID
+#define IMU_ASPIRIN_ID 3
+#endif
+
+#ifndef IMU_ASPIRIN2_ID
+#define IMU_ASPIRIN2_ID 4
+#endif
+
+#ifndef IMU_B2_ID
+#define IMU_B2_ID 5
+#endif
+
+#ifndef IMU_CRISTA_ID
+#define IMU_CRISTA_ID 6
+#endif
+
+#ifndef IMU_DROTEK_ID
+#define IMU_DROTEK_ID 7
+#endif
+
+#ifndef IMU_GL1_ID
+#define IMU_GL1_ID 8
+#endif
+
+#ifndef IMU_MPU6000_ID
+#define IMU_MPU6000_ID 9
+#endif
+
+#ifndef IMU_MPU6000_HMC_ID
+#define IMU_MPU6000_HMC_ID 10
+#endif
+
+#ifndef IMU_MPU9250_ID
+#define IMU_MPU9250_ID 11
+#endif
+
+#ifndef IMU_NAVSTIK_ID
+#define IMU_NAVSTIK_ID 12
+#endif
+
+#ifndef IMU_NPS_ID
+#define IMU_NPS_ID 13
+#endif
+
+#ifndef IMU_PPZUAV_ID
+#define IMU_PPZUAV_ID 14
+#endif
+
+#ifndef IMU_PX4_ID
+#define IMU_PX4_ID 15
+#endif
+
+#ifndef IMU_UM6_ID
+#define IMU_UM6_ID 16
+#endif
+
+#ifndef IMU_NAVGO_ID
+#define IMU_NAVGO_ID 17
+#endif
+
+#ifndef IMU_HBMINI_ID
+#define IMU_HBMINI_ID 18
+#endif
+
+#ifndef IMU_KROOZ_ID
+#define IMU_KROOZ_ID 19
+#endif
+
+#ifndef IMU_UMARIM_ID
+#define IMU_UMARIM_ID 20
+#endif
+
+#ifndef IMU_GX3_ID
+#define IMU_GX3_ID 21
+#endif
+
+#ifndef IMU_APOGEE_ID
+#define IMU_APOGEE_ID 22
+#endif
+
+#ifndef IMU_BEBOP_ID
+#define IMU_BEBOP_ID 23
+#endif
+
+#ifndef IMU_XSENS_ID
+#define IMU_XSENS_ID 24
+#endif
+
 #endif /* ABI_SENDER_IDS_H */
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
index d0a7c2ab6c..7de3ef84cd 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
@@ -44,6 +44,20 @@ static struct Int32Vect3 mag_sum;
 static int32_t ref_sensor_samples[SAMPLES_NB];
 static uint32_t samples_idx;
 
+#ifndef AHRS_ALIGNER_IMU_ID
+#define AHRS_ALIGNER_IMU_ID ABI_BROADCAST
+#endif
+static abi_event gyro_ev;
+
+static void gyro_cb(uint8_t sender_id __attribute__((unused)),
+                    uint32_t stamp __attribute__((unused)),
+                    struct Int32Rates *gyro __attribute__((unused)))
+{
+  if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
+    ahrs_aligner_run();
+  }
+}
+
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
@@ -73,6 +87,9 @@ void ahrs_aligner_init(void)
   ahrs_aligner.noise = 0;
   ahrs_aligner.low_noise_cnt = 0;
 
+  // for now: only bind to gyro message and still read from global imu struct
+  AbiBindMsgIMU_GYRO_INT32(AHRS_ALIGNER_IMU_ID, &gyro_ev, gyro_cb);
+
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, "FILTER_ALIGNER", send_aligner);
 #endif
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
index ced34bd764..251233e20d 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
@@ -349,3 +349,11 @@ void ahrs_gx3_register(void)
 void imu_scale_gyro(struct Imu *_imu __attribute__((unused))) {}
 void imu_scale_accel(struct Imu *_imu __attribute__((unused))) {}
 void imu_scale_mag(struct Imu *_imu __attribute__((unused))) {}
+
+void ahrs_gx3_publish_imu(void)
+{
+  uint32_t now_ts = get_sys_time_usec();
+  AbiSendMsgIMU_GYRO_INT32(IMU_GX3_ID, now_ts, &imu.gyro);
+  AbiSendMsgIMU_ACCEL_INT32(IMU_GX3_ID, now_ts, &imu.accel);
+  AbiSendMsgIMU_MAG_INT32(IMU_GX3_ID, now_ts, &imu.mag);
+}
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.h b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
index 2c82cc21a2..cf4aab3b8b 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.h
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.h
@@ -91,6 +91,7 @@ extern struct AhrsGX3 ahrs_gx3;
 extern void ahrs_gx3_init(void);
 extern void ahrs_gx3_align(void);
 extern void ahrs_gx3_register(void);
+extern void ahrs_gx3_publish_imu(void);
 
 static inline void ReadGX3Buffer(void)
 {
@@ -99,16 +100,14 @@ static inline void ReadGX3Buffer(void)
   }
 }
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
+static inline void ImuEvent(void)
 {
   if (uart_char_available(&GX3_PORT)) {
     ReadGX3Buffer();
   }
   if (ahrs_gx3.packet.msg_available) {
     gx3_packet_read_message();
-    _gyro_handler();
-    _accel_handler();
-    _mag_handler();
+    ahrs_gx3_publish_imu();
     ahrs_gx3.packet.msg_available = FALSE;
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_analog.c b/sw/airborne/subsystems/imu/imu_analog.c
index 357c145141..73177f9c20 100644
--- a/sw/airborne/subsystems/imu/imu_analog.c
+++ b/sw/airborne/subsystems/imu/imu_analog.c
@@ -21,8 +21,8 @@
 
 #include "imu_analog.h"
 #include "mcu_periph/adc.h"
+#include "subsystems/abi.h"
 
-volatile bool_t analog_imu_available;
 int imu_overrun;
 
 static struct adc_buf analog_imu_adc_buf[NB_ANALOG_IMU_ADC];
@@ -30,7 +30,6 @@ static struct adc_buf analog_imu_adc_buf[NB_ANALOG_IMU_ADC];
 void imu_impl_init(void)
 {
 
-  analog_imu_available = FALSE;
   imu_overrun = 0;
 
 #ifdef ADC_CHANNEL_GYRO_P
@@ -59,6 +58,8 @@ void imu_periodic(void)
   // Actual Nr of ADC measurements per channel per periodic loop
   static int last_head = 0;
 
+  uint32_t now_ts = get_sys_time_usec();
+
   imu_overrun = analog_imu_adc_buf[0].head - last_head;
   if (imu_overrun < 0) {
     imu_overrun += ADC_CHANNEL_GYRO_NB_SAMPLES;
@@ -85,7 +86,10 @@ void imu_periodic(void)
   imu.accel_unscaled.z = analog_imu_adc_buf[5].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
 #endif
 
-  analog_imu_available = TRUE;
+  imu_scale_gyro(&imu);
+  imu_scale_accel(&imu);
+  AbiSendMsgIMU_GYRO_INT32(IMU_ANALOG_ID, now_ts, &imu.gyro);
+  AbiSendMsgIMU_ACCEL_INT32(IMU_ANALOG_ID, now_ts, &imu.accel);
 }
 
 // if not all gyros are used, override the imu_scale_gyro handler
diff --git a/sw/airborne/subsystems/imu/imu_analog.h b/sw/airborne/subsystems/imu/imu_analog.h
index 882c43fa4a..98126addd3 100644
--- a/sw/airborne/subsystems/imu/imu_analog.h
+++ b/sw/airborne/subsystems/imu/imu_analog.h
@@ -69,18 +69,8 @@
 #include "subsystems/imu.h"
 
 
-extern volatile bool_t analog_imu_available;
 extern int imu_overrun;
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void) __attribute__((unused)))
-{
-  if (analog_imu_available) {
-    analog_imu_available = FALSE;
-    _gyro_handler();
-    _accel_handler();
-  }
-}
-
+#define ImuEvent() {}
 
 #endif /* IMU_ANALOG_H */
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h b/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
index f01b241e1b..7efbbcc796 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
+++ b/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
@@ -84,25 +84,7 @@
  */
 #include "subsystems/imu.h"
 
-static inline void imu_ardrone2_event(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                                      void (* _mag_handler)(void))
-{
-  navdata_update();
-  //checks if the navboard has a new dataset ready
-  if (navdata.imu_available == TRUE) {
-    navdata.imu_available = FALSE;
-    RATES_ASSIGN(imu.gyro_unscaled, navdata.measure.vx, -navdata.measure.vy, -navdata.measure.vz);
-    VECT3_ASSIGN(imu.accel_unscaled, navdata.measure.ax, 4096 - navdata.measure.ay, 4096 - navdata.measure.az);
-    VECT3_ASSIGN(imu.mag_unscaled, -navdata.measure.mx, -navdata.measure.my, -navdata.measure.mz);
 
-    _gyro_handler();
-    _accel_handler();
-    _mag_handler();
-  }
-}
-
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) {  \
-    imu_ardrone2_event(_gyro_handler, _accel_handler, _mag_handler); \
-  }
+#define ImuEvent navdata_update
 
 #endif /* IMU_ARDRONE2_RAW_H_ */
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c
index 19a1c264a0..5437cf590b 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c
+++ b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.c
@@ -21,7 +21,7 @@
 
 /**
  * @file subsystems/imu/imu_ardrone2_sdk.c
- * IMU implementation for ardrone2-sdk.
+ * dummy IMU implementation for ardrone2-sdk.
  */
 
 #include "subsystems/imu.h"
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h
index bef17f4c49..52a5be71c4 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h
+++ b/sw/airborne/subsystems/imu/imu_ardrone2_sdk.h
@@ -21,20 +21,14 @@
 
 /**
  * @file subsystems/imu/imu_ardrone2_sdk.h
- * IMU implementation for ardrone2-sdk.
+ * dummy IMU implementation for ardrone2-sdk.
  */
 
 #ifndef IMU_ARDRONE2_SDK_H_
 #define IMU_ARDRONE2_SDK_H_
 
-#include "subsystems/imu.h"
-#include "generated/airframe.h"
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  _gyro_handler();
-  _accel_handler();
-  _mag_handler();
-}
+#define ImuEvent() {}
+
 
 #endif /* IMU_ARDRONE2_SDK_H_ */
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c
index be343bf2ef..1e228c446a 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin.c
@@ -26,7 +26,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/spi.h"
 
@@ -117,6 +117,8 @@ void imu_periodic(void)
 
 void imu_aspirin_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   adxl345_spi_event(&imu_aspirin.acc_adxl);
   if (imu_aspirin.acc_adxl.data_available) {
     VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
@@ -145,4 +147,20 @@ void imu_aspirin_event(void)
     imu_aspirin.mag_hmc.data_available = FALSE;
     imu_aspirin.mag_valid = TRUE;
   }
+
+  if (imu_aspirin.gyro_valid) {
+    imu_aspirin.gyro_valid = FALSE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro);
+  }
+  if (imu_aspirin.accel_valid) {
+    imu_aspirin.accel_valid = FALSE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel);
+  }
+  if (imu_aspirin.mag_valid) {
+    imu_aspirin.mag_valid = FALSE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag);
+  }
 }
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/subsystems/imu/imu_aspirin.h
index cee2c588aa..c80d57ae4e 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin.h
@@ -59,22 +59,6 @@ extern void imu_aspirin_event(void);
 extern void imu_aspirin_arch_init(void);
 #endif
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_aspirin_event();
-  if (imu_aspirin.gyro_valid) {
-    imu_aspirin.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_aspirin.accel_valid) {
-    imu_aspirin.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_aspirin.mag_valid) {
-    imu_aspirin.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_aspirin_event
 
 #endif /* IMU_ASPIRIN_H */
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
index fdaebc187b..f10afecfe6 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
@@ -25,6 +25,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/sys_time.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/hmc58xx_regs.h"
@@ -104,10 +105,6 @@ bool_t imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
 
 void imu_impl_init(void)
 {
-  imu_aspirin2.accel_valid = FALSE;
-  imu_aspirin2.gyro_valid = FALSE;
-  imu_aspirin2.mag_valid = FALSE;
-
   mpu60x0_spi_init(&imu_aspirin2.mpu, &(ASPIRIN_2_SPI_DEV), ASPIRIN_2_SPI_SLAVE_IDX);
   // change the default configuration
   imu_aspirin2.mpu.config.smplrt_div = ASPIRIN_2_SMPLRT_DIV;
@@ -161,6 +158,8 @@ void imu_periodic(void)
 
 void imu_aspirin2_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   mpu60x0_spi_event(&imu_aspirin2.mpu);
   if (imu_aspirin2.mpu.data_available) {
     /* HMC5883 has xzy order of axes in returned data */
@@ -223,9 +222,13 @@ void imu_aspirin2_event(void)
 #endif
 
     imu_aspirin2.mpu.data_available = FALSE;
-    imu_aspirin2.gyro_valid = TRUE;
-    imu_aspirin2.accel_valid = TRUE;
-    imu_aspirin2.mag_valid = TRUE;
+
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.accel);
+    AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.mag);
   }
 }
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
index e92139a642..a51178da42 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
@@ -36,9 +36,6 @@
 #include "peripherals/mpu60x0_spi.h"
 
 struct ImuAspirin2Spi {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
-  volatile bool_t mag_valid;
   struct Mpu60x0_Spi mpu;
 
   struct spi_transaction wait_slave4_trans;
@@ -51,22 +48,6 @@ extern struct ImuAspirin2Spi imu_aspirin2;
 
 extern void imu_aspirin2_event(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_aspirin2_event();
-  if (imu_aspirin2.gyro_valid) {
-    imu_aspirin2.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_aspirin2.accel_valid) {
-    imu_aspirin2.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_aspirin2.mag_valid) {
-    imu_aspirin2.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_aspirin2_event
 
 #endif /* IMU_ASPIRIN_2_H */
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
index 348abda000..4b6fbaddb8 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin_i2c.c
@@ -26,7 +26,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 // Set SPI_CS High to enable I2C mode of ADXL345
@@ -82,10 +82,6 @@ struct ImuAspirinI2c imu_aspirin;
 
 void imu_impl_init(void)
 {
-  imu_aspirin.accel_valid = FALSE;
-  imu_aspirin.gyro_valid = FALSE;
-  imu_aspirin.mag_valid = FALSE;
-
   /* Set accel configuration */
   adxl345_i2c_init(&imu_aspirin.acc_adxl, &(ASPIRIN_I2C_DEV), ADXL345_ADDR);
   // set the data rate
@@ -132,11 +128,14 @@ void imu_periodic(void)
 
 void imu_aspirin_i2c_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   adxl345_i2c_event(&imu_aspirin.acc_adxl);
   if (imu_aspirin.acc_adxl.data_available) {
     VECT3_COPY(imu.accel_unscaled, imu_aspirin.acc_adxl.data.vect);
     imu_aspirin.acc_adxl.data_available = FALSE;
-    imu_aspirin.accel_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN_ID, now_ts, &imu.accel);
   }
 
   /* If the itg3200 I2C transaction has succeeded: convert the data */
@@ -144,7 +143,8 @@ void imu_aspirin_i2c_event(void)
   if (imu_aspirin.gyro_itg.data_available) {
     RATES_COPY(imu.gyro_unscaled, imu_aspirin.gyro_itg.data.rates);
     imu_aspirin.gyro_itg.data_available = FALSE;
-    imu_aspirin.gyro_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN_ID, now_ts, &imu.gyro);
   }
 
   /* HMC58XX event task */
@@ -158,6 +158,7 @@ void imu_aspirin_i2c_event(void)
     imu.mag_unscaled.z =  imu_aspirin.mag_hmc.data.vect.z;
 #endif
     imu_aspirin.mag_hmc.data_available = FALSE;
-    imu_aspirin.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_ASPIRIN_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_i2c.h b/sw/airborne/subsystems/imu/imu_aspirin_i2c.h
index 29115d1ff7..6b7204ffdf 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_i2c.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin_i2c.h
@@ -41,9 +41,6 @@
 
 
 struct ImuAspirinI2c {
-  volatile uint8_t accel_valid;
-  volatile uint8_t gyro_valid;
-  volatile uint8_t mag_valid;
   struct Adxl345_I2c acc_adxl;
   struct Itg3200 gyro_itg;
   struct Hmc58xx mag_hmc;
@@ -53,21 +50,6 @@ extern struct ImuAspirinI2c imu_aspirin;
 
 extern void imu_aspirin_i2c_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_aspirin_i2c_event();
-  if (imu_aspirin.gyro_valid) {
-    imu_aspirin.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_aspirin.accel_valid) {
-    imu_aspirin.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_aspirin.mag_valid) {
-    imu_aspirin.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_aspirin_i2c_event
 
 #endif /* IMU_ASPIRIN_I2C_H */
diff --git a/sw/airborne/subsystems/imu/imu_b2.c b/sw/airborne/subsystems/imu/imu_b2.c
index fbbfc14f4f..d2600b5f09 100644
--- a/sw/airborne/subsystems/imu/imu_b2.c
+++ b/sw/airborne/subsystems/imu/imu_b2.c
@@ -80,3 +80,89 @@ void imu_scale_mag(struct Imu *_imu)
 #elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_NONE
 void imu_scale_mag(struct Imu *_imu __attribute__((unused))) {}
 #endif
+
+
+
+/** Event functions for imu_b2.
+ */
+#include "subsystems/abi.h"
+#include "mcu_periph/sys_time.h"
+
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100
+static inline void ImuMagEvent(void)
+{
+  ms2100_event(&ms2100);
+  if (ms2100.status == MS2100_DATA_AVAILABLE) {
+    imu.mag_unscaled.x = ms2100.data.value[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = ms2100.data.value[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = ms2100.data.value[IMU_MAG_Z_CHAN];
+    ms2100.status = MS2100_IDLE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag);
+  }
+}
+#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
+static inline void foo_handler(void) {}
+static inline void ImuMagEvent(void)
+{
+  AMI601Event(foo_handler);
+  if (ami601_status == AMI601_DATA_AVAILABLE) {
+    imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];
+    ami601_status = AMI601_IDLE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag);
+  }
+}
+#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
+static inline void foo_handler(void) {}
+static inline void ImuMagEvent(void)
+{
+  hmc5843_idle_task();
+  if (hmc5843.data_available) {
+    imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN];
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag);
+    hmc5843.data_available = FALSE;
+  }
+}
+#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX
+static inline void ImuMagEvent(void)
+{
+  hmc58xx_event(&imu_b2.mag_hmc);
+  if (imu_b2.mag_hmc.data_available) {
+    imu.mag_unscaled.x = imu_b2.mag_hmc.data.value[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = imu_b2.mag_hmc.data.value[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = imu_b2.mag_hmc.data.value[IMU_MAG_Z_CHAN];
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_B2_ID, get_sys_time_usec(), &imu.mag);
+    imu_b2.mag_hmc.data_available = FALSE;
+  }
+}
+#else
+#define ImuMagEvent() {}
+#endif
+
+
+void imu_b2_event(void)
+{
+  max1168_event();
+  if (max1168_status == MAX1168_DATA_AVAILABLE) {
+    uint32_t now_ts = get_sys_time_usec();
+    imu.gyro_unscaled.p  = max1168_values[IMU_GYRO_P_CHAN];
+    imu.gyro_unscaled.q  = max1168_values[IMU_GYRO_Q_CHAN];
+    imu.gyro_unscaled.r  = max1168_values[IMU_GYRO_R_CHAN];
+    imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN];
+    imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN];
+    imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN];
+    max1168_status = MAX1168_IDLE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_ASPIRIN2_ID, now_ts, &imu.accel);
+  }
+  ImuMagEvent();
+}
diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h
index 4074879fff..ce232d2467 100644
--- a/sw/airborne/subsystems/imu/imu_b2.h
+++ b/sw/airborne/subsystems/imu/imu_b2.h
@@ -41,8 +41,16 @@
 #define IMU_B2_MAG_HMC5843  3
 #define IMU_B2_MAG_HMC58XX  4
 
-#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX
+#if defined IMU_B2_MAG_TYPE
+#if IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX
 #include "peripherals/hmc58xx.h"
+#elif IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100
+#include "peripherals/ms2100.h"
+#elif IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
+#include "peripherals/ami601.h"
+#elif IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
+#include "peripherals/hmc5843.h"
+#endif
 #endif
 
 #ifdef IMU_B2_VERSION_1_0
@@ -164,84 +172,8 @@ struct ImuBooz2 {
 };
 
 extern struct ImuBooz2 imu_b2;
+extern void imu_b2_event(void);
 
-/** Event functions and macros for imu_b2.
- */
-
-#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100
-#include "peripherals/ms2100.h"
-static inline void ImuMagEvent(void (* _mag_handler)(void))
-{
-  ms2100_event(&ms2100);
-  if (ms2100.status == MS2100_DATA_AVAILABLE) {
-    imu.mag_unscaled.x = ms2100.data.value[IMU_MAG_X_CHAN];
-    imu.mag_unscaled.y = ms2100.data.value[IMU_MAG_Y_CHAN];
-    imu.mag_unscaled.z = ms2100.data.value[IMU_MAG_Z_CHAN];
-    ms2100.status = MS2100_IDLE;
-    _mag_handler();
-  }
-}
-#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
-#include "peripherals/ami601.h"
-static inline void foo_handler(void) {}
-static inline void ImuMagEvent(void (* _mag_handler)(void))
-{
-  AMI601Event(foo_handler);
-  if (ami601_status == AMI601_DATA_AVAILABLE) {
-    imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];
-    imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];
-    imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];
-    ami601_status = AMI601_IDLE;
-    _mag_handler();
-  }
-}
-#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
-#include "peripherals/hmc5843.h"
-static inline void foo_handler(void) {}
-static inline void ImuMagEvent(void (* _mag_handler)(void))
-{
-  MagEvent(foo_handler);
-  if (hmc5843.data_available) {
-    imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN];
-    imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN];
-    imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN];
-    _mag_handler();
-    hmc5843.data_available = FALSE;
-  }
-}
-#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX
-static inline void ImuMagEvent(void (* _mag_handler)(void))
-{
-  hmc58xx_event(&imu_b2.mag_hmc);
-  if (imu_b2.mag_hmc.data_available) {
-    imu.mag_unscaled.x = imu_b2.mag_hmc.data.value[IMU_MAG_X_CHAN];
-    imu.mag_unscaled.y = imu_b2.mag_hmc.data.value[IMU_MAG_Y_CHAN];
-    imu.mag_unscaled.z = imu_b2.mag_hmc.data.value[IMU_MAG_Z_CHAN];
-    _mag_handler();
-    imu_b2.mag_hmc.data_available = FALSE;
-  }
-}
-#else
-#define ImuMagEvent(_mag_handler) {}
-#endif
-
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void),
-                            void (* _mag_handler)(void))
-{
-  max1168_event();
-  if (max1168_status == MAX1168_DATA_AVAILABLE) {
-    imu.gyro_unscaled.p  = max1168_values[IMU_GYRO_P_CHAN];
-    imu.gyro_unscaled.q  = max1168_values[IMU_GYRO_Q_CHAN];
-    imu.gyro_unscaled.r  = max1168_values[IMU_GYRO_R_CHAN];
-    imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN];
-    imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN];
-    imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN];
-    max1168_status = MAX1168_IDLE;
-    _gyro_handler();
-    _accel_handler();
-  }
-  ImuMagEvent(_mag_handler);
-}
+#define ImuEvent imu_b2_event
 
 #endif /* IMU_B2_H */
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c
index 78b28a357b..acec8b1e1e 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.c
+++ b/sw/airborne/subsystems/imu/imu_bebop.c
@@ -25,6 +25,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 
@@ -77,10 +78,6 @@ struct ImuBebop imu_bebop;
  */
 void imu_impl_init(void)
 {
-  imu_bebop.accel_valid = FALSE;
-  imu_bebop.gyro_valid = FALSE;
-  imu_bebop.mag_valid = FALSE;
-
   /* MPU-60X0 */
   mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR >> 1);
   imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
@@ -111,6 +108,8 @@ void imu_periodic(void)
  */
 void imu_bebop_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   /* MPU-60x0 event taks */
   mpu60x0_i2c_event(&imu_bebop.mpu);
 
@@ -122,8 +121,10 @@ void imu_bebop_event(void)
                  -imu_bebop.mpu.data_accel.vect.z);
 
     imu_bebop.mpu.data_available = FALSE;
-    imu_bebop.gyro_valid = TRUE;
-    imu_bebop.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_BEBOP_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_BEBOP_ID, now_ts, &imu.accel);
   }
 
   /* AKM8963 event task */
@@ -134,6 +135,7 @@ void imu_bebop_event(void)
     VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
 
     imu_bebop.ak.data_available = FALSE;
-    imu_bebop.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_BEBOP_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_bebop.h b/sw/airborne/subsystems/imu/imu_bebop.h
index 000f7aeda4..bccd84d6e2 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.h
+++ b/sw/airborne/subsystems/imu/imu_bebop.h
@@ -71,9 +71,6 @@
 
 /** Everything that is in the bebop IMU */
 struct ImuBebop {
-  volatile uint8_t accel_valid;   ///< Shows when the accelerometer is valid
-  volatile uint8_t gyro_valid;    ///< Shows when the gyrometer is valid
-  volatile uint8_t mag_valid;     ///< Shows when the Magneto is valid
   struct Mpu60x0_I2c mpu;         ///< The MPU gyro/accel device
   struct Ak8963 ak;               ///< The AK8963 mag
 };
@@ -81,21 +78,6 @@ struct ImuBebop {
 extern struct ImuBebop imu_bebop;
 extern void imu_bebop_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_bebop_event();
-  if (imu_bebop.gyro_valid) {
-    imu_bebop.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_bebop.accel_valid) {
-    imu_bebop.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_bebop.mag_valid) {
-    imu_bebop.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_bebop_event
 
 #endif /* IMU_BEBOP_H */
diff --git a/sw/airborne/subsystems/imu/imu_crista.c b/sw/airborne/subsystems/imu/imu_crista.c
index e863a48266..e6979d7a0f 100644
--- a/sw/airborne/subsystems/imu/imu_crista.c
+++ b/sw/airborne/subsystems/imu/imu_crista.c
@@ -20,6 +20,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 
 volatile bool_t ADS8344_available;
 uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
@@ -51,3 +52,57 @@ void imu_periodic(void)
   hmc5843_periodic();
 #endif
 }
+
+
+
+#ifdef USE_AMI601
+#include "peripherals/ami601.h"
+#define foo_handler() {}
+static inline void ImuMagEvent()
+{
+  AMI601Event(foo_handler);
+  if (ami601_status == AMI601_DATA_AVAILABLE) {
+    imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];
+    ami601_status = AMI601_IDLE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_CRISTA_ID, now_ts, &imu.mag);
+  }
+}
+#elif defined USE_HMC5843
+#include "peripherals/hmc5843.h"
+static inline void ImuMagEvent(void)
+{
+  hmc5843_idle_task();
+  if (hmc5843.data_available) {
+    imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN];
+    imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN];
+    imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN];
+    hmc5843.data_available = FALSE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_CRISTA_ID, now_ts, &imu.mag);
+  }
+}
+#else
+#define ImuMagEvent() {}
+#endif
+
+void imu_christa_event(void)
+{
+  if (ADS8344_available) {
+    ADS8344_available = FALSE;
+    imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN];
+    imu.gyro_unscaled.q = ADS8344_values[IMU_GYRO_Q_CHAN];
+    imu.gyro_unscaled.r = ADS8344_values[IMU_GYRO_R_CHAN];
+    imu.accel_unscaled.x = ADS8344_values[IMU_ACCEL_X_CHAN];
+    imu.accel_unscaled.y = ADS8344_values[IMU_ACCEL_Y_CHAN];
+    imu.accel_unscaled.z = ADS8344_values[IMU_ACCEL_Z_CHAN];
+    /* spare 3, temp 7 */
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_CRISTA_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_CRISTA_ID, now_ts, &imu.accel);
+  }
+  ImuMagEvent();
+}
diff --git a/sw/airborne/subsystems/imu/imu_crista.h b/sw/airborne/subsystems/imu/imu_crista.h
index 93f441d1fc..326230c0c1 100644
--- a/sw/airborne/subsystems/imu/imu_crista.h
+++ b/sw/airborne/subsystems/imu/imu_crista.h
@@ -29,57 +29,13 @@
 extern uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
 extern volatile bool_t ADS8344_available;
 
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) {   \
-    if (ADS8344_available) {            \
-      ADS8344_available = FALSE;          \
-      imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN];  \
-      imu.gyro_unscaled.q = ADS8344_values[IMU_GYRO_Q_CHAN];  \
-      imu.gyro_unscaled.r = ADS8344_values[IMU_GYRO_R_CHAN];  \
-      imu.accel_unscaled.x = ADS8344_values[IMU_ACCEL_X_CHAN];  \
-      imu.accel_unscaled.y = ADS8344_values[IMU_ACCEL_Y_CHAN];  \
-      imu.accel_unscaled.z = ADS8344_values[IMU_ACCEL_Z_CHAN];  \
-      /* spare 3, temp 7 */           \
-      _gyro_handler();            \
-      _accel_handler();           \
-    }                 \
-    ImuMagEvent(_mag_handler);          \
-  }
-
-#ifdef USE_AMI601
-#include "peripherals/ami601.h"
-#define foo_handler() {}
-#define ImuMagEvent(_mag_handler) {         \
-    AMI601Event(foo_handler);           \
-    if (ami601_status == AMI601_DATA_AVAILABLE) {     \
-      imu.mag_unscaled.x = ami601_values[IMU_MAG_X_CHAN];   \
-      imu.mag_unscaled.y = ami601_values[IMU_MAG_Y_CHAN];   \
-      imu.mag_unscaled.z = ami601_values[IMU_MAG_Z_CHAN];   \
-      ami601_status = AMI601_IDLE;          \
-      _mag_handler();             \
-    }                 \
-  }
-#elif defined USE_HMC5843
-#include "peripherals/hmc5843.h"
-#define foo_handler() {}
-#define ImuMagEvent(_mag_handler) {         \
-    MagEvent(foo_handler);            \
-    if (hmc5843.data_available) {         \
-      imu.mag_unscaled.x = hmc5843.data.value[IMU_MAG_X_CHAN];    \
-      imu.mag_unscaled.y = hmc5843.data.value[IMU_MAG_Y_CHAN];    \
-      imu.mag_unscaled.z = hmc5843.data.value[IMU_MAG_Z_CHAN];    \
-      _mag_handler();             \
-      hmc5843.data_available = FALSE;         \
-    }                 \
-  }
-#else
-#define ImuMagEvent(_mag_handler) {}
-#endif
-
 /* underlying architecture */
 #include "subsystems/imu/imu_crista_arch.h"
 /* must be defined by underlying architecture */
 extern void imu_crista_arch_init(void);
 
+extern void imu_christa_event(void);
 
+#define ImuEvent imu_christa_event
 
 #endif /* IMU_CRISTA_H */
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
index 2598bb4fb1..3f495d3f74 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
+++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
@@ -33,7 +33,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 #if !defined DROTEK_2_LOWPASS_FILTER && !defined  DROTEK_2_SMPLRT_DIV
@@ -101,10 +101,6 @@ void imu_impl_init(void)
 
   // use hmc mag via passthrough
   imu_drotek2.mpu.config.i2c_bypass = TRUE;
-
-  imu_drotek2.gyro_valid = FALSE;
-  imu_drotek2.accel_valid = FALSE;
-  imu_drotek2.mag_valid = FALSE;
 }
 
 void imu_periodic(void)
@@ -120,6 +116,8 @@ void imu_periodic(void)
 
 void imu_drotek2_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   // If the MPU6050 I2C transaction has succeeded: convert the data
   mpu60x0_i2c_event(&imu_drotek2.mpu);
 
@@ -139,8 +137,10 @@ void imu_drotek2_event(void)
 #endif
 
     imu_drotek2.mpu.data_available = FALSE;
-    imu_drotek2.gyro_valid = TRUE;
-    imu_drotek2.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_DROTEK_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_DROTEK_ID, now_ts, &imu.accel);
   }
 
   /* HMC58XX event task */
@@ -154,7 +154,8 @@ void imu_drotek2_event(void)
     VECT3_COPY(imu.mag_unscaled, imu_drotek2.hmc.data.vect);
 #endif
     imu_drotek2.hmc.data_available = FALSE;
-    imu_drotek2.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_DROTEK_ID, now_ts, &imu.mag);
   }
 }
 
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
index eb0243b161..bc19091d4e 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
+++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
@@ -74,9 +74,6 @@
 
 
 struct ImuDrotek2 {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
-  volatile bool_t mag_valid;
   struct Mpu60x0_I2c mpu;
   struct Hmc58xx hmc;
 };
@@ -86,22 +83,6 @@ extern struct ImuDrotek2 imu_drotek2;
 extern void imu_drotek2_event(void);
 extern bool_t imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_drotek2_event();
-  if (imu_drotek2.gyro_valid) {
-    imu_drotek2.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_drotek2.accel_valid) {
-    imu_drotek2.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_drotek2.mag_valid) {
-    imu_drotek2.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_drotek2_event
 
 #endif /* IMU_DROTEK_10DOF_V2_H */
diff --git a/sw/airborne/subsystems/imu/imu_gl1.c b/sw/airborne/subsystems/imu/imu_gl1.c
index 8c7281fc2e..476beed67b 100644
--- a/sw/airborne/subsystems/imu/imu_gl1.c
+++ b/sw/airborne/subsystems/imu/imu_gl1.c
@@ -27,6 +27,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 PRINT_CONFIG_VAR(GL1_I2C_DEV)
@@ -78,10 +79,6 @@ struct ImuGL1I2c imu_gl1;
 
 void imu_impl_init(void)
 {
-  imu_gl1.accel_valid = FALSE;
-  imu_gl1.gyro_valid = FALSE;
-  imu_gl1.mag_valid = FALSE;
-
   /* Set accel configuration */
   adxl345_i2c_init(&imu_gl1.acc_adxl, &(GL1_I2C_DEV), ADXL345_ADDR);
   // set the data rate
@@ -120,6 +117,8 @@ void imu_periodic(void)
 
 void imu_gl1_i2c_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   adxl345_i2c_event(&imu_gl1.acc_adxl);
   if (imu_gl1.acc_adxl.data_available) {
     VECT3_COPY(imu.accel_unscaled, imu_gl1.acc_adxl.data.vect);
@@ -127,7 +126,8 @@ void imu_gl1_i2c_event(void)
     imu.accel_unscaled.y =  imu_gl1.acc_adxl.data.vect.x;
     imu.accel_unscaled.z = -imu_gl1.acc_adxl.data.vect.z;
     imu_gl1.acc_adxl.data_available = FALSE;
-    imu_gl1.accel_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_GL1_ID, now_ts, &imu.accel);
   }
 
   /* If the lg34200 I2C transaction has succeeded: convert the data */
@@ -138,7 +138,8 @@ void imu_gl1_i2c_event(void)
     imu.gyro_unscaled.q =  imu_gl1.gyro_l3g.data.rates.p;
     imu.gyro_unscaled.r = -imu_gl1.gyro_l3g.data.rates.r;
     imu_gl1.gyro_l3g.data_available = FALSE;
-    imu_gl1.gyro_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_GL1_ID, now_ts, &imu.gyro);
   }
 
   /* HMC58XX event task */
@@ -149,6 +150,7 @@ void imu_gl1_i2c_event(void)
     imu.mag_unscaled.x =  imu_gl1.mag_hmc.data.vect.y;
     imu.mag_unscaled.z = -imu_gl1.mag_hmc.data.vect.z;
     imu_gl1.mag_hmc.data_available = FALSE;
-    imu_gl1.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_GL1_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_gl1.h b/sw/airborne/subsystems/imu/imu_gl1.h
index bb28d6c3a9..ee97313a02 100644
--- a/sw/airborne/subsystems/imu/imu_gl1.h
+++ b/sw/airborne/subsystems/imu/imu_gl1.h
@@ -41,9 +41,6 @@
 #include "peripherals/adxl345_i2c.h"
 
 struct ImuGL1I2c {
-  volatile uint8_t accel_valid;
-  volatile uint8_t gyro_valid;
-  volatile uint8_t mag_valid;
   struct Adxl345_I2c acc_adxl;
   struct L3g4200 gyro_l3g;
   struct Hmc58xx mag_hmc;
@@ -53,21 +50,6 @@ extern struct ImuGL1I2c imu_gl1;
 
 extern void imu_gl1_i2c_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_gl1_i2c_event();
-  if (imu_gl1.gyro_valid) {
-    imu_gl1.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_gl1.accel_valid) {
-    imu_gl1.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_gl1.mag_valid) {
-    imu_gl1.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_gl1_i2c_event
 
 #endif /* IMU_GL1_H */
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/subsystems/imu/imu_mpu6000.c
index 1355761764..f1d8e57cb6 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.c
+++ b/sw/airborne/subsystems/imu/imu_mpu6000.c
@@ -25,7 +25,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/spi.h"
 
 /* SPI defaults set in subsystem makefile, can be configured from airframe file */
@@ -71,9 +71,6 @@ struct ImuMpu6000 imu_mpu_spi;
 
 void imu_impl_init(void)
 {
-  imu_mpu_spi.accel_valid = FALSE;
-  imu_mpu_spi.gyro_valid = FALSE;
-
   mpu60x0_spi_init(&imu_mpu_spi.mpu, &IMU_MPU_SPI_DEV, IMU_MPU_SPI_SLAVE_IDX);
   // change the default configuration
   imu_mpu_spi.mpu.config.smplrt_div = IMU_MPU_SMPLRT_DIV;
@@ -92,10 +89,13 @@ void imu_mpu_spi_event(void)
 {
   mpu60x0_spi_event(&imu_mpu_spi.mpu);
   if (imu_mpu_spi.mpu.data_available) {
+    uint32_t now_ts = get_sys_time_usec();
     RATES_COPY(imu.gyro_unscaled, imu_mpu_spi.mpu.data_rates.rates);
     VECT3_COPY(imu.accel_unscaled, imu_mpu_spi.mpu.data_accel.vect);
     imu_mpu_spi.mpu.data_available = FALSE;
-    imu_mpu_spi.gyro_valid = TRUE;
-    imu_mpu_spi.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU6000_ID, now_ts, &imu.accel);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.h b/sw/airborne/subsystems/imu/imu_mpu6000.h
index 2c89faa26f..cbd7d4344f 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.h
+++ b/sw/airborne/subsystems/imu/imu_mpu6000.h
@@ -36,8 +36,6 @@
 
 
 struct ImuMpu6000 {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
   struct Mpu60x0_Spi mpu;
 };
 
@@ -46,17 +44,6 @@ extern struct ImuMpu6000 imu_mpu_spi;
 extern void imu_mpu_spi_event(void);
 
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void) __attribute__((unused)))
-{
-  imu_mpu_spi_event();
-  if (imu_mpu_spi.gyro_valid) {
-    imu_mpu_spi.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_mpu_spi.accel_valid) {
-    imu_mpu_spi.accel_valid = FALSE;
-    _accel_handler();
-  }
-}
+#define ImuEvent imu_mpu_spi_event
 
 #endif /* IMU_MPU6000_H */
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
index 94ccfb5187..c14f92a61b 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
+++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
@@ -25,7 +25,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/hmc58xx_regs.h"
 
@@ -74,10 +74,6 @@ struct ImuMpu6000Hmc5883 imu_mpu_hmc;
 
 void imu_impl_init(void)
 {
-  imu_mpu_hmc.accel_valid = FALSE;
-  imu_mpu_hmc.gyro_valid = FALSE;
-  imu_mpu_hmc.mag_valid = FALSE;
-
   mpu60x0_spi_init(&imu_mpu_hmc.mpu, &IMU_MPU_SPI_DEV, IMU_MPU_SPI_SLAVE_IDX);
   // change the default configuration
   imu_mpu_hmc.mpu.config.smplrt_div = IMU_MPU_SMPLRT_DIV;
@@ -102,13 +98,17 @@ void imu_periodic(void)
 
 void imu_mpu_hmc_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   mpu60x0_spi_event(&imu_mpu_hmc.mpu);
   if (imu_mpu_hmc.mpu.data_available) {
     RATES_COPY(imu.gyro_unscaled, imu_mpu_hmc.mpu.data_rates.rates);
     VECT3_COPY(imu.accel_unscaled, imu_mpu_hmc.mpu.data_accel.vect);
     imu_mpu_hmc.mpu.data_available = FALSE;
-    imu_mpu_hmc.gyro_valid = TRUE;
-    imu_mpu_hmc.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.accel);
   }
 
   /* HMC58XX event task */
@@ -119,6 +119,7 @@ void imu_mpu_hmc_event(void)
     imu.mag_unscaled.y = -imu_mpu_hmc.hmc.data.vect.x;
     imu.mag_unscaled.z =  imu_mpu_hmc.hmc.data.vect.z;
     imu_mpu_hmc.hmc.data_available = FALSE;
-    imu_mpu_hmc.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
index 563d612d80..83a3516003 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
+++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
@@ -38,9 +38,6 @@
 
 
 struct ImuMpu6000Hmc5883 {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
-  volatile bool_t mag_valid;
   struct Mpu60x0_Spi mpu;
   struct Hmc58xx hmc;
 };
@@ -49,22 +46,6 @@ extern struct ImuMpu6000Hmc5883 imu_mpu_hmc;
 
 extern void imu_mpu_hmc_event(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_mpu_hmc_event();
-  if (imu_mpu_hmc.gyro_valid) {
-    imu_mpu_hmc.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_mpu_hmc.accel_valid) {
-    imu_mpu_hmc.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_mpu_hmc.mag_valid) {
-    imu_mpu_hmc.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_mpu_hmc_event
 
 #endif /* IMU_MPU6000_HMC5883_H */
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
index e96e8206d8..039c1f595f 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
@@ -102,10 +102,6 @@ void imu_impl_init(void)
   imu_mpu9250.mpu.config.dlpf_accel_cfg = IMU_MPU9250_ACCEL_LOWPASS_FILTER;
   imu_mpu9250.mpu.config.gyro_range = IMU_MPU9250_GYRO_RANGE;
   imu_mpu9250.mpu.config.accel_range = IMU_MPU9250_ACCEL_RANGE;
-
-  imu_mpu9250.gyro_valid = FALSE;
-  imu_mpu9250.accel_valid = FALSE;
-  imu_mpu9250.mag_valid = FALSE;
 }
 
 void imu_periodic(void)
@@ -115,6 +111,8 @@ void imu_periodic(void)
 
 void imu_mpu9250_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   // If the MPU9250 I2C transaction has succeeded: convert the data
   mpu9250_i2c_event(&imu_mpu9250.mpu);
 
@@ -135,9 +133,13 @@ void imu_mpu9250_event(void)
     RATES_COPY(imu.gyro_unscaled, rates);
 
     imu_mpu9250.mpu.data_available = FALSE;
-    imu_mpu9250.gyro_valid = TRUE;
-    imu_mpu9250.accel_valid = TRUE;
+
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
   }
+
   // Test if mag data are updated
   if (imu_mpu9250.mpu.akm.data_available) {
     struct Int32Vect3 mag = {
@@ -146,8 +148,9 @@ void imu_mpu9250_event(void)
       -(int32_t)(imu_mpu9250.mpu.akm.data.value[IMU_MPU9250_CHAN_Z])
     };
     VECT3_COPY(imu.mag_unscaled, mag);
-    imu_mpu9250.mag_valid = TRUE;
     imu_mpu9250.mpu.akm.data_available = FALSE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);
   }
 
 }
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
index 94e41d04cb..ea183db723 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
@@ -72,9 +72,6 @@
 
 
 struct ImuMpu9250 {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
-  volatile bool_t mag_valid;
   struct Mpu9250_I2c mpu;
 };
 
@@ -82,21 +79,6 @@ extern struct ImuMpu9250 imu_mpu9250;
 
 extern void imu_mpu9250_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_mpu9250_event();
-  if (imu_mpu9250.accel_valid) {
-    imu_mpu9250.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_mpu9250.mag_valid) {
-    imu_mpu9250.mag_valid = FALSE;
-    _mag_handler();
-  }
-  if (imu_mpu9250.gyro_valid) {
-    imu_mpu9250.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-}
+#define ImuEvent imu_mpu9250_event
 
 #endif /* IMU_MPU9250_I2C_H */
diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c
index 3fcba91e40..b8f6f9132c 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.c
+++ b/sw/airborne/subsystems/imu/imu_navstik.c
@@ -25,6 +25,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 
@@ -77,10 +78,6 @@ struct ImuNavstik imu_navstik;
  */
 void imu_impl_init(void)
 {
-  imu_navstik.accel_valid = FALSE;
-  imu_navstik.gyro_valid = FALSE;
-  imu_navstik.mag_valid = FALSE;
-
   /* MPU-60X0 */
   mpu60x0_i2c_init(&imu_navstik.mpu, &(NAVSTIK_MPU_I2C_DEV), MPU60X0_ADDR_ALT);
   imu_navstik.mpu.config.smplrt_div = NAVSTIK_SMPLRT_DIV;
@@ -111,6 +108,8 @@ void imu_periodic(void)
  */
 void imu_navstik_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   /* MPU-60x0 event taks */
   mpu60x0_i2c_event(&imu_navstik.mpu);
 
@@ -120,8 +119,10 @@ void imu_navstik_event(void)
     VECT3_COPY(imu.accel_unscaled, imu_navstik.mpu.data_accel.vect);
 
     imu_navstik.mpu.data_available = FALSE;
-    imu_navstik.gyro_valid = TRUE;
-    imu_navstik.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_NAVSTIK_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_NAVSTIK_ID, now_ts, &imu.accel);
   }
 
   /* HMC58XX event task */
@@ -130,8 +131,8 @@ void imu_navstik_event(void)
     imu.mag_unscaled.x =  imu_navstik.hmc.data.vect.y;
     imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x;
     imu.mag_unscaled.z =  imu_navstik.hmc.data.vect.z;
-
     imu_navstik.hmc.data_available = FALSE;
-    imu_navstik.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_NAVSTIK_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_navstik.h b/sw/airborne/subsystems/imu/imu_navstik.h
index 5bab1ea261..16a1a99ed8 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.h
+++ b/sw/airborne/subsystems/imu/imu_navstik.h
@@ -71,9 +71,6 @@
 
 
 struct ImuNavstik {
-  volatile uint8_t accel_valid;
-  volatile uint8_t gyro_valid;
-  volatile uint8_t mag_valid;
   struct Mpu60x0_I2c mpu;
   struct Hmc58xx hmc;
 };
@@ -81,22 +78,6 @@ struct ImuNavstik {
 extern struct ImuNavstik imu_navstik;
 extern void imu_navstik_event(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_navstik_event();
-  if (imu_navstik.gyro_valid) {
-    imu_navstik.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_navstik.accel_valid) {
-    imu_navstik.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_navstik.mag_valid) {
-    imu_navstik.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_navstik_event
 
 #endif /* IMU_NAVSTIK_H */
diff --git a/sw/airborne/subsystems/imu/imu_nps.c b/sw/airborne/subsystems/imu/imu_nps.c
index be4d75dd6a..7a6462d8f6 100644
--- a/sw/airborne/subsystems/imu/imu_nps.c
+++ b/sw/airborne/subsystems/imu/imu_nps.c
@@ -20,7 +20,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "generated/airframe.h"
 
 #include "nps_sensors.h"
@@ -61,3 +61,22 @@ void imu_feed_mag(void)
   imu_nps.mag_available = TRUE;
 
 }
+
+void imu_nps_event(void)
+{
+  uint32_t now_ts = get_sys_time_usec();
+  if (imu_nps.gyro_available) {
+    imu_nps.gyro_available = FALSE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_NPS_ID, now_ts, &imu.gyro);
+  }
+  if (imu_nps.accel_available) {
+    imu_nps.accel_available = FALSE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_NPS_ID, now_ts, &imu.accel);
+  }
+  if (imu_nps.mag_available) {
+    imu_nps.mag_available = FALSE;
+    AbiSendMsgIMU_MAG_INT32(IMU_NPS_ID, now_ts, &imu.mag);
+  }
+}
diff --git a/sw/airborne/subsystems/imu/imu_nps.h b/sw/airborne/subsystems/imu/imu_nps.h
index 99605ad5e0..6af3f4fc1e 100644
--- a/sw/airborne/subsystems/imu/imu_nps.h
+++ b/sw/airborne/subsystems/imu/imu_nps.h
@@ -80,25 +80,8 @@ extern struct ImuNps imu_nps;
 extern void imu_feed_gyro_accel(void);
 extern void imu_feed_mag(void);
 
-static inline void ImuMagEvent(void (* _mag_handler)(void))
-{
-  if (imu_nps.mag_available) {
-    imu_nps.mag_available = FALSE;
-    _mag_handler();
-  }
-}
+extern void imu_nps_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  if (imu_nps.accel_available) {
-    imu_nps.accel_available = FALSE;
-    _accel_handler();
-  }
-  if (imu_nps.gyro_available) {
-    imu_nps.gyro_available = FALSE;
-    _gyro_handler();
-  }
-  ImuMagEvent(_mag_handler);
-}
+#define ImuEvent imu_nps_event
 
 #endif /* IMU_NPS_H */
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.c b/sw/airborne/subsystems/imu/imu_ppzuav.c
index 83262743bc..16d7a76f39 100644
--- a/sw/airborne/subsystems/imu/imu_ppzuav.c
+++ b/sw/airborne/subsystems/imu/imu_ppzuav.c
@@ -29,6 +29,7 @@
  */
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/i2c.h"
 
 /* i2c default suitable for Tiny/Twog */
@@ -79,10 +80,6 @@ struct ImuPpzuav imu_ppzuav;
 
 void imu_impl_init(void)
 {
-  imu_ppzuav.accel_valid = FALSE;
-  imu_ppzuav.gyro_valid = FALSE;
-  imu_ppzuav.mag_valid = FALSE;
-
   /* Set accel configuration */
   adxl345_i2c_init(&imu_ppzuav.acc_adxl, &(IMU_PPZUAV_I2C_DEV), ADXL345_ADDR);
   /* set the data rate */
@@ -114,13 +111,16 @@ void imu_periodic(void)
 
 void imu_ppzuav_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   adxl345_i2c_event(&imu_ppzuav.acc_adxl);
   if (imu_ppzuav.acc_adxl.data_available) {
     imu.accel_unscaled.x = -imu_ppzuav.acc_adxl.data.vect.x;
     imu.accel_unscaled.y =  imu_ppzuav.acc_adxl.data.vect.y;
     imu.accel_unscaled.z = -imu_ppzuav.acc_adxl.data.vect.z;
     imu_ppzuav.acc_adxl.data_available = FALSE;
-    imu_ppzuav.accel_valid = TRUE;
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel);
   }
 
   /* If the itg3200 I2C transaction has succeeded: convert the data */
@@ -130,7 +130,8 @@ void imu_ppzuav_event(void)
     imu.gyro_unscaled.q =  imu_ppzuav.gyro_itg.data.rates.q;
     imu.gyro_unscaled.r = -imu_ppzuav.gyro_itg.data.rates.r;
     imu_ppzuav.gyro_itg.data_available = FALSE;
-    imu_ppzuav.gyro_valid = TRUE;
+    imu_scale_gyro(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro);
   }
 
   /* HMC58XX event task */
@@ -140,6 +141,7 @@ void imu_ppzuav_event(void)
     imu.mag_unscaled.y = -imu_ppzuav.mag_hmc.data.vect.x;
     imu.mag_unscaled.z = -imu_ppzuav.mag_hmc.data.vect.z;
     imu_ppzuav.mag_hmc.data_available = FALSE;
-    imu_ppzuav.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_PPZUAV_ID, now_ts, &imu.mag);
   }
 }
diff --git a/sw/airborne/subsystems/imu/imu_ppzuav.h b/sw/airborne/subsystems/imu/imu_ppzuav.h
index 4971f48cac..6e9c89c1bc 100644
--- a/sw/airborne/subsystems/imu/imu_ppzuav.h
+++ b/sw/airborne/subsystems/imu/imu_ppzuav.h
@@ -80,9 +80,6 @@
 
 
 struct ImuPpzuav {
-  volatile uint8_t accel_valid;
-  volatile uint8_t gyro_valid;
-  volatile uint8_t mag_valid;
   struct Adxl345_I2c acc_adxl;
   struct Itg3200 gyro_itg;
   struct Hmc58xx mag_hmc;
@@ -92,21 +89,6 @@ extern struct ImuPpzuav imu_ppzuav;
 
 extern void imu_ppzuav_event(void);
 
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_ppzuav_event();
-  if (imu_ppzuav.gyro_valid) {
-    imu_ppzuav.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_ppzuav.accel_valid) {
-    imu_ppzuav.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_ppzuav.mag_valid) {
-    imu_ppzuav.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_ppzuav_event
 
 #endif /* IMU_PPZUAV_H */
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c
index 73be88f475..48bebce2ed 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.c
+++ b/sw/airborne/subsystems/imu/imu_px4fmu.c
@@ -25,7 +25,7 @@
  */
 
 #include "subsystems/imu.h"
-
+#include "subsystems/abi.h"
 #include "mcu_periph/spi.h"
 #include "peripherals/hmc58xx_regs.h"
 
@@ -67,10 +67,6 @@ struct ImuPx4fmu imu_px4fmu;
 
 void imu_impl_init(void)
 {
-  imu_px4fmu.accel_valid = FALSE;
-  imu_px4fmu.gyro_valid = FALSE;
-  imu_px4fmu.mag_valid = FALSE;
-
   /* MPU is on spi1 and CS is SLAVE2 */
   mpu60x0_spi_init(&imu_px4fmu.mpu, &spi1, SPI_SLAVE2);
   // change the default configuration
@@ -94,6 +90,8 @@ void imu_periodic(void)
 
 void imu_px4fmu_event(void)
 {
+  uint32_t now_ts = get_sys_time_usec();
+
   mpu60x0_spi_event(&imu_px4fmu.mpu);
   if (imu_px4fmu.mpu.data_available) {
     RATES_ASSIGN(imu.gyro_unscaled,
@@ -105,8 +103,10 @@ void imu_px4fmu_event(void)
                  imu_px4fmu.mpu.data_accel.vect.x,
                  -imu_px4fmu.mpu.data_accel.vect.z);
     imu_px4fmu.mpu.data_available = FALSE;
-    imu_px4fmu.gyro_valid = TRUE;
-    imu_px4fmu.accel_valid = TRUE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_PX4_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_PX4_ID, now_ts, &imu.accel);
   }
 
   /* HMC58XX event task */
@@ -116,7 +116,8 @@ void imu_px4fmu_event(void)
     imu.mag_unscaled.y =  imu_px4fmu.hmc.data.vect.x;
     imu.mag_unscaled.z = -imu_px4fmu.hmc.data.vect.z;
     imu_px4fmu.hmc.data_available = FALSE;
-    imu_px4fmu.mag_valid = TRUE;
+    imu_scale_mag(&imu);
+    AbiSendMsgIMU_MAG_INT32(IMU_PX4_ID, now_ts, &imu.mag);
   }
 }
 
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.h b/sw/airborne/subsystems/imu/imu_px4fmu.h
index 085540653b..d988b78976 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.h
+++ b/sw/airborne/subsystems/imu/imu_px4fmu.h
@@ -36,9 +36,6 @@
 #include "peripherals/hmc58xx.h"
 
 struct ImuPx4fmu {
-  volatile bool_t gyro_valid;
-  volatile bool_t accel_valid;
-  volatile bool_t mag_valid;
   struct Mpu60x0_Spi mpu;
   struct Hmc58xx hmc;
 };
@@ -47,22 +44,6 @@ extern struct ImuPx4fmu imu_px4fmu;
 
 extern void imu_px4fmu_event(void);
 
-
-static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
-{
-  imu_px4fmu_event();
-  if (imu_px4fmu.gyro_valid) {
-    imu_px4fmu.gyro_valid = FALSE;
-    _gyro_handler();
-  }
-  if (imu_px4fmu.accel_valid) {
-    imu_px4fmu.accel_valid = FALSE;
-    _accel_handler();
-  }
-  if (imu_px4fmu.mag_valid) {
-    imu_px4fmu.mag_valid = FALSE;
-    _mag_handler();
-  }
-}
+#define ImuEvent imu_px4fmu_event
 
 #endif /* IMU_PX4FMU_H */
diff --git a/sw/airborne/subsystems/imu/imu_um6.c b/sw/airborne/subsystems/imu/imu_um6.c
index 80d7549d8f..5862149063 100644
--- a/sw/airborne/subsystems/imu/imu_um6.c
+++ b/sw/airborne/subsystems/imu/imu_um6.c
@@ -32,6 +32,7 @@
 */
 #include "subsystems/imu/imu_um6.h"
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 #include "mcu_periph/sys_time.h"
 
 struct UM6Packet UM6_packet;
@@ -363,3 +364,12 @@ void UM6_packet_parse(uint8_t c)
 void imu_scale_gyro(struct Imu *_imu __attribute__((unused))) {}
 void imu_scale_accel(struct Imu *_imu __attribute__((unused))) {}
 void imu_scale_mag(struct Imu *_imu __attribute__((unused))) {}
+
+
+void imu_um6_publish(void)
+{
+  uint32_t now_ts = get_sys_time_usec();
+  AbiSendMsgIMU_GYRO_INT32(IMU_UM6_ID, now_ts, &imu.gyro);
+  AbiSendMsgIMU_ACCEL_INT32(IMU_UM6_ID, now_ts, &imu.accel);
+  AbiSendMsgIMU_MAG_INT32(IMU_UM6_ID, now_ts, &imu.mag);
+}
diff --git a/sw/airborne/subsystems/imu/imu_um6.h b/sw/airborne/subsystems/imu/imu_um6.h
index f6ce48e406..9aada3073a 100644
--- a/sw/airborne/subsystems/imu/imu_um6.h
+++ b/sw/airborne/subsystems/imu/imu_um6.h
@@ -59,6 +59,7 @@
 
 extern void UM6_packet_read_message(void);
 extern void UM6_packet_parse(uint8_t c);
+extern void imu_um6_publish(void);
 
 extern struct UM6Packet UM6_packet;
 
@@ -98,7 +99,7 @@ enum UM6Status {
   UM6Running
 };
 
-static inline void imu_um6_event(void (* cb1)(void), void (*cb2)(void), void (*cb3)(void))
+static inline void imu_um6_event(void)
 {
   if (uart_char_available(&(UM6_LINK))) {
     while (uart_char_available(&(UM6_LINK)) && !UM6_packet.msg_available) {
@@ -107,16 +108,11 @@ static inline void imu_um6_event(void (* cb1)(void), void (*cb2)(void), void (*c
     if (UM6_packet.msg_available) {
       UM6_packet.msg_available = FALSE;
       UM6_packet_read_message();
-      cb1();
-      cb2();
-      cb3();
+      imu_um6_publish();
     }
   }
 }
 
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \
-    imu_um6_event(_gyro_handler, _accel_handler, _mag_handler); \
-  }
-
+#define ImuEvent imu_um6_event
 
 #endif /* IMU_UM6_H*/
diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
index c1f490c932..d8daa6f827 100644
--- a/sw/airborne/test/subsystems/test_ahrs.c
+++ b/sw/airborne/test/subsystems/test_ahrs.c
@@ -49,10 +49,6 @@ static inline void main_periodic_task(void);
 static inline void main_event_task(void);
 static inline void main_report(void);
 
-static inline void on_gyro_event(void);
-static inline void on_accel_event(void);
-static inline void on_mag_event(void);
-
 uint16_t datalink_time = 0;
 
 int main(void)
@@ -94,47 +90,9 @@ static inline void main_periodic_task(void)
 static inline void main_event_task(void)
 {
   mcu_event();
-  ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
+  ImuEvent();
 }
 
-static inline void on_gyro_event(void)
-{
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_gyro(&imu);
-
-  AbiSendMsgIMU_GYRO_INT32(1, now_ts, &imu.gyro_prev);
-
-#if USE_AHRS_ALIGNER
-  if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
-    ahrs_aligner_run();
-    return;
-  }
-#endif
-}
-
-static inline void on_accel_event(void)
-{
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_accel(&imu);
-
-  AbiSendMsgIMU_ACCEL_INT32(1, now_ts, &imu.accel);
-}
-
-static inline void on_mag_event(void)
-{
-  // current timestamp
-  uint32_t now_ts = get_sys_time_usec();
-
-  imu_scale_mag(&imu);
-
-  AbiSendMsgIMU_MAG_INT32(1, now_ts, &imu.mag);
-}
-
-
 static inline void main_report(void)
 {
   RunOnceEvery(512, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
diff --git a/sw/airborne/test/subsystems/test_imu.c b/sw/airborne/test/subsystems/test_imu.c
index f319e3f05c..386f009751 100644
--- a/sw/airborne/test/subsystems/test_imu.c
+++ b/sw/airborne/test/subsystems/test_imu.c
@@ -21,6 +21,8 @@
 
 #include <inttypes.h>
 
+#define ABI_C
+
 #ifdef BOARD_CONFIG
 #include BOARD_CONFIG
 #endif
@@ -33,16 +35,25 @@
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/imu.h"
+#include "subsystems/abi.h"
 
+static abi_event gyro_ev;
+static abi_event accel_ev;
+static abi_event mag_ev;
+static void gyro_cb(uint8_t sender_id __attribute__((unused)),
+                    uint32_t stamp __attribute__((unused)),
+                    struct Int32Rates *gyro);
+static void accel_cb(uint8_t sender_id __attribute__((unused)),
+                     uint32_t stamp __attribute__((unused)),
+                     struct Int32Vect3 *accel);
+static void mag_cb(uint8_t sender_id __attribute__((unused)),
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag);
 
 static inline void main_init(void);
 static inline void main_periodic_task(void);
 static inline void main_event_task(void);
 
-static inline void on_gyro_event(void);
-static inline void on_accel_event(void);
-static inline void on_mag_event(void);
-
 int main(void)
 {
   main_init();
@@ -67,6 +78,10 @@ static inline void main_init(void)
   mcu_int_enable();
 
   downlink_init();
+
+  AbiBindMsgIMU_GYRO_INT32(0, &gyro_ev, gyro_cb);
+  AbiBindMsgIMU_ACCEL_INT32(0, &accel_ev, accel_cb);
+  AbiBindMsgIMU_MAG_INT32(0, &mag_ev, mag_cb);
 }
 
 static inline void led_toggle(void)
@@ -117,13 +132,13 @@ static inline void main_periodic_task(void)
 static inline void main_event_task(void)
 {
   mcu_event();
-  ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
+  ImuEvent();
 }
 
-static inline void on_accel_event(void)
+static void accel_cb(uint8_t sender_id __attribute__((unused)),
+                     uint32_t stamp __attribute__((unused)),
+                     struct Int32Vect3 *accel)
 {
-  imu_scale_accel(&imu);
-
   RunOnceEvery(50, LED_TOGGLE(3));
   static uint8_t cnt;
   cnt++;
@@ -135,16 +150,16 @@ static inline void on_accel_event(void)
                                 &imu.accel_unscaled.z);
   } else if (cnt == 7) {
     DOWNLINK_SEND_IMU_ACCEL_SCALED(DefaultChannel, DefaultDevice,
-                                   &imu.accel.x,
-                                   &imu.accel.y,
-                                   &imu.accel.z);
+                                   &accel->x,
+                                   &accel->y,
+                                   &accel->z);
   }
 }
 
-static inline void on_gyro_event(void)
+static void gyro_cb(uint8_t sender_id __attribute__((unused)),
+                    uint32_t stamp __attribute__((unused)),
+                    struct Int32Rates *gyro)
 {
-  imu_scale_gyro(&imu);
-
   RunOnceEvery(50, LED_TOGGLE(2));
   static uint8_t cnt;
   cnt++;
@@ -157,25 +172,26 @@ static inline void on_gyro_event(void)
                                &imu.gyro_unscaled.r);
   } else if (cnt == 7) {
     DOWNLINK_SEND_IMU_GYRO_SCALED(DefaultChannel, DefaultDevice,
-                                  &imu.gyro.p,
-                                  &imu.gyro.q,
-                                  &imu.gyro.r);
+                                  &gyro->p,
+                                  &gyro->q,
+                                  &gyro->r);
   }
 }
 
 
-static inline void on_mag_event(void)
+static void mag_cb(uint8_t sender_id __attribute__((unused)),
+                   uint32_t stamp __attribute__((unused)),
+                   struct Int32Vect3 *mag)
 {
-  imu_scale_mag(&imu);
   static uint8_t cnt;
   cnt++;
   if (cnt > 10) { cnt = 0; }
 
   if (cnt == 0) {
     DOWNLINK_SEND_IMU_MAG_SCALED(DefaultChannel, DefaultDevice,
-                                 &imu.mag.x,
-                                 &imu.mag.y,
-                                 &imu.mag.z);
+                                 &mag->x,
+                                 &mag->y,
+                                 &mag->z);
   } else if (cnt == 5) {
     DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
                               &imu.mag_unscaled.x,