diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index e0ce48b4a4..e035a7b5c7 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -243,9 +243,7 @@ B2L -> CW
     </subsystem>
 
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.1">
-	    <define name="IMU_ASPIRIN_DISABLE_BARO" value="TRUE"/>
-    </subsystem>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index c7caa99380..8bf1d23257 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -200,9 +200,7 @@
     </subsystem>
 
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.1">
-	    <define name="IMU_ASPIRIN_DISABLE_BARO" value="TRUE"/>
-    </subsystem>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
index 1f0f83f906..810271975b 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
@@ -42,7 +42,7 @@ ifeq ($(TARGET), ap)
   IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
 endif
 
-IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\" -DIMU_OVERRIDE_CHANNELS
+IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
 IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
                       $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
 
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile
index a27b8e576b..f36ee75375 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile
@@ -1,5 +1,73 @@
-ap.CFLAGS += -DIMU_ASPIRIN_DISABLE_BARO
-
-include $(CFG_SHARED)/imu_aspirin_v2.1.makefile
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Aspirin IMU v2.2
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <!-- these gyro and accel calib values are the defaults for aspirin2.2 -->
+#    <define name="GYRO_X_NEUTRAL" value="0"/>
+#    <define name="GYRO_Y_NEUTRAL" value="0"/>
+#    <define name="GYRO_Z_NEUTRAL" value="0"/>
+#
+#    <define name="GYRO_X_SENS" value="4.359" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="0"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+#
+#    <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
+#
+#    <!-- replace the mag calibration with your own-->
+#    <define name="MAG_X_NEUTRAL" value="-45"/>
+#    <define name="MAG_Y_NEUTRAL" value="334"/>
+#    <define name="MAG_Z_NEUTRAL" value="7"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+#
 
 
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+endif
+
+IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
+IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
+
+include $(CFG_SHARED)/spi.makefile
+
+ifeq ($(ARCH), lpc21)
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
+else ifeq ($(ARCH), stm32)
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
+# Slave select configuration
+# SLAVE2 is on PB12 (NSS) (MPU600 CS)
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
+endif
+
+IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_2
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+
+ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+ap.srcs   += $(IMU_ASPIRIN_SRCS)
+
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile
diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.c b/sw/airborne/subsystems/imu/imu_aspirin2.c
index cd2f412923..9a2d0896c4 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin2.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin2.c
@@ -28,10 +28,6 @@
 #include "peripherals/hmc58xx_regs.h"
 #include "peripherals/ms5611.h"
 
-#ifdef BARO_I2C
-#define MPU6000_NO_SLAVES
-#endif
-
 #ifndef MPU6000_SLAVE_IDX
 #define MPU6000_SLAVE_IDX SPI_SLAVE2
 #endif
@@ -211,6 +207,7 @@ static void mpu_configure(void)
            (3 << 3) );			// Full Scale = 16g
 
 #ifndef MPU6000_NO_SLAVES
+PRINT_CONFIG_MSG("Reading MPU slaves")
 
   /////////////////////////////////////
   // SPI Slave Configuration Section
@@ -227,16 +224,16 @@ static void mpu_configure(void)
   // Enable the aux i2c
   mpu_set( MPU60X0_REG_I2C_MST_CTRL,
            (0 << 7) | 		// no multimaster
-	   (0 << 6) |		// do not delay IRQ waiting for all external slaves
-	   (0 << 5) | 		// no slave 3 FIFO
-	   (0 << 4) | 		// restart or stop/start from one slave to another: read -> write is always stop/start
-	   (8 << 0) );		// 0=348kHz 8=256kHz, 9=500kHz
+           (0 << 6) |		// do not delay IRQ waiting for all external slaves
+           (0 << 5) | 		// no slave 3 FIFO
+           (0 << 4) | 		// restart or stop/start from one slave to another: read -> write is always stop/start
+           (8 << 0) );		// 0=348kHz 8=256kHz, 9=500kHz
 
   mpu_set( MPU60X0_REG_I2C_MST_DELAY,
            (0 << 2) |		// No Delay Slave 2
            (1 << 3) );		// Delay Slave 3
 
-#ifdef IMU_ASPIRIN_VERSION_2_1
+#if defined IMU_ASPIRIN_VERSION_2_1 && USE_IMU_ASPIRIN2_BARO_SLAVE
 
   // MS5611 Send Reset
   mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (MS5611_ADDR0));
@@ -251,7 +248,7 @@ static void mpu_configure(void)
 
   // Wait at least 2.8ms
 
-#endif
+#endif // read MS5611 as MPU slave
 
   // HMC5883 Magnetometer Configuration
 
@@ -297,9 +294,8 @@ static void mpu_configure(void)
 
 	// Slave 0 Control:
 
-#if !IMU_ASPIRIN_DISABLE_BARO
-#ifdef IMU_ASPIRIN_VERSION_2_1
-PRINT_CONFIG_MSG("Reading the MS5611")
+#if defined IMU_ASPIRIN_VERSION_2_1 && USE_IMU_ASPIRIN2_BARO_SLAVE
+PRINT_CONFIG_MSG("Reading the MS5611 as MPU slave")
 /*
 
 
@@ -342,10 +338,7 @@ PRINT_CONFIG_MSG("Reading the MS5611")
            (0 << 6) |		// Byte Swap
            (3 << 0) );		// Read 6 bytes
 
-
-
-#endif
-#endif
+#endif // read MS5611 as MPU slave
 
 #endif