diff --git a/sw/airborne/subsystems/imu/imu_aspirin2.h b/sw/airborne/subsystems/imu/imu_aspirin2.h
index 9a5e53eba1..14b64de6f9 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin2.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin2.h
@@ -50,6 +50,51 @@
 #define IMU_ACCEL_Z_SIGN  1
 #endif
 
+/** default gyro sensitivy and neutral from the datasheet
+ * MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range
+ * sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC
+ * sens = 1/16.4 * pi/180 * 4096 = 4.359066229
+ */
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS 4.359
+#define IMU_GYRO_P_SENS_NUM 4359
+#define IMU_GYRO_P_SENS_DEN 1000
+#define IMU_GYRO_Q_SENS 4.359
+#define IMU_GYRO_Q_SENS_NUM 4359
+#define IMU_GYRO_Q_SENS_DEN 1000
+#define IMU_GYRO_R_SENS 4.359
+#define IMU_GYRO_R_SENS_NUM 4359
+#define IMU_GYRO_R_SENS_DEN 1000
+#endif
+#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
+#define IMU_GYRO_P_NEUTRAL 0
+#define IMU_GYRO_Q_NEUTRAL 0
+#define IMU_GYRO_R_NEUTRAL 0
+#endif
+
+/** default accel sensitivy from the datasheet
+ * MPU60X0 has 2048 LSB/g
+ * fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
+ * sens = 9.81 / 2048 * 1024 = 4.905
+ */
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS 4.905
+#define IMU_ACCEL_X_SENS_NUM 4905
+#define IMU_ACCEL_X_SENS_DEN 1000
+#define IMU_ACCEL_Y_SENS 4.905
+#define IMU_ACCEL_Y_SENS_NUM 4905
+#define IMU_ACCEL_Y_SENS_DEN 1000
+#define IMU_ACCEL_Z_SENS 4.905
+#define IMU_ACCEL_Z_SENS_NUM 4905
+#define IMU_ACCEL_Z_SENS_DEN 1000
+#endif
+#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
+#define IMU_ACCEL_X_NEUTRAL 0
+#define IMU_ACCEL_Y_NEUTRAL 0
+#define IMU_ACCEL_Z_NEUTRAL 0
+#endif
+
+
 enum Aspirin2Status
   { Aspirin2StatusUninit,
     Aspirin2StatusIdle,