diff --git a/conf/modules/ins_vn100.xml b/conf/modules/ins_vn100.xml
new file mode 100644
index 0000000000..913c394448
--- /dev/null
+++ b/conf/modules/ins_vn100.xml
@@ -0,0 +1,17 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="ins_vn100.h"/>
+  </header>
+  <init fun="ins_init()"/>
+  <periodic fun="ins_periodic_task()" freq="4"/>
+  <periodic fun="ins_report_task()" freq="4"/>
+  <event fun="ins_event_task()"/>
+  <makefile>
+    <file name="ins_vn100.c"/>
+    <file name="fw_ins_vn100.c"/>
+  </makefile>
+</module>
+
diff --git a/sw/airborne/modules/ins/VN100.h b/sw/airborne/modules/ins/VN100.h
new file mode 100644
index 0000000000..fd39aa1b34
--- /dev/null
+++ b/sw/airborne/modules/ins/VN100.h
@@ -0,0 +1,204 @@
+/*
+ * Paparazzi $Id: $
+ *  
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/**
+ * \brief Library for the VectorNav VN100 AHRS
+ * based on VN_FWLIB from vector nav
+ */
+
+#ifndef VN100_H
+#define VN100_H
+
+#include "std.h"
+
+/* VN-100 Registers */
+#define VN100_REG_MODEL     1
+#define VN100_REG_HWREV     2
+#define VN100_REG_SN        3
+#define VN100_REG_FWVER     4
+#define VN100_REG_SBAUD     5
+#define VN100_REG_ADOR      6
+#define VN100_REG_ADOF      7
+#define VN100_REG_YPR       8
+#define VN100_REG_QTN       9
+#define VN100_REG_QTM       10
+#define VN100_REG_QTA       11
+#define VN100_REG_QTR       12
+#define VN100_REG_QMA       13
+#define VN100_REG_QAR       14
+#define VN100_REG_QMR       15
+#define VN100_REG_DCM       16
+#define VN100_REG_MAG       17
+#define VN100_REG_ACC       18
+#define VN100_REG_GYR       19
+#define VN100_REG_MAR       20
+#define VN100_REG_REF       21
+#define VN100_REG_SIG       22
+#define VN100_REG_HSI       23
+#define VN100_REG_ATP       24
+#define VN100_REG_ACT       25
+#define VN100_REG_RFR       26
+#define VN100_REG_YMR       27
+#define VN100_REG_ACG       28
+
+/* Data Size */
+#define VN100_REG_MODEL_SIZE    12
+#define VN100_REG_HWREV_SIZE    4
+#define VN100_REG_SN_SIZE       12
+#define VN100_REG_FWVER_SIZE    4
+#define VN100_REG_SBAUD_SIZE    4
+#define VN100_REG_ADOR_SIZE     4
+#define VN100_REG_ADOF_SIZE     4
+#define VN100_REG_YPR_SIZE      (3*4)
+#define VN100_REG_QTN_SIZE      (4*4)
+#define VN100_REG_QTM_SIZE      (7*4)
+#define VN100_REG_QTA_SIZE      (7*4)
+#define VN100_REG_QTR_SIZE      (7*4)
+#define VN100_REG_QMA_SIZE      (10*4)
+#define VN100_REG_QAR_SIZE      (10*4)
+#define VN100_REG_QMR_SIZE      (13*4)
+#define VN100_REG_DCM_SIZE      (9*4)
+#define VN100_REG_MAG_SIZE      (3*4)
+#define VN100_REG_ACC_SIZE      (3*4)
+#define VN100_REG_GYR_SIZE      (3*4)
+#define VN100_REG_MAR_SIZE      (9*4)
+#define VN100_REG_REF_SIZE      (6*4)
+#define VN100_REG_SIG_SIZE      (10*4)
+#define VN100_REG_HSI_SIZE      (12*4)
+#define VN100_REG_ATP_SIZE      (4*4)
+#define VN100_REG_ACT_SIZE      (12*4)
+#define VN100_REG_RFR_SIZE      (9*4)
+#define VN100_REG_YMR_SIZE      (12*4)
+#define VN100_REG_ACG_SIZE      4
+
+#define VN100_DataSizeOfReg(_r) (_r##_SIZE)
+
+/* Command IDs */
+#define VN100_CmdID_ReadRegister             0x01
+#define VN100_CmdID_WriteRegister            0x02
+#define VN100_CmdID_WriteSettings            0x03
+#define VN100_CmdID_RestoreFactorySettings   0x04
+#define VN100_CmdID_Tare                     0x05
+#define VN100_CmdID_Reset                    0x06
+
+/* System Error */
+#define VN100_Error_None                     0
+#define VN100_Error_HardFaultException       1
+#define VN100_Error_InputBufferOverflow      2
+#define VN100_Error_InvalidChecksum          3
+#define VN100_Error_InvalidCommand           4
+#define VN100_Error_NotEnoughParameters      5
+#define VN100_Error_TooManyParameters        6
+#define VN100_Error_InvalidParameter         7
+#define VN100_Error_InvalidRegister          8
+#define VN100_Error_UnauthorizedAccess       9
+#define VN100_Error_WatchdogReset            10
+#define VN100_Error_OutputBufferOverflow     11
+#define VN100_Error_InsufficientBandwidth    12
+
+/* Asynchronous Data Output Register */
+#define VN100_ADOR_OFF  0
+#define VN100_ADOR_YPR  1
+#define VN100_ADOR_QTN  2
+#define VN100_ADOR_QTM  3
+#define VN100_ADOR_QTA  4
+#define VN100_ADOR_QTR  5
+#define VN100_ADOR_QMA  6
+#define VN100_ADOR_QAR  7
+#define VN100_ADOR_QMR  8
+#define VN100_ADOR_DCM  9
+#define VN100_ADOR_MAG  10
+#define VN100_ADOR_ACC  11
+#define VN100_ADOR_GYR  12
+#define VN100_ADOR_MAR  13
+#define VN100_ADOR_YMR  14
+#define VN100_ADOR_RAB  251
+#define VN100_ADOR_RAW  252
+#define VN100_ADOR_CMV  253
+#define VN100_ADOR_STV  254
+#define VN100_ADOR_COV  255
+
+/* Asynchronous Data Ouput Rate Register */
+#define VN100_ADOF_1HZ    1
+#define VN100_ADOF_2HZ    2
+#define VN100_ADOF_4HZ    4
+#define VN100_ADOF_5HZ    5
+#define VN100_ADOF_10HZ   10
+#define VN100_ADOF_20HZ   20
+#define VN100_ADOF_25HZ   25
+#define VN100_ADOF_40HZ   40
+#define VN100_ADOF_50HZ   50
+#define VN100_ADOF_100HZ  100
+#define VN100_ADOF_200HZ  200
+
+/* Serial Baud Rate Register */
+#define VN100_Baud_9600    9600
+#define VN100_Baud_19200   19200
+#define VN100_Baud_38400   38400
+#define VN100_Baud_57600   57600
+#define VN100_Baud_115200  115200
+#define VN100_Baud_128000  128000
+#define VN100_Baud_230400  230400
+#define VN100_Baud_460800  460800
+#define VN100_Baud_921600  921600
+
+/* Accelerometer Gain Type */
+#define VN100_AccGain_2G  0
+#define VN100_AccGain_6G  1
+
+/* 32-bit Parameter Type */
+typedef union {
+  uint32_t UInt;
+  float    Float;
+} VN100_Param;
+
+/* SPI Buffer size */
+#define VN100_SPI_BUFFER_SIZE  48
+
+/* SPI Request Packet */
+typedef struct {
+  uint8_t CmdID;
+  uint8_t RegID;
+  uint8_t ZeroByte1;
+  uint8_t ZeroByte2;
+  VN100_Param Data[VN100_SPI_BUFFER_SIZE];
+} VN100_Req_Packet;
+
+/* SPI Response Packet */
+typedef struct {
+  uint8_t ZeroByte;
+  uint8_t CmdID;
+  uint8_t RegID;
+  uint8_t ErrID;
+  VN100_Param Data[VN100_SPI_BUFFER_SIZE];
+} VN100_Res_Packet;
+
+#define VN100_Packet_SetBaud(_b) { VN100_CmdID_WriteRegister, VN100_REG_SBAUD, 0, 0, { _b } }
+#define VN100_Packet_SetADOR(_r) { VN100_CmdID_WriteRegister, VN100_REG_ADOR, 0, 0, { _r } }
+#define VN100_Packet_SetaDOF(_f) { VN100_CmdID_WriteRegister, VN100_REG_ADOF, 0, 0, { _f } }
+
+#define VN100_BytesOfWord(_w) { (uint8_t)(_w & 0xFF), (uint8_t)((_w & (0xFF<<8))>>8), (uint8_t)((_w & (0xFF<<16))>>16), (uint8_t)((_w & (0xFF<<24))>>24) }
+#define VN100_WordOfBytes(_b) (((uint32_t)(_b[3])<<24)|((uint32_t)(_b[2])<<16)|((uint16_t)(_b[1])<<8)|(uint16_t)(_b[0]))
+
+#endif
diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c
new file mode 100644
index 0000000000..bb1147c591
--- /dev/null
+++ b/sw/airborne/modules/ins/fw_ins_vn100.c
@@ -0,0 +1,107 @@
+/*
+ * Paparazzi $Id: ins_xsens.c 3872 2009-08-05 14:42:41Z mmm $
+ *  
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/**
+ * \brief driver for the VectorNav VN100 (Fixed-Wing part)
+ */
+
+#include "ins_vn100.h"
+#include "spi.h"
+
+void ins_init( void ) {
+
+  /* SPI polarity = 1 - data sampled on rising edge */
+  SpiSetCPOL();
+  /* SPI phase = 1 - SCK idle high */
+  SpiSetCPHA();
+
+  ins_ador = VN100_ADOR;
+  ins_adof = VN100_ADOF;
+  ins_baud = VN100_BAUD;
+
+  ins_init_status = INS_VN100_SET_BAUD;
+
+}
+
+static inline bool_t ins_configure( void ) {
+  switch (ins_init_status) {
+    case INS_VN100_SET_BAUD :
+      last_send_packet.RegID = VN100_REG_SBAUD;
+      spi_buffer_length = 4+VN100_REG_SBAUD_SIZE;
+      ins_init_status++;
+      break;
+    case INS_VN100_SET_ADOR :
+      last_send_packet.RegID = VN100_REG_ADOR;
+      spi_buffer_length = 4+VN100_REG_ADOR_SIZE;
+      ins_init_status++;
+      break;
+    case INS_VN100_SET_ADOF :
+      last_send_packet.RegID = VN100_REG_ADOF;
+      spi_buffer_length = 4+VN100_REG_ADOF_SIZE;
+      ins_init_status++;
+      break;
+    case INS_VN100_READY :
+      return TRUE;
+  }
+  last_send_packet.CmdID = VN100_CmdID_WriteRegister;
+  spi_buffer_input = (uint8_t*)&last_received_packet;
+  spi_buffer_output = (uint8_t*)&last_send_packet;
+  SpiSelectSlave0();
+  SpiStart();
+  return FALSE;
+}
+
+void ins_periodic_task( void ) {
+  if (!SpiCheckAvailable()) {
+    SpiOverRun();
+    return;
+  }
+
+  if (!ins_configure()) return;
+
+  // Fill request for QMR
+  last_send_packet.CmdID = VN100_CmdID_ReadRegister;
+  last_send_packet.RegID = VN100_REG_YMR;
+
+  spi_buffer_input = (uint8_t*)&last_received_packet;
+  spi_buffer_output = (uint8_t*)&last_send_packet;
+  spi_buffer_length = 4+VN100_REG_YMR_SIZE;
+  SpiSelectSlave0();
+  SpiStart();
+
+}
+
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+void ins_event_task( void ) {
+  if (spi_message_received) {
+    spi_message_received = FALSE;
+    parse_ins_msg();
+    //uint8_t s = 4+VN100_REG_QMR_SIZE;
+    //DOWNLINK_SEND_DEBUG(DefaultChannel,s,spi_buffer_input);
+  }
+}
+
diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c
new file mode 100644
index 0000000000..016c9ad4d8
--- /dev/null
+++ b/sw/airborne/modules/ins/ins_vn100.c
@@ -0,0 +1,190 @@
+/*
+ * Paparazzi $Id: ins_xsens.c 3872 2009-08-05 14:42:41Z mmm $
+ *  
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/**
+ * \brief driver for the VectorNav VN100
+ */
+
+#include "ins_vn100.h"
+
+#include "airframe.h"
+#include "led.h"
+
+#include "downlink.h"
+#include "messages.h"
+
+struct FloatEulers ins_eulers;
+struct FloatQuat ins_quat;
+struct FloatRates ins_rates;
+struct FloatRMat ins_rmat;
+struct FloatVect3 ins_accel;
+struct FloatVect3 ins_mag;
+
+volatile uint8_t ins_msg_received;
+
+/* last received SPI packet */
+VN100_Res_Packet last_received_packet;
+/* last send packet */
+VN100_Req_Packet last_send_packet;
+
+/* output mode */
+uint32_t ins_ador;
+uint32_t ins_adof;
+uint32_t ins_baud;
+
+uint8_t ins_init_status;
+
+/* ins_init and ins_periodic_task to be implemented according to the airframe type : FW or BOOZ */
+
+void parse_ins_msg( void ) {
+  if (last_received_packet.ErrID != VN100_Error_None) {
+    //TODO send error
+    return;
+  }
+  
+  // parse message (will work only with read and write register)
+  switch (last_received_packet.RegID) {
+    case VN100_REG_ADOR :
+      ins_ador = last_received_packet.Data[0].UInt;
+      break;
+    case VN100_REG_ADOF :
+      ins_adof = last_received_packet.Data[0].UInt;
+      break;
+    case VN100_REG_SBAUD :
+      ins_baud = last_received_packet.Data[0].UInt;
+      break;
+    case VN100_REG_YPR :
+      ins_eulers.phi   = RadOfDeg(last_received_packet.Data[2].Float);
+      ins_eulers.theta = RadOfDeg(last_received_packet.Data[1].Float);
+      ins_eulers.psi   = RadOfDeg(last_received_packet.Data[0].Float);
+      break;
+    case VN100_REG_QTN :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      break;
+    case VN100_REG_QTM :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_mag.x = last_received_packet.Data[4].Float;
+      ins_mag.y = last_received_packet.Data[5].Float;
+      ins_mag.z = last_received_packet.Data[6].Float;
+      break;
+    case VN100_REG_QTA :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_accel.x = last_received_packet.Data[4].Float;
+      ins_accel.y = last_received_packet.Data[5].Float;
+      ins_accel.z = last_received_packet.Data[6].Float;
+      break;
+    case VN100_REG_QTR :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_rates.p = last_received_packet.Data[4].Float;
+      ins_rates.q = last_received_packet.Data[5].Float;
+      ins_rates.r = last_received_packet.Data[6].Float;
+      break;
+    case VN100_REG_QMA :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_mag.x = last_received_packet.Data[4].Float;
+      ins_mag.y = last_received_packet.Data[5].Float;
+      ins_mag.z = last_received_packet.Data[6].Float;
+      ins_accel.x = last_received_packet.Data[7].Float;
+      ins_accel.y = last_received_packet.Data[8].Float;
+      ins_accel.z = last_received_packet.Data[9].Float;
+      break;
+    case VN100_REG_QAR :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_accel.x = last_received_packet.Data[4].Float;
+      ins_accel.y = last_received_packet.Data[5].Float;
+      ins_accel.z = last_received_packet.Data[6].Float;
+      ins_rates.p = last_received_packet.Data[7].Float;
+      ins_rates.q = last_received_packet.Data[8].Float;
+      ins_rates.r = last_received_packet.Data[9].Float;
+      break;
+    case VN100_REG_QMR :
+      ins_quat.qi = last_received_packet.Data[0].Float;
+      ins_quat.qx = last_received_packet.Data[1].Float;
+      ins_quat.qy = last_received_packet.Data[2].Float;
+      ins_quat.qz = last_received_packet.Data[3].Float;
+      FLOAT_EULERS_OF_QUAT(ins_eulers, ins_quat);
+      ins_mag.x = last_received_packet.Data[4].Float;
+      ins_mag.y = last_received_packet.Data[5].Float;
+      ins_mag.z = last_received_packet.Data[6].Float;
+      ins_accel.x = last_received_packet.Data[7].Float;
+      ins_accel.y = last_received_packet.Data[8].Float;
+      ins_accel.z = last_received_packet.Data[9].Float;
+      ins_rates.p = last_received_packet.Data[10].Float;
+      ins_rates.q = last_received_packet.Data[11].Float;
+      ins_rates.r = last_received_packet.Data[12].Float;
+      break;
+    case VN100_REG_YMR :
+      ins_eulers.phi   = RadOfDeg(last_received_packet.Data[2].Float);
+      ins_eulers.theta = RadOfDeg(last_received_packet.Data[1].Float);
+      ins_eulers.psi   = RadOfDeg(last_received_packet.Data[0].Float);
+      ins_mag.x = last_received_packet.Data[3].Float;
+      ins_mag.y = last_received_packet.Data[4].Float;
+      ins_mag.z = last_received_packet.Data[5].Float;
+      ins_accel.x = last_received_packet.Data[6].Float;
+      ins_accel.y = last_received_packet.Data[7].Float;
+      ins_accel.z = last_received_packet.Data[8].Float;
+      ins_rates.p = last_received_packet.Data[9].Float;
+      ins_rates.q = last_received_packet.Data[10].Float;
+      ins_rates.r = last_received_packet.Data[11].Float;
+      break;
+  }
+
+}
+
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+extern void ins_report_task( void ) {
+  DOWNLINK_SEND_BOOZ_AHRS_LKF(DefaultChannel,
+      &ins_eulers.phi, &ins_eulers.theta, &ins_eulers.psi,
+      &ins_quat.qi, &ins_quat.qx, &ins_quat.qy, &ins_quat.qz,
+      &ins_rates.p, &ins_rates.q, &ins_rates.r,
+      &ins_accel.x, &ins_accel.y, &ins_accel.z,
+      &ins_mag.x, &ins_mag.y, &ins_mag.z);
+}
diff --git a/sw/airborne/modules/ins/ins_vn100.h b/sw/airborne/modules/ins/ins_vn100.h
new file mode 100644
index 0000000000..b1274be958
--- /dev/null
+++ b/sw/airborne/modules/ins/ins_vn100.h
@@ -0,0 +1,89 @@
+/*
+ * $Id: $ 
+ *  
+ * Copyright (C) 2010 ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+/** \file ins_vn100.h
+ *  \brief Interface for the VectorNav VN100 AHRS
+ *  use the binary protocal on the SPI link
+*/
+
+
+#ifndef INS_VN100_H
+#define INS_VN100_H
+
+#include "std.h"
+#include "VN100.h"
+#include "math/pprz_algebra_float.h"
+
+/* state */
+extern struct FloatEulers ins_eulers;
+extern struct FloatQuat ins_quat;
+extern struct FloatRates ins_rates;
+extern struct FloatRMat ins_rmat;
+extern struct FloatVect3 ins_accel;
+extern struct FloatVect3 ins_mag;
+
+extern volatile uint8_t ins_msg_received;
+
+extern void ins_init( void );
+extern void ins_periodic_task( void );
+extern void ins_event_task( void );
+extern void ins_report_task( void );
+extern void parse_ins_msg( void );
+
+/* last received SPI packet */
+extern VN100_Res_Packet last_received_packet;
+/* last send packet */
+extern VN100_Req_Packet last_send_packet;
+
+/* output mode */
+extern uint32_t ins_ador;
+extern uint32_t ins_adof;
+extern uint32_t ins_baud;
+
+#ifndef VN100_ADOR
+#define VN100_ADOR VN100_ADOR_OFF
+#endif
+#ifndef VN100_ADOF
+#define VN100_ADOF VN100_ADOF_5HZ
+#endif
+#ifndef VN100_BAUD
+#define VN100_BAUD VN100_Baud_57600
+#endif
+
+/* Init sequence */
+extern uint8_t ins_init_status;
+#define INS_VN100_SET_BAUD      0
+#define INS_VN100_SET_ADOR      1
+#define INS_VN100_SET_ADOF      2
+#define INS_VN100_READY         3
+
+/* Telemetry */
+#define PERIODIC_SEND_AHRS(_chan) DOWNLINK_SEND_BOOZ_AHRS_LKF(_chan, \
+    &ins_eulers.phi, &ins_eulers.theta, &ins_eulers.psi, \
+    &ins_quat.qi, &ins_quat.qx, &ins_quat.qy, &ins_quat.qz, \
+    &ins_rates.p, &ins_rates.q, &ins_rates.r, \
+    &ins_accel.x, &ins_accel.y, &ins_accel.z, \
+    &ins_mag.x, &ins_mag.y, &ins_mag.z)
+
+#endif /* INS_VN100_H */