diff --git a/conf/airframes/examples/easystar_ets.xml b/conf/airframes/examples/easystar_ets.xml
index 3b04478b01..0fc006f3f1 100644
--- a/conf/airframes/examples/easystar_ets.xml
+++ b/conf/airframes/examples/easystar_ets.xml
@@ -28,6 +28,7 @@
     <subsystem name="ahrs"      type="infrared"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"    type="extra"/>
+    <subsystem name="ins" type="alt_float"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/examples/microjet_lisa_m.xml b/conf/airframes/examples/microjet_lisa_m.xml
index 06f757145d..52c29d6572 100644
--- a/conf/airframes/examples/microjet_lisa_m.xml
+++ b/conf/airframes/examples/microjet_lisa_m.xml
@@ -15,8 +15,7 @@
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
     <define name="ALT_KALMAN"/>
-    <define name="USE_BARO_BMP"/>
-
+    <define name="STRONG_WIND"/>
 
     <subsystem name="radio_control" type="ppm"/>
 
@@ -30,14 +29,11 @@
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="control"/>
     <subsystem name="navigation"/>
+    <subsystem name="ins" type="alt_float"/>
   </firmware>
 
   <modules>
     <load name="sys_mon.xml"/>
-    <load name="baro_bmp.xml">
-      <define name="BMP_I2C_DEV" value="i2c2"/>
-      <define name="USE_I2C2"/>
-    </load>
   </modules>
 
   <servos>
diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
index 0e91400c10..cc49e50191 100644
--- a/conf/firmwares/subsystems/fixedwing/autopilot.makefile
+++ b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
@@ -162,9 +162,6 @@ fbw_srcs		+= $(SRC_FIRMWARE)/fbw_downlink.c
 
 ap_CFLAGS 		+= -DAP
 ap_srcs 		+= $(SRC_FIRMWARE)/main_ap.c
-ap_CFLAGS 	+= -DINS_TYPE_H=\"subsystems/ins/ins_float.h\"
-ap_srcs 		+= $(SRC_FIXEDWING)/subsystems/ins.c
-ap_srcs 		+= $(SRC_FIXEDWING)/subsystems/ins/ins_float.c
 ap_srcs			+= $(SRC_FIRMWARE)/ap_downlink.c
 ap_srcs 		+= state.c
 
diff --git a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
index 4b3a280092..c969604bb6 100644
--- a/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
+++ b/conf/firmwares/subsystems/fixedwing/ins_xsens.makefile
@@ -17,7 +17,7 @@ ifeq ($(TARGET), ap)
 ap.CFLAGS += -DUSE_INS
 
 # AHRS Results
-ap.CFLAGS += -DINS_MODULE_H=\"modules/ins/ins_xsens.h\"
+ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens.h\"
 
 ifndef XSENS_UART_BAUD
 	XSENS_UART_BAUD = B115200
diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml
index 1968dc696f..bf014baf20 100644
--- a/conf/modules/ins_chimu_uart.xml
+++ b/conf/modules/ins_chimu_uart.xml
@@ -15,7 +15,7 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <!--<periodic fun="ins_periodic_task()" freq="60"/>-->
+  <!--<periodic fun="ins_periodic()" freq="60"/>-->
   <event fun="parse_ins_msg()"/>
   <makefile target="ap">
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
diff --git a/conf/modules/ins_vn100.xml b/conf/modules/ins_vn100.xml
index 7a2be909ac..0c6fbe3df1 100644
--- a/conf/modules/ins_vn100.xml
+++ b/conf/modules/ins_vn100.xml
@@ -9,7 +9,7 @@
     <file name="ins_vn100.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <periodic fun="ins_report_task()" freq="4"/>
   <event fun="ins_event_task()"/>
   <makefile>
diff --git a/conf/modules/ins_xsens.xml b/conf/modules/ins_xsens.xml
index 087dc6d02d..fdd3438527 100644
--- a/conf/modules/ins_xsens.xml
+++ b/conf/modules/ins_xsens.xml
@@ -9,7 +9,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <file name="ins_xsens.c"/>
   </makefile>
diff --git a/conf/modules/ins_xsens_MTiG_Uart0.xml b/conf/modules/ins_xsens_MTiG_Uart0.xml
index 76940d652a..66ffce03c9 100644
--- a/conf/modules/ins_xsens_MTiG_Uart0.xml
+++ b/conf/modules/ins_xsens_MTiG_Uart0.xml
@@ -10,7 +10,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <define name="USE_UART0"/>
     <define name="INS_LINK" value="Uart0"/>
diff --git a/conf/modules/ins_xsens_MTi_Uart0.xml b/conf/modules/ins_xsens_MTi_Uart0.xml
index 37d88bfba5..86133ff938 100644
--- a/conf/modules/ins_xsens_MTi_Uart0.xml
+++ b/conf/modules/ins_xsens_MTi_Uart0.xml
@@ -9,7 +9,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <define name="USE_UART0"/>
     <define name="INS_LINK" value="Uart0"/>
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 7db3b69cdc..4426d1b944 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -56,11 +56,13 @@
 #if USE_BAROMETER
 #include "subsystems/sensors/baro.h"
 #endif
+#if USE_INS
+#include "subsystems/ins.h"
+#endif
 
 // autopilot & control
 #include "state.h"
 #include "firmwares/fixedwing/autopilot.h"
-#include "subsystems/ins.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include CTRL_TYPE_H
 #include "subsystems/nav.h"
@@ -182,7 +184,9 @@ void init_ap( void ) {
   baro_init();
 #endif
 
+#if USE_INS
   ins_init();
+#endif
 
   stateInit();
 
@@ -487,11 +491,9 @@ void navigation_task( void ) {
 }
 
 
-#if USE_AHRS
 #ifdef AHRS_TRIGGERED_ATTITUDE_LOOP
 volatile uint8_t new_ins_attitude = 0;
 #endif
-#endif
 
 void attitude_loop( void ) {
 
@@ -564,7 +566,9 @@ void sensors_task( void ) {
   baro_periodic();
 #endif
 
+#if USE_INS
   ins_periodic();
+#endif
 }
 
 
@@ -624,7 +628,8 @@ void event_task_ap( void ) {
   ImuEvent(on_gyro_event, on_accel_event, on_mag_event);
 #endif
 
-#if USE_INS
+#ifdef InsEvent
+#pragma message "calling InsEvent, remove me.."
   InsEvent(NULL);
 #endif
 
@@ -665,7 +670,9 @@ void event_task_ap( void ) {
 
 #if USE_GPS
 static inline void on_gps_solution( void ) {
+#if USE_INS
   ins_update_gps();
+#endif
 #if USE_AHRS
   ahrs_update_gps();
 #endif
@@ -767,7 +774,9 @@ static inline void on_mag_event(void)
 #if USE_BAROMETER
 
 static inline void on_baro_abs_event( void ) {
+#if USE_INS
   ins_update_baro();
+#endif
 }
 
 static inline void on_baro_dif_event( void ) {
diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c
index fe595cbfe2..3ac16c2b94 100644
--- a/sw/airborne/modules/ins/fw_ins_vn100.c
+++ b/sw/airborne/modules/ins/fw_ins_vn100.c
@@ -82,7 +82,7 @@ static inline bool_t ins_configure( void ) {
   return FALSE;
 }
 
-void ins_periodic_task( void ) {
+void ins_periodic( void ) {
   if (!SpiCheckAvailable()) {
     SpiOverRun();
     return;
diff --git a/sw/airborne/modules/ins/ins_chimu_spi.c b/sw/airborne/modules/ins/ins_chimu_spi.c
index 8674e1e039..e364e293e0 100644
--- a/sw/airborne/modules/ins/ins_chimu_spi.c
+++ b/sw/airborne/modules/ins/ins_chimu_spi.c
@@ -127,7 +127,7 @@ void ahrs_update_gps( void )
 }
 
 //Frequency defined in conf *.xml
-void ins_periodic_task( void )
+void ins_periodic( void )
 {
 }
 
diff --git a/sw/airborne/modules/ins/ins_chimu_uart.c b/sw/airborne/modules/ins/ins_chimu_uart.c
index 7a05dde04f..76fcf976c3 100644
--- a/sw/airborne/modules/ins/ins_chimu_uart.c
+++ b/sw/airborne/modules/ins/ins_chimu_uart.c
@@ -98,7 +98,7 @@ void parse_ins_msg( void )
 
 
 //Frequency defined in conf *.xml
-void ins_periodic_task( void )
+void ins_periodic( void )
 {
   // Downlink Send
 }
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index 1bab2b1181..06a516b284 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -1,6 +1,4 @@
 /*
- * $Id$
- *
  * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
@@ -19,19 +17,19 @@
  * 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.h
+/** \file ins_module.h
  *  \brief Device independent INS code
  *
 */
 
 
-#ifndef INS_H
-#define INS_H
+#ifndef INS_MODULE_H
+#define INS_MODULE_H
 
 #include "std.h"
+#include "subsystems/ins.h"
 
 #ifndef INS_FORMAT
 #define INS_FORMAT float
@@ -69,8 +67,6 @@ extern INS_FORMAT ins_pitch_neutral;
 extern volatile uint8_t ins_msg_received;
 extern volatile uint8_t new_ins_attitude;
 
-extern void ins_init( void );
-extern void ins_periodic_task( void );
 void handle_ins_msg( void);
 void parse_ins_msg( void );
 void parse_ins_buffer( uint8_t );
@@ -104,4 +100,4 @@ void parse_ins_buffer( uint8_t );
   }
 
 
-#endif /* INS_H */
+#endif /* INS_MODULE_H */
diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c
index c595d49676..a4da99f2b2 100644
--- a/sw/airborne/modules/ins/ins_vn100.c
+++ b/sw/airborne/modules/ins/ins_vn100.c
@@ -60,7 +60,7 @@ 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 */
+/* ins_init and ins_periodic to be implemented according to the airframe type : FW or BOOZ */
 
 void parse_ins_msg( void ) {
   if (last_received_packet.ErrID != VN100_Error_None) {
diff --git a/sw/airborne/modules/ins/ins_vn100.h b/sw/airborne/modules/ins/ins_vn100.h
index d43630e84b..c7f90c5ca3 100644
--- a/sw/airborne/modules/ins/ins_vn100.h
+++ b/sw/airborne/modules/ins/ins_vn100.h
@@ -51,7 +51,6 @@ 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 );
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index 343ce1cef6..211b317117 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -26,6 +26,7 @@
 
 #include "ins_module.h"
 #include "ins_xsens.h"
+#include "subsystems/ins.h"
 
 #include <inttypes.h>
 
@@ -233,7 +234,7 @@ void imu_impl_init(void) {
 }
 
 void imu_periodic(void) {
-  ins_periodic_task();
+  ins_periodic();
 }
 #endif /* USE_IMU */
 
@@ -244,7 +245,7 @@ void gps_impl_init(void) {
 }
 #endif
 
-void ins_periodic_task( void ) {
+void ins_periodic( void ) {
   if (xsens_configured > 0)
     {
       switch (xsens_configured)
@@ -305,6 +306,10 @@ void ins_periodic_task( void ) {
   RunOnceEvery(100,XSENS_ReqGPSStatus());
 }
 
+void ins_update_gps(void) {
+
+}
+
 #if USE_INS
 #include "state.h"
 
diff --git a/sw/airborne/subsystems/ins/ins_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
similarity index 96%
rename from sw/airborne/subsystems/ins/ins_float.c
rename to sw/airborne/subsystems/ins/ins_alt_float.c
index 263f7edb65..bbcbe6e293 100644
--- a/sw/airborne/subsystems/ins/ins_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -1,7 +1,5 @@
 /*
- * Paparazzi autopilot $Id$
- *
- * Copyright (C) 2004-2010 The Paparazzi Team
+ * Copyright (C) 2004-2012 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -19,24 +17,26 @@
  * 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 estimator.c
- * \brief State estimate, fusioning sensors
+/** @file ins_float.c
+ * Filters altitude and climb rate.
  */
 
-#include "subsystems/ins/ins_float.h"
+#include "subsystems/ins.h"
 
 #include <inttypes.h>
 #include <math.h>
 
 #include "state.h"
-#include "mcu_periph/uart.h"
-#include "ap_downlink.h"
 #include "subsystems/gps.h"
 #include "subsystems/nav.h"
 
+#ifdef DEBUG_ALT_KALMAN
+#include "mcu_periph/uart.h"
+#include "ap_downlink.h"
+#endif
+
 /* vertical position and speed in meters */
 float estimator_z;
 float estimator_z_dot;
@@ -168,6 +168,7 @@ void alt_kalman(float z_meas) {
   float R;
   float SIGMA2;
 
+#if USE_BAROMETER
 #if USE_BARO_MS5534A
   if (alt_baro_enabled) {
     DT = BARO_DT;
@@ -186,6 +187,7 @@ void alt_kalman(float z_meas) {
     R = baro_bmp_r;
     SIGMA2 = baro_bmp_sigma2;
   } else
+#endif
 #endif
   {
     DT = GPS_DT;
diff --git a/sw/airborne/subsystems/ins/ins_float.h b/sw/airborne/subsystems/ins/ins_alt_float.h
similarity index 100%
rename from sw/airborne/subsystems/ins/ins_float.h
rename to sw/airborne/subsystems/ins/ins_alt_float.h