diff --git a/conf/simulator/nps/nps_sensors_params_default.h b/conf/simulator/nps/nps_sensors_params_default.h
index c46e1de4b8..e18e43ce59 100644
--- a/conf/simulator/nps/nps_sensors_params_default.h
+++ b/conf/simulator/nps/nps_sensors_params_default.h
@@ -62,9 +62,22 @@
 #define NPS_ACCEL_SENSITIVITY_NUM 981
 #define NPS_ACCEL_SENSITIVITY_DEN 200
 #define NPS_ACCEL_SENSITIVITY     ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
+
+#ifdef IMU_ACCEL_X_SENS
+#define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
+#ifdef IMU_ACCEL_Y_SENS
+#define NPS_ACCEL_SENSITIVITY_YY  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_YY  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
+#ifdef IMU_ACCEL_Z_SENS
+#define NPS_ACCEL_SENSITIVITY_ZZ  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_ZZ  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
 
 #ifdef IMU_ACCEL_X_NEUTRAL
 #define NPS_ACCEL_NEUTRAL_X       IMU_ACCEL_X_NEUTRAL
@@ -112,9 +125,22 @@
 #define NPS_GYRO_SENSITIVITY_NUM  36542
 #define NPS_GYRO_SENSITIVITY_DEN  8383
 #define NPS_GYRO_SENSITIVITY      ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
+
+#ifdef IMU_GYRO_P_SENS
+#define NPS_GYRO_SENSITIVITY_PP   RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_PP   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
+#ifdef IMU_GYRO_Q_SENS
+#define NPS_GYRO_SENSITIVITY_QQ   RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_QQ   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
+#ifdef IMU_GYRO_R_SENS
+#define NPS_GYRO_SENSITIVITY_RR   RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_RR   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
 
 #ifdef IMU_GYRO_P_NEUTRAL
 #define NPS_GYRO_NEUTRAL_P        IMU_GYRO_P_NEUTRAL
@@ -168,9 +194,22 @@
 #define NPS_MAG_SENSITIVITY_NUM  1
 #define NPS_MAG_SENSITIVITY_DEN  1
 #define NPS_MAG_SENSITIVITY      ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
+
+#ifdef IMU_MAG_X_SENS
+#define NPS_MAG_SENSITIVITY_XX   MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_XX   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
+#ifdef IMU_MAG_Y_SENS
+#define NPS_MAG_SENSITIVITY_YY   MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_YY   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
+#ifdef IMU_MAG_Z_SENS
+#define NPS_MAG_SENSITIVITY_ZZ   MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_ZZ   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
 
 #ifdef IMU_MAG_X_NEUTRAL
 #define NPS_MAG_NEUTRAL_X  IMU_MAG_X_NEUTRAL
diff --git a/conf/simulator/nps/nps_sensors_params_noisy.h b/conf/simulator/nps/nps_sensors_params_noisy.h
index 8b19941b7e..bbdd40f181 100644
--- a/conf/simulator/nps/nps_sensors_params_noisy.h
+++ b/conf/simulator/nps/nps_sensors_params_noisy.h
@@ -62,9 +62,22 @@
 #define NPS_ACCEL_SENSITIVITY_NUM 981
 #define NPS_ACCEL_SENSITIVITY_DEN 200
 #define NPS_ACCEL_SENSITIVITY     ((float)NPS_ACCEL_SENSITIVITY_NUM / (float)NPS_ACCEL_SENSITIVITY_DEN)
+
+#ifdef IMU_ACCEL_X_SENS
+#define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_X_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_XX  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
+#ifdef IMU_ACCEL_Y_SENS
+#define NPS_ACCEL_SENSITIVITY_YY  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Y_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_YY  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
+#ifdef IMU_ACCEL_Z_SENS
+#define NPS_ACCEL_SENSITIVITY_ZZ  ACCEL_BFP_OF_REAL(1./IMU_ACCEL_Z_SENS)
+#else
 #define NPS_ACCEL_SENSITIVITY_ZZ  ACCEL_BFP_OF_REAL(1./NPS_ACCEL_SENSITIVITY)
+#endif
 
 #ifdef IMU_ACCEL_X_NEUTRAL
 #define NPS_ACCEL_NEUTRAL_X       IMU_ACCEL_X_NEUTRAL
@@ -112,9 +125,22 @@
 #define NPS_GYRO_SENSITIVITY_NUM  36542
 #define NPS_GYRO_SENSITIVITY_DEN  8383
 #define NPS_GYRO_SENSITIVITY      ((float)NPS_GYRO_SENSITIVITY_NUM / (float)NPS_GYRO_SENSITIVITY_DEN)
+
+#ifdef IMU_GYRO_P_SENS
+#define NPS_GYRO_SENSITIVITY_PP   RATE_BFP_OF_REAL(1./IMU_GYRO_P_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_PP   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
+#ifdef IMU_GYRO_Q_SENS
+#define NPS_GYRO_SENSITIVITY_QQ   RATE_BFP_OF_REAL(1./IMU_GYRO_Q_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_QQ   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
+#ifdef IMU_GYRO_R_SENS
+#define NPS_GYRO_SENSITIVITY_RR   RATE_BFP_OF_REAL(1./IMU_GYRO_R_SENS)
+#else
 #define NPS_GYRO_SENSITIVITY_RR   RATE_BFP_OF_REAL(1./NPS_GYRO_SENSITIVITY)
+#endif
 
 #ifdef IMU_GYRO_P_NEUTRAL
 #define NPS_GYRO_NEUTRAL_P        IMU_GYRO_P_NEUTRAL
@@ -168,9 +194,22 @@
 #define NPS_MAG_SENSITIVITY_NUM  1
 #define NPS_MAG_SENSITIVITY_DEN  1
 #define NPS_MAG_SENSITIVITY      ((float)NPS_MAG_SENSITIVITY_NUM / (float)NPS_MAG_SENSITIVITY_DEN)
+
+#ifdef IMU_MAG_X_SENS
+#define NPS_MAG_SENSITIVITY_XX   MAG_BFP_OF_REAL(1./IMU_MAG_X_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_XX   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
+#ifdef IMU_MAG_Y_SENS
+#define NPS_MAG_SENSITIVITY_YY   MAG_BFP_OF_REAL(1./IMU_MAG_Y_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_YY   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
+#ifdef IMU_MAG_Z_SENS
+#define NPS_MAG_SENSITIVITY_ZZ   MAG_BFP_OF_REAL(1./IMU_MAG_Z_SENS)
+#else
 #define NPS_MAG_SENSITIVITY_ZZ   MAG_BFP_OF_REAL(1./NPS_MAG_SENSITIVITY)
+#endif
 
 #ifdef IMU_MAG_X_NEUTRAL
 #define NPS_MAG_NEUTRAL_X  IMU_MAG_X_NEUTRAL