diff --git a/sw/airborne/modules/ins/ahrs_chimu_spi.c b/sw/airborne/modules/ins/ahrs_chimu_spi.c
index 18ed9222d2..f2d53fa8ca 100644
--- a/sw/airborne/modules/ins/ahrs_chimu_spi.c
+++ b/sw/airborne/modules/ins/ahrs_chimu_spi.c
@@ -40,6 +40,13 @@ struct AhrsChimu ahrs_chimu;
 void ahrs_chimu_update_gps(uint8_t gps_fix, uint16_t gps_speed_3d);
 
 #include "subsystems/abi.h"
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef AHRS_CHIMU_GPS_ID
+#define AHRS_CHIMU_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(AHRS_CHIMU_GPS_ID)
 static abi_event gps_ev;
 static void gps_cb(uint8_t sender_id __attribute__((unused)),
                    uint32_t stamp __attribute__((unused)),
@@ -58,7 +65,7 @@ void ahrs_chimu_register(void)
 {
   ahrs_chimu_init();
   ahrs_register_impl(ahrs_chimu_enable_output);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(AHRS_CHIMU_GPS_ID, &gps_ev, gps_cb);
 }
 
 void ahrs_chimu_init(void)
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index 5c3d3bc9d3..38b0df830a 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -259,6 +259,13 @@ void ins_xsens_init(void)
 }
 
 #include "subsystems/abi.h"
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_XSENS_GPS_ID
+#define INS_XSENS_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_XSENS_GPS_ID)
 static abi_event gps_ev;
 static void gps_cb(uint8_t sender_id __attribute__((unused)),
                    uint32_t stamp __attribute__((unused)),
@@ -270,7 +277,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 void ins_xsens_register(void)
 {
   ins_register_impl(ins_xsens_init);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_XSENS_GPS_ID, &gps_ev, gps_cb);
 }
 
 void ins_xsens_update_gps(struct GpsState *gps_s)
diff --git a/sw/airborne/modules/ins/ins_xsens700.c b/sw/airborne/modules/ins/ins_xsens700.c
index 44f10dd576..44a5b398db 100644
--- a/sw/airborne/modules/ins/ins_xsens700.c
+++ b/sw/airborne/modules/ins/ins_xsens700.c
@@ -190,6 +190,13 @@ void ins_xsens_init(void)
 }
 
 #include "subsystems/abi.h"
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_XSENS700_GPS_ID
+#define INS_XSENS700_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_XSENS700_GPS_ID)
 static abi_event gps_ev;
 static void gps_cb(uint8_t sender_id __attribute__((unused)),
                    uint32_t stamp __attribute__((unused)),
@@ -201,7 +208,7 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 void ins_xsens_register(void)
 {
   ins_register_impl(ins_xsens_init);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_XSENS700_GPS_ID, &gps_ev, gps_cb);
 }
 
 void ins_xsens_update_gps(struct GpsState *gps_s)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
index ea202ae141..b7948284ef 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
@@ -120,6 +120,13 @@ PRINT_CONFIG_VAR(AHRS_FC_IMU_ID)
 #define AHRS_FC_MAG_ID AHRS_FC_IMU_ID
 #endif
 PRINT_CONFIG_VAR(AHRS_FC_MAG_ID)
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef AHRS_FC_GPS_ID
+#define AHRS_FC_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(AHRS_FC_GPS_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -288,7 +295,7 @@ void ahrs_fc_register(void)
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(AHRS_FC_GPS_ID, &gps_ev, gps_cb);
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_EULER, send_euler);
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
index 31b1042d96..5772438bb4 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm_wrapper.c
@@ -71,6 +71,13 @@ PRINT_CONFIG_VAR(AHRS_DCM_IMU_ID)
 #define AHRS_DCM_MAG_ID AHRS_DCM_IMU_ID
 #endif
 PRINT_CONFIG_VAR(AHRS_DCM_MAG_ID)
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef AHRS_DCM_GPS_ID
+#define AHRS_DCM_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(AHRS_DCM_GPS_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -202,7 +209,7 @@ void ahrs_dcm_register(void)
   AbiBindMsgIMU_MAG_INT32(AHRS_DCM_MAG_ID, &mag_ev, mag_cb);
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(AHRS_DCM_GPS_ID, &gps_ev, gps_cb);
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_STATE_FILTER_STATUS, send_filter_status);
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
index e3730539db..28f3b0b4dd 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
@@ -121,6 +121,13 @@ PRINT_CONFIG_VAR(AHRS_ICQ_IMU_ID)
 #define AHRS_ICQ_MAG_ID AHRS_ICQ_IMU_ID
 #endif
 PRINT_CONFIG_VAR(AHRS_ICQ_MAG_ID)
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef AHRS_ICQ_GPS_ID
+#define AHRS_ICQ_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(AHRS_ICQ_GPS_ID)
 static abi_event gyro_ev;
 static abi_event accel_ev;
 static abi_event mag_ev;
@@ -276,7 +283,7 @@ void ahrs_icq_register(void)
   AbiBindMsgIMU_LOWPASSED(ABI_BROADCAST, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(ABI_BROADCAST, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(AHRS_ICQ_GPS_ID, &gps_ev, gps_cb);
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AHRS_QUAT_INT, send_quat);
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index 77143cd4ea..3fe2d8f055 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -71,10 +71,18 @@ PRINT_CONFIG_MSG("USE_BAROMETER is TRUE: Using baro for altitude estimation.")
 #endif
 #endif
 PRINT_CONFIG_VAR(INS_BARO_ID)
+
 abi_event baro_ev;
 static void baro_cb(uint8_t sender_id, float pressure);
 #endif /* USE_BAROMETER */
 
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_ALT_GPS_ID
+#define INS_ALT_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_ALT_GPS_ID)
 static abi_event gps_ev;
 static abi_event accel_ev;
 static abi_event body_to_imu_ev;
@@ -383,7 +391,7 @@ void ins_altf_register(void)
   // Bind to BARO_ABS message
   AbiBindMsgBARO_ABS(INS_BARO_ID, &baro_ev, baro_cb);
 #endif
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_ALT_GPS_ID, &gps_ev, gps_cb);
   AbiBindMsgIMU_ACCEL_INT32(INS_ALT_IMU_ID, &accel_ev, accel_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(INS_ALT_IMU_ID, &body_to_imu_ev, body_to_imu_cb);
 }
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
index 4c83c57b1c..6b7caf62d0 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant_wrapper.c
@@ -94,6 +94,14 @@ PRINT_CONFIG_VAR(INS_FINV_IMU_ID)
 #endif
 PRINT_CONFIG_VAR(INS_FINV_MAG_ID)
 
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_FINV_GPS_ID
+#define INS_FINV_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_FINV_GPS_ID)
+
 static abi_event baro_ev;
 static abi_event mag_ev;
 static abi_event gyro_ev;
@@ -205,7 +213,7 @@ void ins_float_invariant_register(void)
   AbiBindMsgIMU_LOWPASSED(INS_FINV_IMU_ID, &aligner_ev, aligner_cb);
   AbiBindMsgBODY_TO_IMU_QUAT(INS_FINV_IMU_ID, &body_to_imu_ev, body_to_imu_cb);
   AbiBindMsgGEO_MAG(ABI_BROADCAST, &geo_mag_ev, geo_mag_cb);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_FINV_GPS_ID, &gps_ev, gps_cb);
 
 #if PERIODIC_TELEMETRY && !INS_FINV_USE_UTM
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_INS_REF, send_ins_ref);
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index fd79437b62..8863de4d4c 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -144,6 +144,13 @@ void ins_reset_altitude_ref(void)
 
 
 #include "subsystems/abi.h"
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_PT_GPS_ID
+#define INS_PT_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_PT_GPS_ID)
 static abi_event gps_ev;
 static void gps_cb(uint8_t sender_id __attribute__((unused)),
                    uint32_t stamp __attribute__((unused)),
@@ -173,5 +180,5 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 void ins_gps_passthrough_register(void)
 {
   ins_register_impl(ins_gps_passthrough_init);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_PT_GPS_ID, &gps_ev, gps_cb);
 }
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
index 6aa8127229..b068075d77 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough_utm.c
@@ -63,6 +63,13 @@ void ins_reset_altitude_ref(void)
 
 
 #include "subsystems/abi.h"
+/** ABI binding for gps data.
+ * Used for GPS ABI messages.
+ */
+#ifndef INS_PTU_GPS_ID
+#define INS_PTU_GPS_ID ABI_BROADCAST
+#endif
+PRINT_CONFIG_VAR(INS_PTU_GPS_ID)
 static abi_event gps_ev;
 
 static void gps_cb(uint8_t sender_id __attribute__((unused)),
@@ -87,5 +94,5 @@ static void gps_cb(uint8_t sender_id __attribute__((unused)),
 void ins_gps_utm_register(void)
 {
   ins_register_impl(ins_gps_utm_init);
-  AbiBindMsgGPS(ABI_BROADCAST, &gps_ev, gps_cb);
+  AbiBindMsgGPS(INS_PTU_GPS_ID, &gps_ev, gps_cb);
 }