diff --git a/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile b/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
index c3e4cae15b..fdc75ecede 100644
--- a/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
+++ b/conf/firmwares/subsystems/fixedwing/fdm_crrcsim.makefile
@@ -23,8 +23,6 @@ nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy $(shell pcre-co
 nps.CFLAGS  += -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I$(PAPARAZZI_SRC)/sw/simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
 nps.LDFLAGS += $(shell sdl-config --libs)
 
-nps.CFLAGS  += -DNPS_ACCEL_FROM_UVWDOT
-
 #
 # add the simulator directory to the make searchpath
 #
diff --git a/sw/simulator/nps/nps_fdm_crrcsim.c b/sw/simulator/nps/nps_fdm_crrcsim.c
index b6825dc8eb..b73f5812a4 100644
--- a/sw/simulator/nps/nps_fdm_crrcsim.c
+++ b/sw/simulator/nps/nps_fdm_crrcsim.c
@@ -430,15 +430,25 @@ static void decode_ahrspacket(struct NpsFdm * fdm, byte* buffer)
 void decode_imupacket(struct NpsFdm * fdm, byte* buffer)
 {
   /* acceleration (0.1670132517315938e04 m/s^2 to m/s^2) */
-  fdm->body_ecef_accel.x = (double)ShortOfBuf(buffer,3)*5.98755e-04;
-  fdm->body_ecef_accel.y = (double)ShortOfBuf(buffer,5)*5.98755e-04;
-  fdm->body_ecef_accel.z = (double)ShortOfBuf(buffer,7)*5.98755e-04;
+  fdm->body_accel.x = (double)ShortOfBuf(buffer,3)*5.98755e-04;
+  fdm->body_accel.y = (double)ShortOfBuf(buffer,5)*5.98755e-04;
+  fdm->body_accel.z = (double)ShortOfBuf(buffer,7)*5.98755e-04;
+
+  /* since we don't get acceleration in ecef frame, use ECI for now */
+  fdm->body_ecef_accel.x = fdm->body_accel.x;
+  fdm->body_ecef_accel.y = fdm->body_accel.y;
+  fdm->body_ecef_accel.z = fdm->body_accel.z;
 
 
   /* angular rate (0.9387340515702713e4 rad/s to rad/s) */
-  fdm->body_inertial_rotvel.p  = (double)ShortOfBuf(buffer,9)*1.06526e-04;
-  fdm->body_inertial_rotvel.q  = (double)ShortOfBuf(buffer,11)*1.06526e-04;
-  fdm->body_inertial_rotvel.r  = (double)ShortOfBuf(buffer,13)*1.06526e-04;
+  fdm->body_inertial_rotvel.p = (double)ShortOfBuf(buffer,9)*1.06526e-04;
+  fdm->body_inertial_rotvel.q = (double)ShortOfBuf(buffer,11)*1.06526e-04;
+  fdm->body_inertial_rotvel.r = (double)ShortOfBuf(buffer,13)*1.06526e-04;
+
+  /* since we don't get angular velocity in ECEF frame, use the rotvel in ECI frame for now */
+  fdm->body_ecef_rotvel.p = fdm->body_inertial_rotvel.p;
+  fdm->body_ecef_rotvel.q = fdm->body_inertial_rotvel.q;
+  fdm->body_ecef_rotvel.r = fdm->body_inertial_rotvel.r;
 
   /* magnetic field in Gauss */
   //fdm->mag.x = (double)ShortOfBuf(buffer,15)*6.10352e-05;
@@ -451,9 +461,9 @@ void decode_imupacket(struct NpsFdm * fdm, byte* buffer)
 
 #if NPS_CRRCSIM_DEBUG
   printf("decode imu | accel %f %f %f | gyro %f %f %f\n",
-      fdm->body_ecef_accel.x,
-      fdm->body_ecef_accel.y,
-      fdm->body_ecef_accel.z,
+      fdm->body_accel.x,
+      fdm->body_accel.y,
+      fdm->body_accel.z,
       fdm->body_inertial_rotvel.p,
       fdm->body_inertial_rotvel.q,
       fdm->body_inertial_rotvel.r);
diff --git a/sw/simulator/nps/nps_sensor_accel.c b/sw/simulator/nps/nps_sensor_accel.c
index cca6a22ef0..7a4a2256d5 100644
--- a/sw/simulator/nps/nps_sensor_accel.c
+++ b/sw/simulator/nps/nps_sensor_accel.c
@@ -7,7 +7,8 @@
 #include NPS_SENSORS_PARAMS
 #include "math/pprz_algebra_int.h"
 
-void   nps_sensor_accel_init(struct NpsSensorAccel* accel, double time) {
+void nps_sensor_accel_init(struct NpsSensorAccel* accel, double time)
+{
   FLOAT_VECT3_ZERO(accel->value);
   accel->min = NPS_ACCEL_MIN;
   accel->max = NPS_ACCEL_MAX;
@@ -23,34 +24,14 @@ void   nps_sensor_accel_init(struct NpsSensorAccel* accel, double time) {
   accel->data_available = FALSE;
 }
 
-//#include <stdio.h>
-
-void   nps_sensor_accel_run_step(struct NpsSensorAccel* accel, double time, struct DoubleRMat* body_to_imu) {
-
+void nps_sensor_accel_run_step(struct NpsSensorAccel* accel, double time, struct DoubleRMat* body_to_imu)
+{
   if (time < accel->next_update)
     return;
 
-#if NPS_ACCEL_FROM_UVWDOT
-  /* transform gravity to body frame */
-  struct DoubleVect3 g_body;
-  double_quat_vmult(&g_body, &fdm.ltp_to_body_quat, &fdm.ltp_g);
-  //  printf(" g_body     % .3f % .3f % .3f\n", g_body.x, g_body.y, g_body.z);
-
-  //  printf(" accel_fdm  % .3f % .3f % .3f\n", fdm.body_ecef_accel.x, fdm.body_ecef_accel.y, fdm.body_ecef_accel.z);
-
-  /* substract gravity to acceleration in body frame */
-  struct DoubleVect3 accelero_body;
-  VECT3_DIFF(accelero_body, fdm.body_ecef_accel, g_body);
-#else
-  struct DoubleVect3 accelero_body;
-  VECT3_COPY(accelero_body, fdm.body_accel);
-#endif
-
-  //  printf(" accel body % .3f %.3f % .3f\n", accelero_body.x, accelero_body.y, accelero_body.z);
-
   /* transform to imu frame */
   struct DoubleVect3 accelero_imu;
-  MAT33_VECT3_MUL(accelero_imu, *body_to_imu, accelero_body);
+  MAT33_VECT3_MUL(accelero_imu, *body_to_imu, fdm.body_accel);
 
   /* compute accelero readings */
   MAT33_VECT3_MUL(accel->value, accel->sensitivity, accelero_imu);