diff --git a/sw/airborne/boards/umarim/imu_umarim.c b/sw/airborne/boards/umarim/imu_umarim.c
index c1e9a8aee5..a2bdd9128d 100644
--- a/sw/airborne/boards/umarim/imu_umarim.c
+++ b/sw/airborne/boards/umarim/imu_umarim.c
@@ -74,7 +74,7 @@ void imu_periodic( void )
   // Start reading the latest accelerometer data
   adxl345_periodic();
 
-  //RunOnceEvery(10,imu_umarim_downlink_raw());
+  RunOnceEvery(10,imu_umarim_downlink_raw());
 }
 
 
@@ -91,7 +91,7 @@ void imu_umarim_event( void )
   // If the itg3200 I2C transaction has succeeded: convert the data
   itg3200_event();
   if (itg3200_data_available) {
-    RATES_COPY(imu.gyro_unscaled, itg3200_data);
+    RATES_ASSIGN(imu.gyro_unscaled, itg3200_data.p, itg3200_data.q, itg3200_data.r);
     itg3200_data_available = FALSE;
     gyr_valid = TRUE;
   }
@@ -99,6 +99,7 @@ void imu_umarim_event( void )
   // If the adxl345 I2C transaction has succeeded: convert the data
   adxl345_event();
   if (adxl345_data_available) {
+    // Be careful with orientation of the ADXL (ITG axes are taken as default reference)
     VECT3_ASSIGN(imu.accel_unscaled, adxl345_data.y, -adxl345_data.x, adxl345_data.z);
     adxl345_data_available = FALSE;
     acc_valid = TRUE;
diff --git a/sw/airborne/boards/umarim_1.0.h b/sw/airborne/boards/umarim_1.0.h
index 38a1b904c9..f4c87cbb96 100644
--- a/sw/airborne/boards/umarim_1.0.h
+++ b/sw/airborne/boards/umarim_1.0.h
@@ -44,6 +44,39 @@
 
 /* ADC */
 
+#define ADC_0 AdcBank1(5)
+#ifdef USE_ADC_0
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_5
+#endif
+
+#define ADC_1 AdcBank1(4)
+#ifdef USE_ADC_1
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_4
+#endif
+
+#define ADC_2 AdcBank1(3)
+#ifdef USE_ADC_2
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_3
+#endif
+
+#define ADC_3 AdcBank1(2)
+#ifdef USE_ADC_3
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_2
+#endif
+
+
 /* battery */
 #define ADC_CHANNEL_VSUPPLY AdcBank0(2)
 #ifndef USE_AD0