diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
index 9529035a0f..1fd4f52c21 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
@@ -61,14 +61,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
 
-#ifndef IMU_MPU9250_GYRO_RANGE
-#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
-
-#ifndef IMU_MPU9250_ACCEL_RANGE
-#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
 
 #ifndef IMU_MPU9250_I2C_ADDR
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
index 4c7ab0567c..c5cb7940dd 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
@@ -35,39 +35,38 @@
 #include "peripherals/mpu9250_i2c.h"
 
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef IMU_MPU9250_GYRO_RANGE
+#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef IMU_MPU9250_ACCEL_RANGE
+#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
 #endif
 
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
index 13cd64c5fe..746e530417 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
@@ -67,14 +67,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
 
-#ifndef IMU_MPU9250_GYRO_RANGE
-#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
-
-#ifndef IMU_MPU9250_ACCEL_RANGE
-#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
 
 // Default channels order
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
index 3019a32b5c..22406bdca5 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
@@ -35,39 +35,38 @@
 #include "peripherals/mpu9250_spi.h"
 
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef IMU_MPU9250_GYRO_RANGE
+#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef IMU_MPU9250_ACCEL_RANGE
+#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
 #endif