diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 61f23293b7..a419019daa 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -150,7 +150,7 @@
     <define name="HACK_45" value="1"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="16.5" integer="16"/>
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index c822097688..625bf730dd 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -139,7 +139,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
     <define name="UNTILT_ACCEL" value="1"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 5c951416f3..24b7cd9ec3 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -190,7 +190,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
     <define name="UNTILT_ACCEL" value="1"/>
   </section>
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index bad4fb193a..aa6736e712 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -148,7 +148,7 @@
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 30b5a79bd1..3acd5c171a 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -165,7 +165,7 @@
 	</section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 1f7ff99a54..9b53f79224 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -141,7 +141,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml
index d37b1d54c4..e0903b41a3 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/Poine/booz2_a1p.xml
@@ -145,7 +145,7 @@
     <define name="H_Z" value="0.8624"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a2.xml b/conf/airframes/Poine/booz2_a2.xml
index 3ae6d2cfd0..6897d29285 100644
--- a/conf/airframes/Poine/booz2_a2.xml
+++ b/conf/airframes/Poine/booz2_a2.xml
@@ -133,7 +133,7 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a3.xml b/conf/airframes/Poine/booz2_a3.xml
index b5fa5bed94..1ef44bbfc4 100644
--- a/conf/airframes/Poine/booz2_a3.xml
+++ b/conf/airframes/Poine/booz2_a3.xml
@@ -120,7 +120,7 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a4.xml b/conf/airframes/Poine/booz2_a4.xml
index 1d3d111860..e4d18a41fe 100644
--- a/conf/airframes/Poine/booz2_a4.xml
+++ b/conf/airframes/Poine/booz2_a4.xml
@@ -98,7 +98,7 @@
     <define name="HACK_45" value="1"/>
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a5.xml b/conf/airframes/Poine/booz2_a5.xml
index 4320b5a8df..a6f8e49841 100644
--- a/conf/airframes/Poine/booz2_a5.xml
+++ b/conf/airframes/Poine/booz2_a5.xml
@@ -137,7 +137,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a6.xml b/conf/airframes/Poine/booz2_a6.xml
index d57d2d95b0..aa4ceda472 100644
--- a/conf/airframes/Poine/booz2_a6.xml
+++ b/conf/airframes/Poine/booz2_a6.xml
@@ -138,7 +138,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 0d5f1555fa..73b5c1d143 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -137,7 +137,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
 <!--    <define name="BARO_SENS" value="15." integer="16"/> -->
     <define name="BARO_SENS" value="10." integer="16"/>
   </section>
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 76c65bc914..ca1bfe0073 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -215,7 +215,7 @@ second attempt
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
 	<define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 87bcdde037..5dfe807b76 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -125,7 +125,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index 6401d96651..69787b714b 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -170,7 +170,7 @@
 		<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
 	</section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
 	<define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 9fb2a4b39f..1ed8e51974 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -170,7 +170,7 @@
         <define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
     </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index fb85010b66..6978b4e6a4 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -216,7 +216,7 @@ second attempt
   </section>
 
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/UofAdelaide/lisa_a1000.xml
index e6ce19c1a3..4b7b6edb4d 100644
--- a/conf/airframes/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/UofAdelaide/lisa_a1000.xml
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_Aron.xml b/conf/airframes/booz2_Aron.xml
index 34bd52d397..3314d84eb2 100644
--- a/conf/airframes/booz2_Aron.xml
+++ b/conf/airframes/booz2_Aron.xml
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_NoVa.xml b/conf/airframes/booz2_NoVa.xml
index 4738f4a333..0a81b294fc 100644
--- a/conf/airframes/booz2_NoVa.xml
+++ b/conf/airframes/booz2_NoVa.xml
@@ -170,7 +170,7 @@
 		<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }" />
 	</section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_NoVa_001.xml b/conf/airframes/booz2_NoVa_001.xml
index f2b27b9980..ff0fd70a5f 100644
--- a/conf/airframes/booz2_NoVa_001.xml
+++ b/conf/airframes/booz2_NoVa_001.xml
@@ -170,7 +170,7 @@
 		<define name="ADDR" value="{ 0x52, 0x58, 0x54, 0x56 }" />
 	</section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_NoVa_002.xml b/conf/airframes/booz2_NoVa_002.xml
index 8745caa057..878d3347fa 100644
--- a/conf/airframes/booz2_NoVa_002.xml
+++ b/conf/airframes/booz2_NoVa_002.xml
@@ -170,7 +170,7 @@
 		<define name="ADDR" value="{ 0x54, 0x58, 0x56, 0x52 }" />
 	</section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index e44f1c4e20..5f11c177c2 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -160,7 +160,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16" />
   </section>
 
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index cb34c0b87c..74e44ece8e 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -191,7 +191,7 @@
    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
  </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_s1.xml b/conf/airframes/booz2_s1.xml
index 02b6f2fc6e..bc0035c8cb 100644
--- a/conf/airframes/booz2_s1.xml
+++ b/conf/airframes/booz2_s1.xml
@@ -129,7 +129,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_x1.xml b/conf/airframes/booz2_x1.xml
index b06ab1d44e..52eb4e1100 100644
--- a/conf/airframes/booz2_x1.xml
+++ b/conf/airframes/booz2_x1.xml
@@ -140,7 +140,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="19." integer="16"/>
   </section>
 
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 50f8e48d67..67b7637e5b 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -133,7 +133,7 @@
 
   </section>
 
-  <section name="INS" prefix="BOOZ_INS_">
+  <section name="INS" prefix="INS_">
     <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
diff --git a/conf/messages.xml b/conf/messages.xml
index 873455eb30..fdc78b4009 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1470,7 +1470,7 @@
       <field name="mag_z"    type="float" />
     </message>
 
-    <message name="BOOZ_INS" id="198">
+    <message name="INS" id="198">
       <field name="ins_x"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
       <field name="ins_y"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
       <field name="ins_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
diff --git a/conf/telemetry/booz_minimal.xml b/conf/telemetry/booz_minimal.xml
index aef3dc4dbc..7e8ad038e5 100644
--- a/conf/telemetry/booz_minimal.xml
+++ b/conf/telemetry/booz_minimal.xml
@@ -25,7 +25,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
 
diff --git a/conf/telemetry/telemetry_booz2.xml b/conf/telemetry/telemetry_booz2.xml
index 8aa5a70e50..ee9f58aac8 100644
--- a/conf/telemetry/telemetry_booz2.xml
+++ b/conf/telemetry/telemetry_booz2.xml
@@ -15,7 +15,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
     <mode name="ppm">
diff --git a/conf/telemetry/telemetry_booz2_flixr.xml b/conf/telemetry/telemetry_booz2_flixr.xml
index aeb5caf1b5..441e1d228f 100644
--- a/conf/telemetry/telemetry_booz2_flixr.xml
+++ b/conf/telemetry/telemetry_booz2_flixr.xml
@@ -15,7 +15,7 @@
       <message name="WP_MOVED"          period="1.3"/>
       <message name="BOOZ2_CAM"         period="1."/>
       <message name="BOOZ2_GPS"         period=".25"/>
-      <message name="BOOZ_INS"          period=".25"/>
+      <message name="INS"          period=".25"/>
     </mode>
 
     <mode name="ppm">
diff --git a/sw/airborne/firmwares/rotorcraft/ins.c b/sw/airborne/firmwares/rotorcraft/ins.c
index 76c96774f7..b5930aea5f 100644
--- a/sw/airborne/firmwares/rotorcraft/ins.c
+++ b/sw/airborne/firmwares/rotorcraft/ins.c
@@ -188,7 +188,7 @@ void ins_update_baro() {
       ins_qfe = baro.absolute;
       ins_baro_initialised = TRUE;
     }
-    ins_baro_alt = ((baro.absolute - ins_qfe) * BOOZ_INS_BARO_SENS_NUM)/BOOZ_INS_BARO_SENS_DEN;
+    ins_baro_alt = ((baro.absolute - ins_qfe) * INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN;
     float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt);
     if (ins_vf_realign) {
       ins_vf_realign = FALSE;
@@ -275,8 +275,8 @@ void ins_update_sonar() {
   sonar_filtered = (sonar_meas + 2*sonar_filtered) / 3;
   /* update baro_qfe assuming a flat ground */
   if (ins_update_on_agl && booz2_analog_baro_status == BOOZ2_ANALOG_BARO_RUNNING) {
-    int32_t d_sonar = (((int32_t)sonar_filtered - ins_sonar_offset) * BOOZ_INS_SONAR_SENS_NUM) / BOOZ_INS_SONAR_SENS_DEN;
-    ins_qfe = (int32_t)booz2_analog_baro_value + (d_sonar * (BOOZ_INS_BARO_SENS_DEN))/BOOZ_INS_BARO_SENS_NUM;
+    int32_t d_sonar = (((int32_t)sonar_filtered - ins_sonar_offset) * INS_SONAR_SENS_NUM) / INS_SONAR_SENS_DEN;
+    ins_qfe = (int32_t)booz2_analog_baro_value + (d_sonar * (INS_BARO_SENS_DEN))/INS_BARO_SENS_NUM;
   }
 #endif
 }
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 7ae95fdf86..acec3789ac 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -576,8 +576,8 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
 #define PERIODIC_SEND_INS3(_chan) {}
 #endif /* USE_GPS */
 
-#define PERIODIC_SEND_BOOZ_INS(_chan) {			\
-    DOWNLINK_SEND_BOOZ_INS(_chan,				\
+#define PERIODIC_SEND_INS(_chan) {			\
+    DOWNLINK_SEND_INS(_chan,				\
 					   &ins_ltp_pos.x,		\
 					   &ins_ltp_pos.y,	    \
 					   &ins_ltp_pos.z,		\