diff --git a/conf/modules/airspeed_amsys.xml b/conf/modules/airspeed_amsys.xml
index 85cb9cbcb0..a28b066830 100644
--- a/conf/modules/airspeed_amsys.xml
+++ b/conf/modules/airspeed_amsys.xml
@@ -11,8 +11,8 @@
     <define name="AIRSPEED_AMSYS_MAXPRESURE" value="2068" description="max sensor pressure (Pa) (default: 2068 for -003)(for -001 use 689)"/>
     <define name="AIRSPEED_AMSYS_SCALE" value="1.0" description="sensor scale factor (default: 1.0)"/>
     <define name="AIRSPEED_AMSYS_FILTER" value="0." description="sensor filter (default: 0. max:1)"/>
-    <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
     <define name="AIRSPEED_AMSYS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
+    <define name="USE_AIRSPEED_AMSYS" value="TRUE|FALSE" description="set airspeed in state interface"/>
   </doc>
   <settings>
     <dl_settings>
diff --git a/conf/modules/airspeed_ets.xml b/conf/modules/airspeed_ets.xml
index 07cf003315..26892fe061 100644
--- a/conf/modules/airspeed_ets.xml
+++ b/conf/modules/airspeed_ets.xml
@@ -21,8 +21,8 @@
     <define name="AIRSPEED_ETS_OFFSET" value="offset" description="sensor reading offset (default: 0)"/>
     <define name="AIRSPEED_ETS_SCALE" value="scale" description="sensor scale factor (default: 1.8)"/>
     <define name="AIRSPEED_ETS_START_DELAY" value="delay" description="set initial start delay in seconds"/>
-    <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
     <define name="AIRSPEED_ETS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
+    <define name="USE_AIRSPEED_ETS" value="TRUE|FALSE" description="set airspeed in state interface"/>
   </doc>
 
   <header>
diff --git a/conf/modules/airspeed_ms45xx_i2c.xml b/conf/modules/airspeed_ms45xx_i2c.xml
index 926de40645..94bb9bcaee 100644
--- a/conf/modules/airspeed_ms45xx_i2c.xml
+++ b/conf/modules/airspeed_ms45xx_i2c.xml
@@ -16,7 +16,7 @@
     <define name="MS45XX_PRESSURE_OFFSET" value="8618.4" description="pressure offset in Pa (default: set according to pressure range and output type according to datasheet)"/>
     <define name="MS45XX_AIRSPEED_SCALE" value="1.6327" description="quadratic scale factor to convert differential pressure to airspeed"/>
     <define name="MS45XX_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter"/>
-    <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
+    <define name="USE_AIRSPEED_MS45XX" value="TRUE|FALSE" description="set airspeed in state interface"/>
   </doc>
 
   <settings>
diff --git a/conf/modules/pbn.xml b/conf/modules/pbn.xml
index 60c038e401..5459ff9063 100644
--- a/conf/modules/pbn.xml
+++ b/conf/modules/pbn.xml
@@ -11,6 +11,10 @@
       controlled by a dspic
       return scaled values over I2C
     </description>
+    <define name="PBN_AIRSPEED_SCALE" value="(1./0.54)" description="quadratic scale factor to convert differential pressure to airspeed"/>
+    <define name="PBN_ALTITUDE_SCALE" value="0.32" description="linear scale factor for altitude"/>
+    <define name="PBN_PRESSURE_OFFSET" value="101325.0" description="pressure offset"/>
+    <define name="USE_AIRSPEED_PBN" value="TRUE|FALSE" description="set airspeed in state interface"/>
   </doc>
   <settings>
     <dl_settings>
diff --git a/sw/airborne/modules/sensors/airspeed_amsys.c b/sw/airborne/modules/sensors/airspeed_amsys.c
index 0a52383c6e..88f979be5e 100644
--- a/sw/airborne/modules/sensors/airspeed_amsys.c
+++ b/sw/airborne/modules/sensors/airspeed_amsys.c
@@ -57,6 +57,14 @@
 #define TEMPERATURE_AMSYS_MIN -25
 #endif
 
+#ifndef USE_AIRSPEED_AMSYS
+#if USE_AIRSPEED
+#define USE_AIRSPEED_AMSYS TRUE
+PRINT_CONFIG_MSG("USE_AIRSPEED_AMSYS automatically set to TRUE")
+#endif
+#endif
+
+
 
 // Global variables
 uint16_t airspeed_amsys_raw;
@@ -106,7 +114,7 @@ void airspeed_amsys_read_periodic( void ) {
 #endif
   }
 
-#if USE_AIRSPEED
+#if USE_AIRSPEED_AMSYS
     stateSetAirspeed_f(&airspeed_amsys);
 #endif
 
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
index f7d2fed2fc..e43ebdf489 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.c
+++ b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -47,12 +47,17 @@
 #include "subsystems/datalink/downlink.h"
 #include <math.h>
 
-#if !USE_AIRSPEED
-#ifndef AIRSPEED_ETS_SYNC_SEND
-#warning either set USE_AIRSPEED or AIRSPEED_ETS_SYNC_SEND to use ets_airspeed
+#ifndef USE_AIRSPEED_ETS
+#if USE_AIRSPEED
+#define USE_AIRSPEED_ETS TRUE
+PRINT_CONFIG_MSG("USE_AIRSPEED_ETS automatically set to TRUE")
 #endif
 #endif
 
+#if !USE_AIRSPEED_ETS && !AIRSPEED_ETS_SYNC_SEND
+#warning either set USE_AIRSPEED_ETS or AIRSPEED_ETS_SYNC_SEND to use airspeed_ets
+#endif
+
 #define AIRSPEED_ETS_ADDR 0xEA
 #ifndef AIRSPEED_ETS_SCALE
 #define AIRSPEED_ETS_SCALE 1.8
@@ -184,10 +189,10 @@ void airspeed_ets_read_event( void ) {
     for (n = 0; n < AIRSPEED_ETS_NBSAMPLES_AVRG; ++n)
       airspeed_ets += airspeed_ets_buffer[n];
     airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
-#if USE_AIRSPEED
+#if USE_AIRSPEED_ETS
     stateSetAirspeed_f(&airspeed_ets);
 #endif
-#ifdef AIRSPEED_ETS_SYNC_SEND
+#if AIRSPEED_ETS_SYNC_SEND
     DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, DefaultDevice, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);
 #endif
   } else {
diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
index a86bb8010f..d4068f677d 100644
--- a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
+++ b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
@@ -26,7 +26,6 @@
  */
 
 #include "std.h"
-#include "state.h"
 #include "mcu_periph/i2c.h"
 #include "modules/sensors/airspeed_ms45xx_i2c.h"
 #include "filters/low_pass_filter.h"
@@ -39,6 +38,17 @@
 #include "subsystems/datalink/telemetry.h"
 #endif
 
+#ifndef USE_AIRSPEED_MS45XX
+#if USE_AIRSPEED
+#define USE_AIRSPEED_MS45XX TRUE
+PRINT_CONFIG_MSG("USE_AIRSPEED_MS45XX automatically set to TRUE")
+#endif
+#endif
+
+#if USE_AIRSPEED_MS45XX
+#include "state.h"
+#endif
+
 /** Default I2C device
  */
 #ifndef MS45XX_I2C_DEV
@@ -192,7 +202,7 @@ void ms45xx_i2c_event(void)
 
       // Compute airspeed
       ms45xx.airspeed = sqrtf(Max(ms45xx.diff_pressure * ms45xx.airspeed_scale, 0));
-#if USE_AIRSPEED
+#if USE_AIRSPEED_MS45XX
       stateSetAirspeed_f(&ms45xx.airspeed);
 #endif
       if (ms45xx.sync_send) {
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
index d832fad9a0..6a1396d6eb 100644
--- a/sw/airborne/modules/sensors/pressure_board_navarro.c
+++ b/sw/airborne/modules/sensors/pressure_board_navarro.c
@@ -20,39 +20,49 @@
  *
  */
 
-/*
+/** @file modules/sensors/pressure_board_navarro.c
  * Pressure Board Navarro
  */
 
 
 #include "pressure_board_navarro.h"
-#include "state.h"
 #include "subsystems/abi.h"
 
-/* Default I2C device on tiny is i2c0
+#ifndef USE_AIRSPEED_PBN
+#if USE_AIRSPEED
+#define USE_AIRSPEED_PBN TRUE
+PRINT_CONFIG_MSG("USE_AIRSPEED_PBN automatically set to TRUE")
+#endif
+#endif
+
+#if USE_AIRSPEED_PBN
+#include "state.h"
+#endif
+
+/** Default I2C device on tiny is i2c0
  */
 #ifndef PBN_I2C_DEV
 #define PBN_I2C_DEV i2c0
 #endif
 
-/* Sensor I2C slave address */
+/** Sensor I2C slave address */
 #define PBN_I2C_ADDR 0x28
 
-/* Number of values to compute an offset at startup */
+/** Number of values to compute an offset at startup */
 #define OFFSET_NBSAMPLES_AVRG 100
 
-/* Number of loops before starting to store data */
+/** Number of loops before starting to store data */
 #define PBN_START_DELAY 30
 
-/* Weight for offset IIR filter */
+/** Weight for offset IIR filter */
 #define PBN_OFFSET_FILTER 7
 
-/* Quadratic scale factor for airspeed */
+/** Quadratic scale factor for airspeed */
 #ifndef PBN_AIRSPEED_SCALE
 #define PBN_AIRSPEED_SCALE (1./0.54)
 #endif
 
-/* Linear scale factor for altitude */
+/** Linear scale factor for altitude */
 #ifndef PBN_ALTITUDE_SCALE
 #define PBN_ALTITUDE_SCALE 0.32
 #endif
@@ -148,7 +158,7 @@ void pbn_read_event( void ) {
       pbn_altitude = PBN_ALTITUDE_SCALE*(float)(altitude_adc-altitude_offset);
 
       pbn_airspeed = (airspeed_filter*pbn_airspeed + tmp_airspeed) / (airspeed_filter + 1.);
-#if USE_AIRSPEED
+#if USE_AIRSPEED_PBN
       stateSetAirspeed_f(&pbn_airspeed);
 #endif
     }
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h
index f5e78f2a2f..ff16f5da43 100644
--- a/sw/airborne/modules/sensors/pressure_board_navarro.h
+++ b/sw/airborne/modules/sensors/pressure_board_navarro.h
@@ -20,7 +20,8 @@
  *
  */
 
-/*
+/** @file modules/sensors/pressure_board_navarro.h
+ *
  * Pressure Board Navarro (2010)
  *
  * by Matthieu Navarro