diff --git a/conf/airframes/CDW/cdw_twoseastwenty.xml b/conf/airframes/CDW/cdw_twoseastwenty.xml
index e6bc58c9d3..333d4e24f1 100644
--- a/conf/airframes/CDW/cdw_twoseastwenty.xml
+++ b/conf/airframes/CDW/cdw_twoseastwenty.xml
@@ -36,10 +36,10 @@
         <configure name="MODEM_BAUD" value="B9600"/>
         <configure name="MODEM_PORT" value="UART3"/>
       </subsystem>
-      <subsystem name="ins" type="xsens700">
-        <configure name="XSENS_UART_NR" value="1"/>
-        <configure name="XSENS_UART_BAUD" value="B230400"/>
-      </subsystem>
+      <module name="ins" type="xsens700">
+        <configure name="XSENS_PORT" value="uart1"/>
+        <configure name="XSENS_BAUD" value="B230400"/>
+      </module>
     </target>
     <target name="fbw" board="lisa_m_2.0">
       <configure name="SEPARATE_FBW" value="1"/>
@@ -70,10 +70,10 @@
         <configure name="MODEM_BAUD" value="B9600"/>
         <configure name="MODEM_PORT" value="UART3"/>
       </subsystem>
-      <subsystem name="ins" type="xsens700">
-        <configure name="XSENS_UART_NR" value="1"/>
-        <configure name="XSENS_UART_BAUD" value="B230400"/>
-      </subsystem>
+      <module name="ins" type="xsens700">
+        <configure name="XSENS_PORT" value="uart1"/>
+        <configure name="XSENS_BAUD" value="B230400"/>
+      </module>
     </target>
     <define name="AGR_CLIMB"/>
     <define name="LOITER_TRIM"/>
diff --git a/conf/firmwares/subsystems/shared/ins_xsens700.makefile b/conf/firmwares/subsystems/shared/ins_xsens700.makefile
index 29783f5fd0..bf4eb71b37 100644
--- a/conf/firmwares/subsystems/shared/ins_xsens700.makefile
+++ b/conf/firmwares/subsystems/shared/ins_xsens700.makefile
@@ -1,64 +1 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-# XSens Mti-G
-
-#    <subsystem name="ins" type="xsens700">
-#      <configure name="XSENS_UART_NR" value="0"/>
-#      <configure name="XSENS_UART_BAUD" value="B115200"/>
-#    </subsystem>
-
-
-#########################################
-## ATTITUDE
-
-# AHRS Results
-ap.CFLAGS += -DINS_TYPE_H=\"modules/ins/ins_xsens700.h\"
-
-ifndef XSENS_UART_BAUD
-	XSENS_UART_BAUD = B115200
-endif
-
-ap.CFLAGS += -DUSE_UART$(XSENS_UART_NR)
-ap.CFLAGS += -DXSENS_LINK=uart$(XSENS_UART_NR)
-ap.CFLAGS += -DUART$(XSENS_UART_NR)_BAUD=$(XSENS_UART_BAUD)
-ap.CFLAGS += -DXSENS_OUTPUT_MODE=0x1836
-ap.srcs   += $(SRC_MODULES)/ins/xsens700.c
-ap.srcs   += $(SRC_MODULES)/ins/xsens_common.c
-ap.srcs   += $(SRC_SUBSYSTEMS)/ins.c
-ap.srcs   += $(SRC_MODULES)/ins/ins_xsens700.c
-ap.CFLAGS += -DAHRS_TRIGGERED_ATTITUDE_LOOP
-
-
-#########################################
-## GPS
-
-ap.CFLAGS += -DUSE_GPS_XSENS
-ap.CFLAGS += -DGPS_NB_CHANNELS=50
-ap.CFLAGS += -DUSE_GPS
-ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
-ap.srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-
-#########################################
-## Simulator
-SIM_TARGETS = sim nps
-
-ifneq (,$(findstring $(TARGET),$(SIM_TARGETS)))
-
-$(TARGET).CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
-$(TARGET).CFLAGS += -DUSE_AHRS
-
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs.c
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ahrs/ahrs_sim.c
-
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ins.c
-$(TARGET).CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
-$(TARGET).srcs   += $(SRC_SUBSYSTEMS)/ins/ins_gps_passthrough_utm.c
-
-$(TARGET).CFLAGS += -DUSE_GPS
-$(TARGET).CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim.c
-$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
-
-endif
-
+$(error Error: The ins xsens700 subsystem has been converted to a module, replace <subsystem name="ins" type="xsens700"/> by <module name="ins" type="xsens700"/>)
diff --git a/conf/modules/ins_xsens700.xml b/conf/modules/ins_xsens700.xml
new file mode 100644
index 0000000000..4247003015
--- /dev/null
+++ b/conf/modules/ins_xsens700.xml
@@ -0,0 +1,76 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins_xsens700" dir="ins">
+  <doc>
+    <description>
+      XSens Mti-G 700 INS
+    </description>
+    <configure name="XSENS_PORT" value="uart1" description="The (uart) port the XSens is connected to"/>
+    <configure name="XSENS_BAUD" value="B115200" description="UART baud rate"/>
+  </doc>
+  <header>
+    <file name="ins_xsens700.h"/>
+  </header>
+  <!-- ins_init is still called explicitly in main -->
+  <!--init fun="ins_init()"/-->
+  <periodic fun="xsens700_periodic()" freq="60"/>
+  <event fun="ins_xsens700_event()"/>
+  <makefile target="ap">
+    <file name="xsens700.c"/>
+    <file name="xsens_common.c"/>
+    <file name="ins_xsens700.c"/>
+    <file name="ins.c" dir="subsystems"/>
+    <configure name="XSENS_PORT" default="uart1" case="upper|lower"/>
+    <configure name="XSENS_BAUD" default="B115200"/>
+    <define name="USE_$(XSENS_PORT_UPPER)" value="1"/>
+    <define name="XSENS_LINK" value="$(XSENS_PORT_LOWER)"/>
+    <define name="$(XSENS_PORT_UPPER)_BAUD" value="$(XSENS_BAUD)"/>
+    <define name="XSENS_OUTPUT_MODE" value="0x1836"/>
+    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <define name="USE_GPS"/>
+    <define name="USE_GPS_XSENS"/>
+    <define name="GPS_NB_CHANNELS" value="50"/>
+    <raw>
+      ap.CFLAGS += -DGPS_TYPE_H=\"modules/ins/ins_xsens700.h\"
+    </raw>
+  </makefile>
+
+  <makefile target="sim">
+    <file name="ahrs.c" dir="subsystems"/>
+    <file name="ahrs_sim.c" dir="subsystems/ahrs"/>
+    <define name="USE_AHRS"/>
+
+    <file name="ins.c" dir="subsystems"/>
+    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <file name="gps_sim.c" dir="subsystems/gps"/>
+    <define name="USE_GPS"/>
+    <raw>
+      sim.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_sim.h\"
+      sim.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
+      sim.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+    </raw>
+  </makefile>
+
+  <makefile target="nps">
+    <!-- nps dummy ahrs missing -->
+    <file name="ahrs.c" dir="subsystems"/>
+    <define name="USE_AHRS"/>
+    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
+
+    <file name="ins.c" dir="subsystems"/>
+    <file name="ins_gps_passthrough_utm.c" dir="subsystems/ins"/>
+
+    <file name="gps.c" dir="subsystems"/>
+    <file name="gps_sim_nps.c" dir="subsystems/gps"/>
+    <define name="USE_GPS"/>
+    <raw>
+      nps.CFLAGS += -DINS_TYPE_H=\"subsystems/ins/ins_gps_passthrough_utm.h\"
+      nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim_nps.h\"
+    </raw>
+  </makefile>
+</module>
+
diff --git a/sw/airborne/modules/ins/ins_xsens700.h b/sw/airborne/modules/ins/ins_xsens700.h
index 60d403fee8..75bd5fc380 100644
--- a/sw/airborne/modules/ins/ins_xsens700.h
+++ b/sw/airborne/modules/ins/ins_xsens700.h
@@ -40,8 +40,7 @@ extern float ins_pitch_neutral;
 extern float ins_roll_neutral;
 
 #define DefaultInsImpl ins_xsens700
-#define InsPeriodic xsens700_periodic
-#define InsEvent ins_xsens700_event
+
 extern void ins_xsens700_init(void);
 extern void ins_xsens700_register(void);
 extern void ins_xsens700_event(void);