diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu.c
index 05d1f1c9c0..0fd1d8bace 100644
--- a/sw/airborne/arch/sim/modules/ins/ins_arduimu.c
+++ b/sw/airborne/arch/sim/modules/ins/ins_arduimu.c
@@ -1,19 +1,11 @@
-/** ArduIMU simulation. OCaml binding.
- *  Sim provides IR sensor reading and airspeed
+/** ArduIMU simulation.
+ *  Sim provides attitude.
  */
 
 
-#include <inttypes.h>
 #include "generated/airframe.h"
-
-#include <caml/mlvalues.h>
-
 #include "estimator.h"
 
-// Prevent undefined reference (from estimator.c)
-#include "subsystems/sensors/infrared.h"
-struct Infrared infrared;
-
 // Arduimu empty implementation
 #include "modules/ins/ins_arduimu.h"
 
@@ -26,24 +18,16 @@ float ins_pitch_neutral;
 float pitch_of_throttle_gain;
 float throttle_slew;
 
+// Updates from Ocaml sim
+extern float sim_phi;
+extern float sim_theta;
+
 void ArduIMU_init( void ) {}
-void ArduIMU_periodic( void ) {}
+void ArduIMU_periodic( void ) {
+  // Feed directly the estimator
+  estimator_phi = sim_phi - ins_roll_neutral;
+  estimator_theta = sim_theta - ins_pitch_neutral;
+}
 void ArduIMU_periodicGPS( void ) {}
 void IMU_Daten_verarbeiten( void ) {}
 
-// Updates from Ocaml sim
-float sim_air_speed;
-
-value set_ir_and_airspeed(
-    value roll __attribute__ ((unused)),
-    value front __attribute__ ((unused)),
-    value top __attribute__ ((unused)),
-    value air_speed
-    ) {
-  // Feed directly the estimator
-  estimator_phi = atan2(Int_val(roll), Int_val(top)) - ins_roll_neutral;
-  estimator_theta = atan2(Int_val(front), Int_val(top)) - ins_pitch_neutral;
-  sim_air_speed = Double_val(air_speed);
-  return Val_unit;
-}
-
diff --git a/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c b/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
index 4cde8cfdb8..ed5dcce9e3 100644
--- a/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
+++ b/sw/airborne/arch/sim/modules/ins/ins_arduimu_basic.c
@@ -1,19 +1,11 @@
-/** ArduIMU simulation. OCaml binding.
- *  Sim provides IR sensor reading and airspeed
+/** ArduIMU simulation.
+ *  Sim provides attitude and rates.
  */
 
 
-#include <inttypes.h>
 #include "generated/airframe.h"
-
-#include <caml/mlvalues.h>
-
 #include "estimator.h"
 
-// Prevent undefined reference (from estimator.c)
-#include "subsystems/sensors/infrared.h"
-struct Infrared infrared;
-
 // Arduimu empty implementation
 #include "modules/ins/ins_arduimu_basic.h"
 
@@ -25,24 +17,19 @@ float ins_roll_neutral;
 float ins_pitch_neutral;
 bool_t arduimu_calibrate_neutrals;
 
+// Updates from Ocaml sim
+extern float sim_phi;
+extern float sim_theta;
+extern float sim_p;
+extern float sim_q;
+
 void ArduIMU_init( void ) {}
-void ArduIMU_periodic( void ) {}
+void ArduIMU_periodic( void ) {
+  // Feed directly the estimator
+  estimator_phi = sim_phi - ins_roll_neutral;
+  estimator_theta = sim_theta - ins_pitch_neutral;
+  estimator_p = sim_p;
+  estimator_q = sim_q;
+}
 void ArduIMU_periodicGPS( void ) {}
 void ArduIMU_event( void ) {}
-
-// Updates from Ocaml sim
-float sim_air_speed;
-
-value set_ir_and_airspeed(
-    value roll __attribute__ ((unused)),
-    value front __attribute__ ((unused)),
-    value top __attribute__ ((unused)),
-    value air_speed
-    ) {
-  // Feed directly the estimator
-  estimator_phi = atan2(Int_val(roll), Int_val(top)) - ins_roll_neutral;
-  estimator_theta = atan2(Int_val(front), Int_val(top)) - ins_pitch_neutral;
-  sim_air_speed = Double_val(air_speed);
-  return Val_unit;
-}
-