diff --git a/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile b/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile
index dee6b9aaf9..8429321b7c 100644
--- a/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile
+++ b/conf/autopilot/subsystems/fixedwing/imu_ppzuav.makefile
@@ -1,9 +1,9 @@
 
-IMU_PPZUAVIMU_CFLAGS  = -DUSE_IMU
-IMU_PPZUAVIMU_CFLAGS += -DIMU_TYPE_H=\"modules/ins/ins_ppzuavimu.h\"
+IMU_PPZUAV_CFLAGS  = -DUSE_IMU
+IMU_PPZUAV_CFLAGS += -DIMU_TYPE_H=\"modules/sensors/imu_ppzuav.h\"
 
-IMU_PPZUAVIMU_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
-                      $(SRC_MODULES)/ins/ins_ppzuavimu.c
+IMU_PPZUAV_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                      $(SRC_MODULES)/sensors/imu_ppzuav.c
 
 
 IMU_PPZUAVIMU_CFLAGS += -DUSE_I2C
@@ -15,8 +15,8 @@ else ifeq ($(ARCH), lpc21)
 	IMU_PPZUAVIMU_CFLAGS += -DPPZUAVIMU_I2C_DEVICE=i2c0
 endif
 
-ap.CFLAGS += $(IMU_PPZUAVIMU_CFLAGS)
-ap.srcs   += $(IMU_PPZUAVIMU_SRCS)
+ap.CFLAGS += $(IMU_PPZUAV_CFLAGS)
+ap.srcs   += $(IMU_PPZUAV_SRCS)
 
 ap.CFLAGS += -DAHRS_MAG_UPDATE_YAW_ONLY
 
diff --git a/conf/modules/imu_aspirin_i2c.xml b/conf/modules/imu_aspirin_i2c.xml
new file mode 100644
index 0000000000..140fdf5fb7
--- /dev/null
+++ b/conf/modules/imu_aspirin_i2c.xml
@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="imu_aspirin_i2c" dir="sensors">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="imu_ppzuav.h"/>
+  </header>
+
+  <!-- default imu stuff -->
+  <init fun="imu_impl_init()"/>
+  <periodic fun="imu_periodic()" freq="60"/>
+  <!-- ImuEvent called directly from main_ap -->
+
+  <!-- extras to become a usefull module -->
+  <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
+  <event fun="ppzuavimu_module_event()"/>
+
+  <makefile>
+    <file name="imu_ppzuav.c"/>
+    <define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
+    <define name="USE_I2C" />
+    <define name="USE_I2C0" />
+    <define name="ASPIRIN_IMU" />
+  </makefile>
+</module>
diff --git a/conf/modules/imu_ppzuav.xml b/conf/modules/imu_ppzuav.xml
new file mode 100644
index 0000000000..5b32512991
--- /dev/null
+++ b/conf/modules/imu_ppzuav.xml
@@ -0,0 +1,24 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="imu_ppzuav" dir="sensors">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="imu_ppzuav.h"/>
+  </header>
+
+  <!-- default imu stuff -->
+  <init fun="imu_impl_init()"/>
+  <periodic fun="imu_periodic()" freq="60"/>
+  <!-- ImuEvent called directly from main_ap -->
+
+  <!-- extras to become a usefull module -->
+  <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
+  <event fun="ppzuavimu_module_event()"/>
+
+  <makefile target="ap">
+    <file name="imu_ppzuav.c"/>
+    <define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
+    <define name="USE_I2C" />
+    <define name="USE_I2C0" />
+  </makefile>
+</module>
diff --git a/conf/modules/ins_aspirin_via_i2c.xml b/conf/modules/ins_aspirin_via_i2c.xml
index d5f93cd327..4a73004f2c 100644
--- a/conf/modules/ins_aspirin_via_i2c.xml
+++ b/conf/modules/ins_aspirin_via_i2c.xml
@@ -6,20 +6,9 @@
     <file name="ins_ppzuavimu.h"/>
   </header>
 
-  <!-- default imu stuff -->
-  <init fun="imu_impl_init()"/>
-  <periodic fun="imu_periodic()" freq="60"/>
-  <!-- ImuEvent called directly from main_ap -->
-
-  <!-- extras to become a usefull module -->
-  <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
-  <event fun="ppzuavimu_module_event()"/>
-
   <makefile>
-    <file name="ins_ppzuavimu.c"/>
-    <define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
-    <define name="USE_I2C" />
-    <define name="USE_I2C0" />
-    <define name="ASPIRIN_IMU" />
+<raw>
+$(error The ins_aspirin_via_i2c module has been renamed, please replace the name="ins_aspirin_via_i2c.xml" with name="imu_aspirin_i2c.xml" in the load tag of your airframe file modules section.)
+    </raw>
   </makefile>
 </module>
diff --git a/conf/modules/ins_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml
index c4da2f470a..ea57d2ff2e 100644
--- a/conf/modules/ins_chimu_spi.xml
+++ b/conf/modules/ins_chimu_spi.xml
@@ -11,10 +11,10 @@
   <makefile>
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
     <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-    
+
     <define name="USE_SPI" />
     <define name="INS_LINK" value="SpiSlave"/>
-    <define name="USE_USB_HIGH_PCLK" />		
+    <define name="USE_USB_HIGH_PCLK" />
     <file name="ins_chimu_spi.c"/>
     <file name="imu_chimu.c"/>
   </makefile>
diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml
index 94dc63594a..f6c69cecbc 100644
--- a/conf/modules/ins_chimu_uart.xml
+++ b/conf/modules/ins_chimu_uart.xml
@@ -17,7 +17,7 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
   <makefile>
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
     <define name="AHRS_TRIGGERED_ATTITUDE_LOOP" />
-    
+
     <define name="USE_UART$(CHIMU_UART_NR)"/>
     <define name="INS_LINK" value="Uart$(CHIMU_UART_NR)"/>
     <define name="UART$(CHIMU_UART_NR)_BAUD" value="B115200"/>
diff --git a/conf/modules/ins_ppzuavimu.xml b/conf/modules/ins_ppzuavimu.xml
index a2544c204d..ddc1962102 100644
--- a/conf/modules/ins_ppzuavimu.xml
+++ b/conf/modules/ins_ppzuavimu.xml
@@ -1,24 +1,13 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
 <module name="ins_ppzuavimu" dir="ins">
-  <!-- <depend conflict="ins" -->
   <header>
-    <file name="ins_ppzuavimu.h"/>
+    <file name="imu_ppzuav.h"/>
   </header>
 
-  <!-- default imu stuff -->
-  <init fun="imu_impl_init()"/>
-  <periodic fun="imu_periodic()" freq="60"/>
-  <!-- ImuEvent called directly from main_ap -->
-
-  <!-- extras to become a usefull module -->
-  <periodic fun="ppzuavimu_module_downlink_raw()" freq="5"/>
-  <event fun="ppzuavimu_module_event()"/>
-
-  <makefile>
-    <file name="ins_ppzuavimu.c"/>
-    <define name="PPZUAVIMU_I2C_DEVICE" value="i2c0" />
-    <define name="USE_I2C" />
-    <define name="USE_I2C0" />
+  <makefile target="ap">
+    <raw>
+$(error The ins_ppzuavimu module has been renamed, please replace the name="ins_ppzuavimu.xml" with name="imu_ppzuav.xml" in the load tag of your airframe file modules section.)
+    </raw>
   </makefile>
 </module>
diff --git a/sw/airborne/modules/ins/ins_ppzuavimu.c b/sw/airborne/modules/sensors/imu_ppzuav.c
similarity index 99%
rename from sw/airborne/modules/ins/ins_ppzuavimu.c
rename to sw/airborne/modules/sensors/imu_ppzuav.c
index eb5fbc1afd..ba8b137cc8 100644
--- a/sw/airborne/modules/ins/ins_ppzuavimu.c
+++ b/sw/airborne/modules/sensors/imu_ppzuav.c
@@ -19,7 +19,7 @@
  */
 
 #include <math.h>
-#include "ins_ppzuavimu.h"
+#include "imu_ppzuav.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 
diff --git a/sw/airborne/modules/ins/ins_ppzuavimu.h b/sw/airborne/modules/sensors/imu_ppzuav.h
similarity index 100%
rename from sw/airborne/modules/ins/ins_ppzuavimu.h
rename to sw/airborne/modules/sensors/imu_ppzuav.h