diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index 34d651058f..baba44fc6f 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -5,7 +5,7 @@
 <!-- commands section -->
   <servos>
     <servo name="THROTTLE" no="0" min="1050" neutral="1050" max="1900"/>
-    <servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 --> 
+    <servo name="AILEVON_RIGHT" no="1" min="1850" neutral="1480" max="1100"/> <!-- 400 - 380 -->
     <servo name="AILEVON_LEFT" no="2" min="1250" neutral="1580" max="1980"/> <!-- 300 - 400 -->
   </servos>
 
@@ -28,7 +28,7 @@
 
   <command_laws>
     <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
-    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
 
     <set servo="THROTTLE" value="@THROTTLE"/>
     <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
@@ -42,7 +42,7 @@
 
 
   <section name="IMU" prefix="IMU_">
-    <!-- MAX1168 ADC CHANNELS --> 
+    <!-- MAX1168 ADC CHANNELS -->
     <define name="GYRO_P_CHAN" value="0"/>
     <define name="GYRO_Q_CHAN" value="1"/>
     <define name="GYRO_R_CHAN" value="2"/>
@@ -81,9 +81,9 @@
     <define name="ACCEL_Y_SENS" value="0.9346" integer="16"/>
     <define name="ACCEL_Z_SENS" value="0.9178" integer="16"/>
 
-    <define name="ACCEL_X_SIGN" value="-1"/>
-    <define name="ACCEL_Y_SIGN" value="1"/>
-    <define name="ACCEL_Z_SIGN" value="1"/>
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="-1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
 
     <define name="MAG_X_NEUTRAL" value="0"/>
     <define name="MAG_Y_NEUTRAL" value="0"/>
@@ -92,7 +92,7 @@
     <define name="MAG_X_SENS" value="1" integer="16"/>
     <define name="MAG_Y_SENS" value="1" integer="16"/>
     <define name="MAG_Z_SENS" value="1" integer="16"/>
-    
+
 <!--    <define name="MAG_45_HACK" value="1"/> -->
 
     <define name="BODY_TO_IMU_PHI" value="0"/>
@@ -161,7 +161,7 @@
     <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
     <define name="ROLL_RATE_GAIN" value="-600."/>
 
-    <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec --> 
+    <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
   </section>
 
   <section name="AGGRESSIVE" prefix="AGR_">
diff --git a/sw/airborne/modules/ins/ins_ppzuavimu.c b/sw/airborne/modules/ins/ins_ppzuavimu.c
index 2f7394ab89..4f5d5ae9ea 100644
--- a/sw/airborne/modules/ins/ins_ppzuavimu.c
+++ b/sw/airborne/modules/ins/ins_ppzuavimu.c
@@ -195,9 +195,9 @@ void ppzuavimu_module_event( void )
     z = (int16_t) ((ppzuavimu_adxl345.buf[5] << 8) | ppzuavimu_adxl345.buf[4]);
 
 #ifdef ASPIRIN_IMU
-    VECT3_ASSIGN(imu.accel_unscaled, -x, y, z);
+    VECT3_ASSIGN(imu.accel_unscaled, x, -y, -z);
 #else // PPZIMU
-    VECT3_ASSIGN(imu.accel_unscaled, x, -y, z);
+    VECT3_ASSIGN(imu.accel_unscaled, -x, y, -z);
 #endif
 
     acc_valid = TRUE;
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
index 62a5e78f5b..788acb1e8f 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -213,6 +213,13 @@ void ahrs_update_accel(void)
 
   ACCELS_FLOAT_OF_BFP(accel_float, imu.accel);
 
+  // DCM filter uses g-force as positive
+  // accelerometer measures [0 0 -g] in a static case
+
+  accel_float.x = -accel_float.x;
+  accel_float.y = -accel_float.y;
+  accel_float.z = -accel_float.z;
+
 #ifdef USE_GPS
   if (gps.fix == GPS_FIX_3D) {    //Remove centrifugal acceleration.
     accel_float.y += gps.speed_3d/100. * Omega[2];  // Centrifugal force on Acc_y = GPS_speed*GyroZ