diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index 6d7a26e89f..8b9264005a 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -210,7 +210,7 @@
     <!-- Actuators are automatically chosen according to the board-->
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="attitude" 		type="analogimu">
+    <subsystem name="imu" 		type="analog">
       <param name="GYRO_P" value="ADC_0"/>
       <param name="GYRO_Q" value="ADC_1"/>
       <param name="GYRO_R" value="ADC_2"/>
@@ -218,6 +218,8 @@
       <param name="ACCEL_Y" value="ADC_6"/>
       <param name="ACCEL_Z" value="ADC_7"/>
     </subsystem>
+
+    <subsystem name="attitude"  type="dcm"/>
     <subsystem name="gps" 		type="ublox_lea5h"/>
     <subsystem name="navigation"/>
   </firmware>
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_analogimu.makefile b/conf/autopilot/subsystems/fixedwing/attitude_analogimu.makefile
deleted file mode 100644
index 426da8c8e8..0000000000
--- a/conf/autopilot/subsystems/fixedwing/attitude_analogimu.makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-# attitude via analog imu
-
-
-ifeq ($(ARCH), lpc21)
-ap.CFLAGS += -DUSE_ANALOG_IMU -DADC
-ap.CFLAGS += -DUSE_$(GYRO_P) -DUSE_$(GYRO_Q) -DUSE_ADC_$(GYRO_R)
-ap.CFLAGS += -DUSE_$(ACCEL_X)  -DUSE_$(ACCEL_y) -DUSE_$(ACCEL_Z)
-
-ap.CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DADC_CHANNEL_GYRO_R=$(GYRO_R)
-ap.CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z)
-
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/dcm.c
-ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/analogimu.c
-ap.srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
-ap.srcs += $(SRC_SUBSYSTEMS)/imu.c
-
-
-endif
-
-# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
-
-ifeq ($(TARGET), sim)
-
-sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
-sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
-
-$(TARGET).CFLAGS += -DUSE_INFRARED
-$(TARGET).srcs += subsystems/sensors/infrared.c
-
-sim.srcs += $(SRC_ARCH)/sim_ir.c
-sim.srcs += $(SRC_ARCH)/sim_analogimu.c
-
-endif
-
-jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
diff --git a/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile b/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
new file mode 100644
index 0000000000..0af7123028
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/attitude_dcm.makefile
@@ -0,0 +1,27 @@
+# attitude estimation for fixedwings via dcm algorithm
+
+
+ifeq ($(ARCH), lpc21)
+ap.CFLAGS += -DUSE_ANALOG_IMU
+
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/dcm.c
+ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/dcm/analogimu.c
+
+endif
+
+# since there is currently no SITL sim for the Analog IMU, we use the infrared sim
+
+ifeq ($(TARGET), sim)
+
+sim.CFLAGS += -DIR_ROLL_NEUTRAL_DEFAULT=0
+sim.CFLAGS += -DIR_PITCH_NEUTRAL_DEFAULT=0
+
+sim.CFLAGS += -DUSE_INFRARED
+sim.srcs += subsystems/sensors/infrared.c
+
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_analogimu.c
+
+endif
+
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
diff --git a/conf/autopilot/subsystems/fixedwing/imu_analog.makefile b/conf/autopilot/subsystems/fixedwing/imu_analog.makefile
new file mode 100644
index 0000000000..b319b6d507
--- /dev/null
+++ b/conf/autopilot/subsystems/fixedwing/imu_analog.makefile
@@ -0,0 +1,62 @@
+#
+# Analog IMU connected to MCU ADC ports
+#
+#
+# <subsystem name="imu" type="analog">
+#   <param name="GYRO_P" value="ADC_0"/>
+#   <param name="GYRO_Q" value="ADC_1"/>
+#   <param name="GYRO_R" value="ADC_2"/>
+#   <param name="ACCEL_X" value="ADC_5"/>
+#   <param name="ACCEL_Y" value="ADC_6"/>
+#   <param name="ACCEL_Z" value="ADC_7"/>
+# </subsystem>
+#
+# required xml:
+# <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_P_NEUTRAL" value="512"/>
+#    <define name="GYRO_Q_NEUTRAL" value="512"/>
+#    <define name="GYRO_R_NEUTRAL" value="512"/>
+#
+#    <define name="GYRO_P_SENS" value="0.017" integer="16"/>
+#    <define name="GYRO_Q_SENS" value="0.017" integer="16"/>
+#    <define name="GYRO_R_SENS" value="0.017" integer="16"/>
+#
+#    <define name="GYRO_P_SIGN" value="1" />
+#    <define name="GYRO_Q_SIGN" value="1" />
+#    <define name="GYRO_R_SIGN" value="-1" />
+#
+#    <define name="ACCEL_X_SENS" value="0.1" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="0.1" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="0.1" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="512"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="512"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="512"/>
+#
+#    <define name="ACCEL_X_SIGN" value="1"/>
+#    <define name="ACCEL_Y_SIGN" value="-1"/>
+#    <define name="ACCEL_Z_SIGN" value="1"/>
+#
+#  </section>
+#
+
+
+ifeq ($(ARCH), lpc21)
+imu_CFLAGS += -DADC
+imu_CFLAGS += -DUSE_$(GYRO_P) -DUSE_$(GYRO_Q) -DUSE_ADC_$(GYRO_R)
+imu_CFLAGS += -DUSE_$(ACCEL_X) -DUSE_$(ACCEL_y) -DUSE_$(ACCEL_Z)
+
+imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DADC_CHANNEL_GYRO_R=$(GYRO_R)
+imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z)
+
+imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
+imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
+imu_srcs += math/pprz_trig_int.c
+
+endif
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+ap.CFLAGS += $(imu_CFLAGS)
+ap.srcs += $(imu_srcs)