diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index fec8f6da50..64a84877b1 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/sw/airborne/boards/ardrone/navdata.c
@@ -89,7 +89,7 @@ static pthread_cond_t  navdata_cond  = PTHREAD_COND_INITIALIZER;
 /**
  * Default gyro scale
  */
-static const struct FloatVect3 gyro_scale_f = { 4.359f, 4.359f, 4.359f };
+static const struct FloatRates gyro_scale_f = { 4.359f, 4.359f, 4.359f };
 
 /**
  * Default accel scale/neutral
diff --git a/sw/airborne/modules/imu/imu.c b/sw/airborne/modules/imu/imu.c
index 83bbb61090..8fe347fe7b 100644
--- a/sw/airborne/modules/imu/imu.c
+++ b/sw/airborne/modules/imu/imu.c
@@ -470,9 +470,9 @@ void imu_init(void)
     
     if(!imu.gyros[i].calibrated.scale_f) {
       if(imu.gyros[i].calibrated.scale) {
-        imu.gyros[i].scale_f.x = (float)imu.gyros[i].scale[0].p / (float)imu.gyros[i].scale[1].p;
-        imu.gyros[i].scale_f.y = (float)imu.gyros[i].scale[0].q / (float)imu.gyros[i].scale[1].q;
-        imu.gyros[i].scale_f.z = (float)imu.gyros[i].scale[0].r / (float)imu.gyros[i].scale[1].r;
+        imu.gyros[i].scale_f.p = (float)imu.gyros[i].scale[0].p / (float)imu.gyros[i].scale[1].p;
+        imu.gyros[i].scale_f.q = (float)imu.gyros[i].scale[0].q / (float)imu.gyros[i].scale[1].q;
+        imu.gyros[i].scale_f.r = (float)imu.gyros[i].scale[0].r / (float)imu.gyros[i].scale[1].r;
         imu.gyros[i].calibrated.scale_f = true;
       } else {
         VECT3_ASSIGN(imu.accels[i].scale_f, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SIGN);
@@ -609,7 +609,7 @@ void imu_init(void)
  * @param neutral Neutral values
  * @param scale_f Scale values
  */
-void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct FloatVect3 *scale_f)
+void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct FloatRates *scale_f)
 {
   // Find the correct gyro
   struct imu_gyro_t *gyro = imu_get_gyro(abi_id, true);
@@ -626,7 +626,7 @@ void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor
   if(neutral != NULL && !gyro->calibrated.neutral)
     RATES_COPY(gyro->neutral, *neutral);
   if(scale_f != NULL && !gyro->calibrated.scale_f) {
-    VECT3_ASSIGN(gyro->scale_f, IMU_MAG_X_SIGN*scale_f->x, IMU_MAG_Y_SIGN*scale_f->y, IMU_MAG_Z_SIGN*scale_f->z);
+    RATES_ASSIGN(gyro->scale_f, IMU_GYRO_P_SIGN*scale_f->p, IMU_GYRO_Q_SIGN*scale_f->q, IMU_GYRO_R_SIGN*scale_f->r);
   }
 }
 
@@ -655,7 +655,7 @@ void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_senso
   if(neutral != NULL && !accel->calibrated.neutral)
     VECT3_COPY(accel->neutral, *neutral);
   if(scale_f != NULL && !accel->calibrated.scale_f) {
-    VECT3_ASSIGN(accel->scale_f, IMU_MAG_X_SIGN*scale_f->x, IMU_MAG_Y_SIGN*scale_f->y, IMU_MAG_Z_SIGN*scale_f->z);
+    VECT3_ASSIGN(accel->scale_f, IMU_ACCEL_X_SIGN*scale_f->x, IMU_ACCEL_Y_SIGN*scale_f->y, IMU_ACCEL_Z_SIGN*scale_f->z);
   }
 }
 
@@ -711,9 +711,9 @@ static void imu_gyro_raw_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates
 
   // Scale the gyro
   struct Int32Rates scaled, scaled_rot;
-  scaled.p = (gyro->unscaled.p - gyro->neutral.p) * gyro->scale_f.x;
-  scaled.q = (gyro->unscaled.q - gyro->neutral.q) * gyro->scale_f.y;
-  scaled.r = (gyro->unscaled.r - gyro->neutral.r) * gyro->scale_f.z;
+  scaled.p = (gyro->unscaled.p - gyro->neutral.p) * gyro->scale_f.p;
+  scaled.q = (gyro->unscaled.q - gyro->neutral.q) * gyro->scale_f.q;
+  scaled.r = (gyro->unscaled.r - gyro->neutral.r) * gyro->scale_f.r;
 
   // Rotate the sensor
   int32_rmat_transp_ratemult(&scaled_rot, &gyro->body_to_sensor, &scaled);
@@ -739,9 +739,9 @@ static void imu_gyro_raw_cb(uint8_t sender_id, uint32_t stamp, struct Int32Rates
       // Add all the other samples
       for(uint8_t i = 0; i < samples-1; i++) {
         struct FloatRates f_sample;
-        f_sample.p = RATE_FLOAT_OF_BFP((data[i].p - gyro->neutral.p) * gyro->scale_f.x);
-        f_sample.q = RATE_FLOAT_OF_BFP((data[i].q - gyro->neutral.q) * gyro->scale_f.y);
-        f_sample.r = RATE_FLOAT_OF_BFP((data[i].r - gyro->neutral.r) * gyro->scale_f.z);
+        f_sample.p = RATE_FLOAT_OF_BFP((data[i].p - gyro->neutral.p) * gyro->scale_f.p);
+        f_sample.q = RATE_FLOAT_OF_BFP((data[i].q - gyro->neutral.q) * gyro->scale_f.q);
+        f_sample.r = RATE_FLOAT_OF_BFP((data[i].r - gyro->neutral.r) * gyro->scale_f.r);
 
 
 #if IMU_LOG_HIGHSPEED
diff --git a/sw/airborne/modules/imu/imu.h b/sw/airborne/modules/imu/imu.h
index 00510d406d..efbdb45d9e 100644
--- a/sw/airborne/modules/imu/imu.h
+++ b/sw/airborne/modules/imu/imu.h
@@ -56,7 +56,7 @@ struct imu_gyro_t {
   float temperature;                  ///< Temperature in degrees celcius
   struct Int32Rates neutral;          ///< Neutral values, compensation on unscaled->scaled
   struct Int32Rates scale[2];         ///< Scaling, first is numerator and second denominator
-  struct FloatVect3 scale_f;          ///< Scaling
+  struct FloatRates scale_f;          ///< Scaling
   struct Int32RMat body_to_sensor;    ///< Rotation from body to sensor frame (body to imu combined with imu to sensor)
   float filter_freq;                  ///< Filter frequency
   float filter_sample_freq;           ///< Lowpass filter sample frequency (Hz)
@@ -115,7 +115,7 @@ extern struct Imu imu;
 /** External functions */
 extern void imu_init(void);
 
-extern void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct FloatVect3 *scale_f);
+extern void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct FloatRates *scale_f);
 extern void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct FloatVect3 *scale_f);
 extern void imu_set_defaults_mag(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct FloatVect3 *scale_f);
 
diff --git a/sw/airborne/modules/imu/imu_aspirin.c b/sw/airborne/modules/imu/imu_aspirin.c
index a2896a56fd..ce5a32ca37 100644
--- a/sw/airborne/modules/imu/imu_aspirin.c
+++ b/sw/airborne/modules/imu/imu_aspirin.c
@@ -90,9 +90,9 @@ void imu_aspirin_init(void)
 
   // Default scaling values
 #ifdef IMU_ASPIRIN_VERSION_1_5
-  const struct FloatVect3 gyro_scale_f = { 4.359f, 4.359f, 4.359f };
+  const struct FloatRates gyro_scale_f = { 4.359f, 4.359f, 4.359f };
 #else
-  const struct FloatVect3 gyro_scale_f = { 4.973f, 4.973f, 4.973f };
+  const struct FloatRates gyro_scale_f = { 4.973f, 4.973f, 4.973f };
 #endif
   const struct FloatVect3 accel_scale_f = { 37.91f, 37.91f, 37.91f };
  
diff --git a/sw/airborne/modules/imu/imu_aspirin_i2c.c b/sw/airborne/modules/imu/imu_aspirin_i2c.c
index bb5167c934..760aae00ca 100644
--- a/sw/airborne/modules/imu/imu_aspirin_i2c.c
+++ b/sw/airborne/modules/imu/imu_aspirin_i2c.c
@@ -111,9 +111,9 @@ void imu_aspirin_i2c_init(void)
 
   // Default scaling values
 #ifdef IMU_ASPIRIN_VERSION_1_5
-  const struct FloatVect3 gyro_scale_f = { 4.359f, 4.359f, 4.359f };
+  const struct FloatRates gyro_scale_f = { 4.359f, 4.359f, 4.359f };
 #else
-  const struct FloatVect3 gyro_scale_f = { 4.973f, 4.973f, 4.973f };
+  const struct FloatRates gyro_scale_f = { 4.973f, 4.973f, 4.973f };
 #endif
   const struct FloatVect3 accel_scale_f = { 37.91f, 37.91f, 37.91f };
  
diff --git a/sw/airborne/modules/imu/imu_cube.c b/sw/airborne/modules/imu/imu_cube.c
index f72b01328f..91ae66e96b 100644
--- a/sw/airborne/modules/imu/imu_cube.c
+++ b/sw/airborne/modules/imu/imu_cube.c
@@ -87,8 +87,8 @@ void imu_cube_init(void)
   eulers.theta = ANGLE_BFP_OF_REAL(0);
   eulers.psi = ANGLE_BFP_OF_REAL(RadOfDeg(90));
   int32_rmat_of_eulers(&rmat, &eulers);
-  imu_set_defaults_gyro(IMU_CUBE2_ID, &rmat, NULL, NULL, NULL);
-  imu_set_defaults_accel(IMU_CUBE2_ID, &rmat, NULL, NULL, NULL);
+  imu_set_defaults_gyro(IMU_CUBE2_ID, &rmat, NULL, NULL);
+  imu_set_defaults_accel(IMU_CUBE2_ID, &rmat, NULL, NULL);
 #else
   /* IMU 2 (ICM20602 isolated) */
   mpu60x0_spi_init(&imu2, &CUBE_IMU2_SPI_DEV, CUBE_IMU2_SPI_SLAVE_IDX);
diff --git a/sw/airborne/modules/imu/imu_nps.c b/sw/airborne/modules/imu/imu_nps.c
index cd2a1408da..cb95d4997d 100644
--- a/sw/airborne/modules/imu/imu_nps.c
+++ b/sw/airborne/modules/imu/imu_nps.c
@@ -34,12 +34,12 @@ void imu_nps_init(void)
   imu_nps.mag_available = false;
   imu_nps.accel_available = false;
 
-  // Set the default scaling
-  const struct FloatVect3 gyro_scale_f = {NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR};
+// Set the default scaling
+  const struct FloatRates gyro_scale_f = {RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_PP), RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_QQ), RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_RR)};
   const struct Int32Rates gyro_neutral = {NPS_GYRO_NEUTRAL_P, NPS_GYRO_NEUTRAL_Q, NPS_GYRO_NEUTRAL_R};
-  const struct FloatVect3 accel_scale_f = {NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ};
+  const struct FloatVect3 accel_scale_f = {ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_XX), ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_YY), ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_ZZ)};
   const struct Int32Vect3 accel_neutral = {NPS_ACCEL_NEUTRAL_X, NPS_ACCEL_NEUTRAL_Y, NPS_ACCEL_NEUTRAL_Z};
-  const struct FloatVect3 mag_scale_f = {NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ};
+  const struct FloatVect3 mag_scale_f = {MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_XX), MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_YY), MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_ZZ)};
   const struct Int32Vect3 mag_neutral = {NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z};
   imu_set_defaults_gyro(IMU_NPS_ID, NULL, &gyro_neutral, &gyro_scale_f);
   imu_set_defaults_accel(IMU_NPS_ID, NULL, &accel_neutral, &accel_scale_f);
diff --git a/sw/airborne/modules/imu/imu_px4fmu_v2.4.c b/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
index ca6ac90244..108dd337d0 100644
--- a/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
+++ b/sw/airborne/modules/imu/imu_px4fmu_v2.4.c
@@ -47,7 +47,7 @@ void imu_px4_init(void) {
   lsm303d_spi_init(&imu_px4.lsm_acc, &IMU_PX4FMU_SPI_DEV, IMU_LSM_SPI_SLAVE_IDX, LSM303D_TARGET_ACC);
 
   // Set the default scaling
-  const struct FloatVect3 gyro_scale_f = {L3GD20_SENS_2000, L3GD20_SENS_2000, L3GD20_SENS_2000};
+  const struct FloatRates gyro_scale_f = {L3GD20_SENS_2000, L3GD20_SENS_2000, L3GD20_SENS_2000};
   const struct FloatVect3 accel_scale_f = {LSM303D_ACCEL_SENS_16G, LSM303D_ACCEL_SENS_16G, LSM303D_ACCEL_SENS_16G};
   imu_set_defaults_gyro(IMU_PX4_ID, NULL, NULL, &gyro_scale_f);
   imu_set_defaults_accel(IMU_PX4_ID, NULL, NULL, &accel_scale_f);
diff --git a/sw/airborne/modules/sensors/sensors_hitl.c b/sw/airborne/modules/sensors/sensors_hitl.c
index 11f703e97b..0c571def30 100644
--- a/sw/airborne/modules/sensors/sensors_hitl.c
+++ b/sw/airborne/modules/sensors/sensors_hitl.c
@@ -59,12 +59,12 @@ void sensors_hitl_init(void)
   imu_hitl.mag_available = false;
   imu_hitl.accel_available = false;
 
-  // Set the default scaling
-  const struct FloatVect3 gyro_scale_f = {NPS_GYRO_SENSITIVITY_PP, NPS_GYRO_SENSITIVITY_QQ, NPS_GYRO_SENSITIVITY_RR};
+// Set the default scaling
+  const struct FloatRates gyro_scale_f = {RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_PP), RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_QQ), RATE_FLOAT_OF_BFP(NPS_GYRO_SENSITIVITY_RR)};
   const struct Int32Rates gyro_neutral = {NPS_GYRO_NEUTRAL_P, NPS_GYRO_NEUTRAL_Q, NPS_GYRO_NEUTRAL_R};
-  const struct FloatVect3 accel_scale_f = {NPS_ACCEL_SENSITIVITY_XX, NPS_ACCEL_SENSITIVITY_YY, NPS_ACCEL_SENSITIVITY_ZZ};
+  const struct FloatVect3 accel_scale_f = {ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_XX), ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_YY), ACCEL_FLOAT_OF_BFP(NPS_ACCEL_SENSITIVITY_ZZ)};
   const struct Int32Vect3 accel_neutral = {NPS_ACCEL_NEUTRAL_X, NPS_ACCEL_NEUTRAL_Y, NPS_ACCEL_NEUTRAL_Z};
-  const struct FloatVect3 mag_scale_f = {NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ};
+  const struct FloatVect3 mag_scale_f = {MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_XX), MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_YY), MAG_FLOAT_OF_BFP(NPS_MAG_SENSITIVITY_ZZ)};
   const struct Int32Vect3 mag_neutral = {NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z};
 
   imu_set_defaults_gyro(IMU_NPS_ID, NULL, &gyro_neutral, &gyro_scale_f);
diff --git a/sw/airborne/peripherals/bmi088.c b/sw/airborne/peripherals/bmi088.c
index b6544d10e2..ab376ad763 100644
--- a/sw/airborne/peripherals/bmi088.c
+++ b/sw/airborne/peripherals/bmi088.c
@@ -36,7 +36,7 @@ const float BMI088_GYRO_SENS[5] = {
   BMI088_GYRO_SENS_125,
 };
 
-const struct FloatVect3 BMI088_GYRO_SENS_F[5] = {
+const struct FloatRates BMI088_GYRO_SENS_F[5] = {
   {BMI088_GYRO_SENS_2000, BMI088_GYRO_SENS_2000, BMI088_GYRO_SENS_2000},
   {BMI088_GYRO_SENS_1000, BMI088_GYRO_SENS_1000, BMI088_GYRO_SENS_1000},
   {BMI088_GYRO_SENS_500, BMI088_GYRO_SENS_500, BMI088_GYRO_SENS_500},
diff --git a/sw/airborne/peripherals/bmi088.h b/sw/airborne/peripherals/bmi088.h
index 9425f18472..b9e1726d63 100644
--- a/sw/airborne/peripherals/bmi088.h
+++ b/sw/airborne/peripherals/bmi088.h
@@ -69,7 +69,7 @@
 // Get default sensitivity from a table
 extern const float BMI088_GYRO_SENS[5];
 // Get default sensitivity numerator and denominator from a table
-extern const struct FloatVect3 BMI088_GYRO_SENS_F[5];
+extern const struct FloatRates BMI088_GYRO_SENS_F[5];
 
 /** default accel sensitivy from the datasheet
  * sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC
diff --git a/sw/airborne/peripherals/invensense2.c b/sw/airborne/peripherals/invensense2.c
index 361b0a9795..32d1002933 100644
--- a/sw/airborne/peripherals/invensense2.c
+++ b/sw/airborne/peripherals/invensense2.c
@@ -44,7 +44,7 @@ static bool invensense2_select_bank(struct invensense2_t *inv, uint8_t bank);
 static bool invensense2_config(struct invensense2_t *inv);
 
 /* Default gyro scalings */
-static const struct FloatVect3 invensense2_gyro_scale_f[5] = {
+static const struct FloatRates invensense2_gyro_scale_f[5] = {
   {0.545415, 0.545415, 0.545415}, // 250DPS: RATE_BFP_OF_REAL(radians(250)/(2**15))
   {1.09083, 1.09083, 1.09083},    // 500DPS
   {2.18166, 2.18166, 2.18166},    // 1000DPS
diff --git a/sw/airborne/peripherals/invensense3.c b/sw/airborne/peripherals/invensense3.c
index 0a163facdf..9060e3a3d6 100644
--- a/sw/airborne/peripherals/invensense3.c
+++ b/sw/airborne/peripherals/invensense3.c
@@ -48,7 +48,7 @@ static bool invensense3_reset_fifo(struct invensense3_t *inv);
 static int samples_from_odr(int odr);
 
 /* Default gyro scalings */
-static const struct FloatVect3 invensense3_gyro_scale_f[8] = {
+static const struct FloatRates invensense3_gyro_scale_f[8] = {
   {4.36332, 4.36332, 4.36332},        // 2000DPS
   {2.18166, 2.18166, 2.18166},        // 1000DPS
   {1.09083, 1.09083, 1.09083},        // 500DPS
diff --git a/sw/airborne/peripherals/mpu60x0.c b/sw/airborne/peripherals/mpu60x0.c
index 7c2b186253..22a162f07b 100644
--- a/sw/airborne/peripherals/mpu60x0.c
+++ b/sw/airborne/peripherals/mpu60x0.c
@@ -35,7 +35,7 @@ const float MPU60X0_GYRO_SENS[4] = {
   MPU60X0_GYRO_SENS_2000
 };
 
-const struct FloatVect3 MPU60X0_GYRO_SENS_F[4] = {
+const struct FloatRates MPU60X0_GYRO_SENS_F[4] = {
   {MPU60X0_GYRO_SENS_250, MPU60X0_GYRO_SENS_250, MPU60X0_GYRO_SENS_250},
   {MPU60X0_GYRO_SENS_500, MPU60X0_GYRO_SENS_500, MPU60X0_GYRO_SENS_500},
   {MPU60X0_GYRO_SENS_1000, MPU60X0_GYRO_SENS_1000, MPU60X0_GYRO_SENS_1000},
diff --git a/sw/airborne/peripherals/mpu60x0.h b/sw/airborne/peripherals/mpu60x0.h
index f76a2b692d..09c157d1ee 100644
--- a/sw/airborne/peripherals/mpu60x0.h
+++ b/sw/airborne/peripherals/mpu60x0.h
@@ -66,7 +66,7 @@
 
 // Get default sensitivity from a table
 extern const float MPU60X0_GYRO_SENS[4];
-extern const struct FloatVect3 MPU60X0_GYRO_SENS_F[4];
+extern const struct FloatRates MPU60X0_GYRO_SENS_F[4];
 
 /** default accel sensitivy from the datasheet
  * sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC
diff --git a/sw/airborne/peripherals/mpu9250.c b/sw/airborne/peripherals/mpu9250.c
index 96aa740191..0767d19887 100644
--- a/sw/airborne/peripherals/mpu9250.c
+++ b/sw/airborne/peripherals/mpu9250.c
@@ -36,7 +36,7 @@ const float MPU9250_GYRO_SENS[4] = {
   MPU9250_GYRO_SENS_2000
 };
 
-const struct FloatVect3 MPU9250_GYRO_SENS_F[4] = {
+const struct FloatRates MPU9250_GYRO_SENS_F[4] = {
   {MPU9250_GYRO_SENS_250, MPU9250_GYRO_SENS_250, MPU9250_GYRO_SENS_250},
   {MPU9250_GYRO_SENS_500, MPU9250_GYRO_SENS_500, MPU9250_GYRO_SENS_500},
   {MPU9250_GYRO_SENS_1000, MPU9250_GYRO_SENS_1000, MPU9250_GYRO_SENS_1000},
diff --git a/sw/airborne/peripherals/mpu9250.h b/sw/airborne/peripherals/mpu9250.h
index b1fc29bb19..eda7a52290 100644
--- a/sw/airborne/peripherals/mpu9250.h
+++ b/sw/airborne/peripherals/mpu9250.h
@@ -67,7 +67,7 @@
 // Get default sensitivity from a table
 extern const float MPU9250_GYRO_SENS[4];
 // Get default sensitivity numerator and denominator from a table
-extern const struct FloatVect3 MPU9250_GYRO_SENS_F[4];
+extern const struct FloatRates MPU9250_GYRO_SENS_F[4];
 
 /** default accel sensitivy from the datasheet
  * sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC