diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index f72c47161c..1a4f10df16 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -72,35 +72,11 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
-
-
-
diff --git a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h b/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
index 99a9f39d52..18b1b1bbad 100644
--- a/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
+++ b/sw/airborne/subsystems/imu/imu_ardrone2_raw.h
@@ -31,6 +31,83 @@
#include "generated/airframe.h"
#include "navdata.h"
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN 1
+#define IMU_MAG_Y_SIGN 1
+#define IMU_MAG_Z_SIGN 1
+#endif
+#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
+#define IMU_GYRO_P_SIGN 1
+#define IMU_GYRO_Q_SIGN 1
+#define IMU_GYRO_R_SIGN 1
+#endif
+#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
+#define IMU_ACCEL_X_SIGN 1
+#define IMU_ACCEL_Y_SIGN 1
+#define IMU_ACCEL_Z_SIGN 1
+#endif
+
+/** default gyro sensitivy and neutral from the datasheet
+ * MPU with 2000 deg/s
+ */
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS 4.359
+#define IMU_GYRO_P_SENS_NUM 4359
+#define IMU_GYRO_P_SENS_DEN 1000
+#define IMU_GYRO_Q_SENS 4.359
+#define IMU_GYRO_Q_SENS_NUM 4359
+#define IMU_GYRO_Q_SENS_DEN 1000
+#define IMU_GYRO_R_SENS 4.359
+#define IMU_GYRO_R_SENS_NUM 4359
+#define IMU_GYRO_R_SENS_DEN 1000
+#endif
+#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
+#define IMU_GYRO_P_NEUTRAL 0
+#define IMU_GYRO_Q_NEUTRAL 0
+#define IMU_GYRO_R_NEUTRAL 0
+#endif
+
+/** default accel sensitivy from the datasheet
+ * 512 LSB/g
+ */
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS 19.5
+#define IMU_ACCEL_X_SENS_NUM 195
+#define IMU_ACCEL_X_SENS_DEN 10
+#define IMU_ACCEL_Y_SENS 19.5
+#define IMU_ACCEL_Y_SENS_NUM 195
+#define IMU_ACCEL_Y_SENS_DEN 10
+#define IMU_ACCEL_Z_SENS 19.5
+#define IMU_ACCEL_Z_SENS_NUM 195
+#define IMU_ACCEL_Z_SENS_DEN 10
+#endif
+
+#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
+#define IMU_ACCEL_X_NEUTRAL 2048
+#define IMU_ACCEL_Y_NEUTRAL 2048
+#define IMU_ACCEL_Z_NEUTRAL 2048
+#endif
+
+#if !defined IMU_MAG_X_SENS & !defined IMU_MAG_Y_SENS & !defined IMU_MAG_Z_SENS
+#define IMU_MAG_X_SENS 16.0
+#define IMU_MAG_X_SENS_NUM 16
+#define IMU_MAG_X_SENS_DEN 1
+#define IMU_MAG_Y_SENS 16.0
+#define IMU_MAG_Y_SENS_NUM 16
+#define IMU_MAG_Y_SENS_DEN 1
+#define IMU_MAG_Z_SENS 16.0
+#define IMU_MAG_Z_SENS_NUM 16
+#define IMU_MAG_Z_SENS_DEN 1
+#endif
+
+#if !defined IMU_MAG_X_NEUTRAL & !defined IMU_MAG_Y_NEUTRAL & !defined IMU_MAG_Z_NEUTRAL
+#define IMU_MAG_X_NEUTRAL 0
+#define IMU_MAG_Y_NEUTRAL 0
+#define IMU_MAG_Z_NEUTRAL 0
+#endif
+
+
+
void navdata_event(void);
static inline void imu_ardrone2_event ( void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))