diff --git a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/DCM.pde b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/DCM.pde
index ead08bda94..97875c7b1e 100644
--- a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/DCM.pde
+++ b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/DCM.pde
@@ -117,8 +117,8 @@ void Drift_correction(void)
   // Use GPS Ground course to correct yaw gyro drift
   if(ground_speed>=SPEEDFILT)
   {
-    COGX = cos(ToRad(ground_course));
-    COGY = sin(ToRad(ground_course));
+    COGX = cos(ground_course);
+    COGY = sin(ground_course);
     errorCourse=(DCM_Matrix[0][0]*COGY) - (DCM_Matrix[1][0]*COGX);  //Calculating YAW error
     Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
 
diff --git a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/GPS_pprz.pde b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/GPS_pprz.pde
index 9fb3d6f4e3..0cd05e563d 100644
--- a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/GPS_pprz.pde
+++ b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/GPS_pprz.pde
@@ -20,9 +20,9 @@ void parse_pprz_gps() {
   gps_pos_fix_count++;
 #endif
 
-  speed_3d = (float)join_4_bytes(&Paparazzi_GPS_buffer[0])/100.0;    // m/s  0,1,2,3
-  ground_speed = (float)join_4_bytes(&Paparazzi_GPS_buffer[4])/100.0; // Ground speed 2D  4,5,6,7
-  ground_course = (float)join_4_bytes(&Paparazzi_GPS_buffer[8])/100000.0; // Heading 2D  8,9,10,11
+  speed_3d = (float)join_4_bytes(&Paparazzi_GPS_buffer[0])/100.0;     // Speed 3D (m/s)  0,1,2,3
+  ground_speed = (float)join_4_bytes(&Paparazzi_GPS_buffer[4])/100.0; // Ground speed 2D (m/s)  4,5,6,7
+  ground_course = (float)join_4_bytes(&Paparazzi_GPS_buffer[8])/1e7;  // Heading 2D (rad) 8,9,10,11
   stGpsFix = Paparazzi_GPS_buffer[12];
   calibrate_neutrals = Paparazzi_GPS_buffer[13];
   high_accel_flag = Paparazzi_GPS_buffer[14];
@@ -52,12 +52,3 @@ int32_t join_4_bytes(byte Buffer[])
   return(longUnion.dword);
 }
 
-/****************************************************************
- * 
-void checksum(byte ubx_data)
-{
-  ck_a+=ubx_data;
-  ck_b+=ck_a; 
-}
-
- ****************************************************************/
diff --git a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/arduimu_basic.pde b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/arduimu_basic.pde
index 2e5652fad5..82c9206783 100644
--- a/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/arduimu_basic.pde
+++ b/sw/airborne/firmwares/non_ap/arduimu_Firmware_WithGps/arduimu_basic/arduimu_basic.pde
@@ -152,7 +152,7 @@ union int_union {
 int gpsFix=1; //This variable store the status of the GPS
 float speed_3d=0; //Speed (3-D)
 float ground_speed=0;// This is the velocity your "plane" is traveling in meters for second, 1Meters/Second= 3.6Km/H = 1.944 knots
-float ground_course=90;//This is the runaway direction of you "plane" in degrees
+float ground_course=0;//This is the runaway direction of you "plane" in radians
 unsigned long GPS_timer=0;
 
 //***********************GPS PAPARAZZI************************************************************************
diff --git a/sw/airborne/modules/ins/ins_arduimu_basic.c b/sw/airborne/modules/ins/ins_arduimu_basic.c
index 8ebbcfad64..58baef6366 100644
--- a/sw/airborne/modules/ins/ins_arduimu_basic.c
+++ b/sw/airborne/modules/ins/ins_arduimu_basic.c
@@ -127,7 +127,7 @@ void ArduIMU_periodicGPS( void ) {
 
   FillBufWith32bit(ardu_gps_trans.buf, 0, (int32_t)gps.speed_3d); // speed 3D
   FillBufWith32bit(ardu_gps_trans.buf, 4, (int32_t)gps.gspeed);   // ground speed
-  FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)DegOfRad(gps.course / 1e6));   // course
+  FillBufWith32bit(ardu_gps_trans.buf, 8, (int32_t)gps.course);   // course
   ardu_gps_trans.buf[12] = gps.fix;                               // status gps fix
   ardu_gps_trans.buf[13] = (uint8_t)arduimu_calibrate_neutrals;   // calibration flag
   ardu_gps_trans.buf[14] = (uint8_t)high_accel_flag;              // high acceleration flag (disable accelerometers in the arduimu filter)