diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index b5576ec155..90e696b2af 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -201,7 +201,7 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
     <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
-    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_aspirin.h&quot;"/>
   </section>
 
   <section name="AUTOPILOT">
diff --git a/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
index a030a3d916..c36b6fb9f1 100644
--- a/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
+++ b/sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
@@ -34,18 +34,37 @@ void imu_aspirin_arch_init(void) {
 
 void imu_feed_gyro_accel(void) {
 
-  /* do something similar to this, fill imu_aspirin.i2c_trans_gyro and
-   * imu_aspirin.accel_rx_buf
-   */
-#if 0
-  max1168_values[IMU_GYRO_P_CHAN]  = sensors.gyro.value.x;
-  max1168_values[IMU_GYRO_Q_CHAN]  = sensors.gyro.value.y;
-  max1168_values[IMU_GYRO_R_CHAN]  = sensors.gyro.value.z;
-  max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
-  max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
-  max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
-  max1168_status = STA_MAX1168_DATA_AVAILABLE;
+#if 1
+  // the high byte is in buf[0], low byte in buf[1], etc.
+  imu_aspirin.i2c_trans_gyro.buf[0] = ((int16_t)sensors.gyro.value.x) >> 8;
+  imu_aspirin.i2c_trans_gyro.buf[1] = ((int16_t)sensors.gyro.value.x) & 0xff;
+  imu_aspirin.i2c_trans_gyro.buf[2] = ((int16_t)sensors.gyro.value.y) >> 8;
+  imu_aspirin.i2c_trans_gyro.buf[3] = ((int16_t)sensors.gyro.value.y) & 0xff;
+  imu_aspirin.i2c_trans_gyro.buf[4] = ((int16_t)sensors.gyro.value.z) >> 8;
+  imu_aspirin.i2c_trans_gyro.buf[5] = ((int16_t)sensors.gyro.value.z) & 0xff;
+
+  // low byte in buf[1], high byte in buf[2], etc...
+  imu_aspirin.accel_rx_buf[1] = ((int16_t)sensors.accel.value.x) & 0xff;
+  imu_aspirin.accel_rx_buf[2] = ((int16_t)sensors.accel.value.x) >> 8;
+  imu_aspirin.accel_rx_buf[3] = ((int16_t)sensors.accel.value.y) & 0xff;
+  imu_aspirin.accel_rx_buf[4] = ((int16_t)sensors.accel.value.y) >> 8;
+  imu_aspirin.accel_rx_buf[5] = ((int16_t)sensors.accel.value.z) & 0xff;
+  imu_aspirin.accel_rx_buf[6] = ((int16_t)sensors.accel.value.z) >> 8;
+
+  // set availability flags...
+  imu_aspirin.accel_available = true;
+
+#else
+
+  RATES_ASSIGN(imu.gyro_unscaled, sensors.gyro.value.x, sensors.gyro.value.y, sensors.gyro.value.z);
+  VECT3_ASSIGN(imu.accel_unscaled, sensors.accel.value.x, sensors.accel.value.y, sensors.accel.value.z);
+
+  // set availability flags...
+  imu_aspirin.accel_available = true;
+  imu_aspirin.gyro_available_blaaa = true;
+
 #endif
+
 }