diff --git a/conf/modules/fdm_jsbsim.xml b/conf/modules/fdm_jsbsim.xml
index 032ba95647..b02ab74148 100644
--- a/conf/modules/fdm_jsbsim.xml
+++ b/conf/modules/fdm_jsbsim.xml
@@ -5,28 +5,38 @@
     <description>
       JSBSim FDM backend for NPS simulator
 
-      Use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
+      Use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /usr
 
-      JSBSim doc: http://wiki.paparazziuav.org/wiki/JSBSim
+      JSBSim website: https://jsbsim-team.github.io/jsbsim-reference-manual/
+      JSBSim source: https://github.com/JSBSim-Team/jsbsim
+      JSBSim/PPRZ doc: http://wiki.paparazziuav.org/wiki/JSBSim
       NPS doc: http://wiki.paparazziuav.org/wiki/NPS
     </description>
     <configure name="FIND_JSBSIM_VIA_PKG_CONFIG" value="yes|no" description="enable or disable using pkg-config to get library flags (enabled by default when package exists)"/>
-    <configure name="JSBSIM_ROOT" value="/opt/jsbsim" description="set root directory for JSBSim library when auto-detection (see FIND_JSBSIM_VIA_PKG_CONFIG) is not used (default path: /opt/jsbsim)"/>
+    <configure name="JSBSIM_ROOT" value="/usr" description="set root directory for JSBSim library when auto-detection (see FIND_JSBSIM_VIA_PKG_CONFIG) is not used (default path: /usr)"/>
+    <configure name="JSBSIM_USE_SGPATH" value="FALSE|TRUE" description="old version of jsbsim don't use SGPath module, can be forced to true or false if not found automatically"/>
   </doc>
   <header/>
   <makefile target="nps|hitl">
-    <configure name="JSBSIM_ROOT" default="/opt/jsbsim"/>
+    <configure name="JSBSIM_ROOT" default="/usr"/>
     <configure name="JSBSIM_INC" value="$(JSBSIM_ROOT)/include/JSBSim"/>
     <configure name="JSBSIM_LIB" value="$(JSBSIM_ROOT)/lib"/>
+    <configure name="JSBSIM_USE_SGPATH" value="TRUE"/>
     <configure name="FIND_JSBSIM_VIA_PKG_CONFIG" default="$(shell pkg-config JSBSim --exists && echo 'yes')"/>
     <raw>
       ifeq ($(FIND_JSBSIM_VIA_PKG_CONFIG), yes)
       nps.CFLAGS  += $(shell pkg-config JSBSim --cflags)
       nps.LDFLAGS += $(shell pkg-config JSBSim --libs)
+        ifeq ($(shell pkg-config JSBSim --modversion), 1.0)
+        nps.CFLAGS += -DNPS_JSBSIM_USE_SGPATH=FALSE
+        else
+        nps.CFLAGS += -DNPS_JSBSIM_USE_SGPATH=$(JSBSIM_USE_SGPATH)
+        endif
       else
       FIND_JSBSIM_VIA_PKG_CONFIG = no
       nps.CFLAGS  += -I$(JSBSIM_INC)
       nps.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
+      nps.CFLAGS  += -DNPS_JSBSIM_USE_SGPATH=$(JSBSIM_USE_SGPATH)
       endif
     </raw>
     <file name="nps_fdm_jsbsim.cpp" dir="nps"/>
diff --git a/sw/simulator/nps/nps_fdm_jsbsim.cpp b/sw/simulator/nps/nps_fdm_jsbsim.cpp
index 2b73b76528..48d7439eeb 100644
--- a/sw/simulator/nps/nps_fdm_jsbsim.cpp
+++ b/sw/simulator/nps/nps_fdm_jsbsim.cpp
@@ -73,6 +73,13 @@
 #define PascalOfPsf(_p) ((_p) * 47.8802588889)
 #define CelsiusOfRankine(_r) (((_r) - 491.67) / 1.8)
 
+/// Macro to build file path according to the lib version
+#if NPS_JSBSIM_USE_SGPATH
+#define JSBSIM_PATH(_x) SGPath(_x)
+#else
+#define JSBSIM_PATH(_x) _x
+#endif
+
 /** Name of the JSBSim model.
  *  Defaults to the AIRFRAME_NAME
  */
@@ -558,9 +565,9 @@ static void init_jsbsim(double dt)
   FDMExec->DisableOutput();
   FDMExec->SetDebugLevel(0); // No DEBUG messages
 
-  if (! FDMExec->LoadModel(rootdir + "aircraft",
-                           rootdir + "engine",
-                           rootdir + "systems",
+  if (! FDMExec->LoadModel(JSBSIM_PATH(rootdir + "aircraft"),
+                           JSBSIM_PATH(rootdir + "engine"),
+                           JSBSIM_PATH(rootdir + "systems"),
                            NPS_JSBSIM_MODEL,
                            false)) {
 #ifdef DEBUG
@@ -580,7 +587,7 @@ static void init_jsbsim(double dt)
 
   FGInitialCondition *IC = FDMExec->GetIC();
   if (!jsbsim_ic_name.empty()) {
-    if (! IC->Load(jsbsim_ic_name)) {
+    if (! IC->Load(JSBSIM_PATH(jsbsim_ic_name))) {
 #ifdef DEBUG
       cerr << "Initialization unsuccessful" << endl;
 #endif