diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 1d0bd63af9..40a9910663 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -50,10 +50,6 @@
     <define name="IR2" value="ADC_2"/>
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
-
-    <define name="GYRO_ROLL" value="ADC_3"/>
-    <define name="GYRO_NB_SAMPLES" value="16"/>
-
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -78,15 +74,10 @@
     <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
- <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="520"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>
-    <define name="ADC_TEMP_SLOPE" value="0"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/>
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_SIGN"  value="-1."/>
+    <define name="GYRO_P_NEUTRAL" value="512"/>
+    <define name="GYRO_P_SENS" value="1." integer="16"/>
   </section>
 
   <section name="BAT">
@@ -215,7 +206,9 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="gyro"          type="roll"/>
+    <subsystem name="imu"       type="analog_gyro">
+      <configure name="GYRO_P" value="ADC_3"/>
+    </subsystem>
     <subsystem name="ahrs" 		type="infrared"/>
     <subsystem name="gps" 		    type="ublox_utm"/>
     <subsystem name="navigation"/>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index f6d09d30de..9a9f676cc3 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -67,19 +67,15 @@
     <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
-  <!--section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="500"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/>
-  </section-->
-
   <section name="IMU" prefix="IMU_">
     <define name="GYRO_P_SIGN"  value="1"/>
-    <define name="GYRO_P_NEUTRAL" value="32362"/>
-    <define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
+    <define name="GYRO_P_NEUTRAL" value="500"/>
+    <!--define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/-->
+    <!--define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/-->
+    <!--define name="ROLL_SCALE" value="3.3*1000./1024./(IMU_ADXRS300_SENSITIVITY*IMU_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/-->
+    <!--define name="RATE_DEGS_TO_RADINT" value="M_PI/180./4096."/-->
+    <!--define name="GYRO_P_SENS" value="IMU_RATE_DEGS_TO_RADINT * IMU_ROLL_SCALE" integer="16"/-->
+    <define name="GYRO_P_SENS" value="0.137518981" integer="16"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/osam_xsens_twog.xml b/conf/airframes/osam_xsens_twog.xml
index 42f4bd6000..710f2e9451 100644
--- a/conf/airframes/osam_xsens_twog.xml
+++ b/conf/airframes/osam_xsens_twog.xml
@@ -123,16 +123,6 @@
     <define name="PITCH_NEUTRAL_DEFAULT" value="5.73" unit="deg"/>
   </section>
 
-<!--
- <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="497"/>
-    <define name="DYNAMIC_RANGE" value="300" unit="deg/s"/>
-    <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
-    <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(dNOMINALeg/s)"/>
-    <define name="ROLL_SCALE" value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)" unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="1."/>
-  </section>
--->
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 9f97362634..36eff058d6 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -22,7 +22,9 @@
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
     <subsystem name="ahrs"      type="infrared"/>
-    <subsystem name="gyro"          type="roll"/>
+    <subsystem name="imu"       type="analog_gyro">
+      <configure name="GYRO_P" value="ADC_3"/>
+    </subsystem>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="navigation"/>
   </firmware>
@@ -99,10 +101,10 @@
     <define name="CORRECTION_RIGHT" value="1."/>
   </section>
 
-  <section name="GYRO" prefix="GYRO_">
-    <define name="ADC_ROLL_NEUTRAL" value="316"/>
-    <define name="ROLL_DIRECTION" value="1."/>
-    <define name="ROLL_SCALE" value="0.44"/>
+  <section name="IMU" prefix="IMU_">
+    <define name="GYRO_P_SIGN"  value="1."/>
+    <define name="GYRO_P_NEUTRAL" value="316"/>
+    <define name="GYRO_P_SENS" value="1." integer="16"/>
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">