diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index 4ba4f43d96..1f092a4a56 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -18,7 +18,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
       <dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"  values="Default|Debug"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
 
       <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
@@ -32,9 +32,6 @@
     <dl_settings NAME="control">
 
       <dl_settings NAME="ins">
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_overrun" shortname="ADC overrun" module="subsystems/imu" />
         <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
         <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
       </dl_settings>
diff --git a/conf/settings/tuning_basic_ins.xml b/conf/settings/tuning_ins_dcm.xml
similarity index 94%
rename from conf/settings/tuning_basic_ins.xml
rename to conf/settings/tuning_ins_dcm.xml
index 1f092a4a56..4ba4f43d96 100644
--- a/conf/settings/tuning_basic_ins.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -18,7 +18,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
       <dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink"  values="Default|Debug"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
 
       <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
@@ -32,6 +32,9 @@
     <dl_settings NAME="control">
 
       <dl_settings NAME="ins">
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
+        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_overrun" shortname="ADC overrun" module="subsystems/imu" />
         <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
         <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
       </dl_settings>