diff --git a/sw/airborne/boards/apogee/imu_apogee.c b/sw/airborne/boards/apogee/imu_apogee.c
index d3e7856f79..50c44d49ef 100644
--- a/sw/airborne/boards/apogee/imu_apogee.c
+++ b/sw/airborne/boards/apogee/imu_apogee.c
@@ -56,14 +56,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz")
 PRINT_CONFIG_VAR(APOGEE_SMPLRT_DIV)
 PRINT_CONFIG_VAR(APOGEE_LOWPASS_FILTER)
 
-#ifndef APOGEE_GYRO_RANGE
-#define APOGEE_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(APOGEE_GYRO_RANGE)
-
-#ifndef APOGEE_ACCEL_RANGE
-#define APOGEE_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(APOGEE_ACCEL_RANGE)
 
 #if APOGEE_USE_MPU9150
diff --git a/sw/airborne/boards/apogee/imu_apogee.h b/sw/airborne/boards/apogee/imu_apogee.h
index 1fba408762..72f4f93090 100644
--- a/sw/airborne/boards/apogee/imu_apogee.h
+++ b/sw/airborne/boards/apogee/imu_apogee.h
@@ -51,22 +51,24 @@
 #define IMU_ACCEL_Z_SIGN  1
 #endif
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
+#ifndef APOGEE_GYRO_RANGE
+#define APOGEE_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
+#endif
+#ifndef APOGEE_ACCEL_RANGE
+#define APOGEE_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1]
 #endif
 #if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
 #define IMU_GYRO_P_NEUTRAL 0
@@ -75,21 +77,17 @@
 #endif
 
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1]
 #endif
 #if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
 #define IMU_ACCEL_X_NEUTRAL 0
diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c
index 773d1c7a9b..21dc0a5c81 100644
--- a/sw/airborne/boards/krooz/imu_krooz.c
+++ b/sw/airborne/boards/krooz/imu_krooz.c
@@ -48,14 +48,7 @@
 PRINT_CONFIG_VAR(KROOZ_SMPLRT_DIV)
 PRINT_CONFIG_VAR(KROOZ_LOWPASS_FILTER)
 
-#ifndef KROOZ_GYRO_RANGE
-#define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
-#endif
 PRINT_CONFIG_VAR(KROOZ_GYRO_RANGE)
-
-#ifndef KROOZ_ACCEL_RANGE
-#define KROOZ_ACCEL_RANGE MPU60X0_ACCEL_RANGE_2G
-#endif
 PRINT_CONFIG_VAR(KROOZ_ACCEL_RANGE)
 
 struct ImuKrooz imu_krooz;
diff --git a/sw/airborne/boards/krooz/imu_krooz.h b/sw/airborne/boards/krooz/imu_krooz.h
index d6392b5d2d..3af518dd2e 100644
--- a/sw/airborne/boards/krooz/imu_krooz.h
+++ b/sw/airborne/boards/krooz/imu_krooz.h
@@ -37,69 +37,42 @@
 #include "peripherals/mpu60x0_i2c.h"
 #include "peripherals/hmc58xx.h"
 
-// Default configuration
-#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
-#define IMU_GYRO_P_SIGN   1
-#define IMU_GYRO_Q_SIGN   1
-#define IMU_GYRO_R_SIGN   1
-#endif
-#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
-#define IMU_ACCEL_X_SIGN  1
-#define IMU_ACCEL_Y_SIGN  1
-#define IMU_ACCEL_Z_SIGN  1
-#endif
-#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
-#define IMU_MAG_X_SIGN    1
-#define IMU_MAG_Y_SIGN    1
-#define IMU_MAG_Z_SIGN    1
+#ifndef KROOZ_GYRO_RANGE
+#define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
 #endif
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 250 deg/s has 131.072 LSB/(deg/s)
- * sens = 1/131.072 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/131.072 * pi/180 * 4096 = 0.5454
- I*/
+#ifndef KROOZ_ACCEL_RANGE
+#define KROOZ_ACCEL_RANGE MPU60X0_ACCEL_RANGE_2G
+#endif
+
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 0.5454
-#define IMU_GYRO_P_SENS_NUM 2727
-#define IMU_GYRO_P_SENS_DEN 5000
-#define IMU_GYRO_Q_SENS 0.5454
-#define IMU_GYRO_Q_SENS_NUM 2727
-#define IMU_GYRO_Q_SENS_DEN 5000
-#define IMU_GYRO_R_SENS 0.5454
-#define IMU_GYRO_R_SENS_NUM 2727
-#define IMU_GYRO_R_SENS_DEN 5000
-#endif
-#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
-#define IMU_GYRO_P_NEUTRAL 0
-#define IMU_GYRO_Q_NEUTRAL 0
-#define IMU_GYRO_R_NEUTRAL 0
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
 #endif
 
-
-/** default accel sensitivy from the datasheet
- * MPU with 2g has 16384 LSB/g
- * sens = 9.81 [m/s^2] / 16384 [LSB/g] * 2^INT32_ACCEL_FRAC = 0.6131
- */
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 0.6131
-#define IMU_ACCEL_X_SENS_NUM 6131
-#define IMU_ACCEL_X_SENS_DEN 10000
-#define IMU_ACCEL_Y_SENS 0.6131
-#define IMU_ACCEL_Y_SENS_NUM 6131
-#define IMU_ACCEL_Y_SENS_DEN 10000
-#define IMU_ACCEL_Z_SENS 0.6131
-#define IMU_ACCEL_Z_SENS_NUM 6131
-#define IMU_ACCEL_Z_SENS_DEN 10000
-#endif
-#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
-#define IMU_ACCEL_X_NEUTRAL 0
-#define IMU_ACCEL_Y_NEUTRAL 0
-#define IMU_ACCEL_Z_NEUTRAL 0
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
 #endif
 
+
 #ifndef IMU_KROOZ_ACCEL_AVG_FILTER
 #define IMU_KROOZ_ACCEL_AVG_FILTER      15
 #endif
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.c b/sw/airborne/boards/krooz/imu_krooz_memsic.c
index 6ea010decb..b6f002a89e 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.c
+++ b/sw/airborne/boards/krooz/imu_krooz_memsic.c
@@ -45,9 +45,6 @@
 PRINT_CONFIG_VAR(KROOZ_SMPLRT_DIV)
 PRINT_CONFIG_VAR(KROOZ_LOWPASS_FILTER)
 
-#ifndef KROOZ_GYRO_RANGE
-#define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
-#endif
 PRINT_CONFIG_VAR(KROOZ_GYRO_RANGE)
 
 #ifndef KROOZ_ACCEL_RANGE
diff --git a/sw/airborne/boards/krooz/imu_krooz_memsic.h b/sw/airborne/boards/krooz/imu_krooz_memsic.h
index 0ebdced215..e8ab964fe8 100644
--- a/sw/airborne/boards/krooz/imu_krooz_memsic.h
+++ b/sw/airborne/boards/krooz/imu_krooz_memsic.h
@@ -40,44 +40,21 @@
 #include "peripherals/hmc58xx.h"
 #include "mcu_periph/spi.h"
 
-// Default configuration
-#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
-#define IMU_GYRO_P_SIGN   1
-#define IMU_GYRO_Q_SIGN   1
-#define IMU_GYRO_R_SIGN   1
-#endif
-#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
-#define IMU_ACCEL_X_SIGN  1
-#define IMU_ACCEL_Y_SIGN  1
-#define IMU_ACCEL_Z_SIGN  1
-#endif
-#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
-#define IMU_MAG_X_SIGN    1
-#define IMU_MAG_Y_SIGN    1
-#define IMU_MAG_Z_SIGN    1
+#ifndef KROOZ_GYRO_RANGE
+#define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
 #endif
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 250 deg/s has 131.072 LSB/(deg/s)
- * sens = 1/131.072 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/131.072 * pi/180 * 4096 = 0.5454
- I*/
+// Set default sensitivity based on range if needed
 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 0.5454
-#define IMU_GYRO_P_SENS_NUM 2727
-#define IMU_GYRO_P_SENS_DEN 5000
-#define IMU_GYRO_Q_SENS 0.5454
-#define IMU_GYRO_Q_SENS_NUM 2727
-#define IMU_GYRO_Q_SENS_DEN 5000
-#define IMU_GYRO_R_SENS 0.5454
-#define IMU_GYRO_R_SENS_NUM 2727
-#define IMU_GYRO_R_SENS_DEN 5000
-#endif
-#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
-#define IMU_GYRO_P_NEUTRAL 0
-#define IMU_GYRO_Q_NEUTRAL 0
-#define IMU_GYRO_R_NEUTRAL 0
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
 #endif
 
 
diff --git a/sw/airborne/peripherals/mpu60x0.c b/sw/airborne/peripherals/mpu60x0.c
index 9c7098b44a..5eb535fa2b 100644
--- a/sw/airborne/peripherals/mpu60x0.c
+++ b/sw/airborne/peripherals/mpu60x0.c
@@ -24,11 +24,39 @@
  *
  * MPU-60X0 driver common functions (I2C and SPI).
  *
- * Still needs the either the I2C or SPI specific implementation.
+ * Still needs the either I2C or SPI specific implementation.
  */
 
 #include "peripherals/mpu60x0.h"
 
+const float MPU60X0_GYRO_SENS[4] = {
+  MPU60X0_GYRO_SENS_250,
+  MPU60X0_GYRO_SENS_500,
+  MPU60X0_GYRO_SENS_1000,
+  MPU60X0_GYRO_SENS_2000
+};
+
+const int32_t MPU60X0_GYRO_SENS_FRAC[4][2] = {
+  { MPU60X0_GYRO_SENS_250_NUM, MPU60X0_GYRO_SENS_250_DEN },
+  { MPU60X0_GYRO_SENS_500_NUM, MPU60X0_GYRO_SENS_500_DEN },
+  { MPU60X0_GYRO_SENS_1000_NUM, MPU60X0_GYRO_SENS_1000_DEN },
+  { MPU60X0_GYRO_SENS_2000_NUM, MPU60X0_GYRO_SENS_2000_DEN }
+};
+
+const float MPU60X0_ACCEL_SENS[4] = {
+  MPU60X0_ACCEL_SENS_2G,
+  MPU60X0_ACCEL_SENS_4G,
+  MPU60X0_ACCEL_SENS_8G,
+  MPU60X0_ACCEL_SENS_16G
+};
+
+const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2] = {
+  { MPU60X0_ACCEL_SENS_2G_NUM, MPU60X0_ACCEL_SENS_2G_DEN },
+  { MPU60X0_ACCEL_SENS_4G_NUM, MPU60X0_ACCEL_SENS_4G_DEN },
+  { MPU60X0_ACCEL_SENS_8G_NUM, MPU60X0_ACCEL_SENS_8G_DEN },
+  { MPU60X0_ACCEL_SENS_16G_NUM, MPU60X0_ACCEL_SENS_16G_DEN }
+};
+
 void mpu60x0_set_default_config(struct Mpu60x0Config *c)
 {
   c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
diff --git a/sw/airborne/peripherals/mpu60x0.h b/sw/airborne/peripherals/mpu60x0.h
index 4293cb6b26..3c88d1c3ed 100644
--- a/sw/airborne/peripherals/mpu60x0.h
+++ b/sw/airborne/peripherals/mpu60x0.h
@@ -51,6 +51,52 @@
 #define MPU60X0_I2C_NB_SLAVES 5
 #endif
 
+/** default gyro sensitivy from the datasheet
+ * sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC
+ * ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s)
+ *     sens = 1/32.8 * pi/180 * 4096 = 2.17953
+ */
+#define MPU60X0_GYRO_SENS_250 0.544883
+#define MPU60X0_GYRO_SENS_250_NUM 19327
+#define MPU60X0_GYRO_SENS_250_DEN 35470
+#define MPU60X0_GYRO_SENS_500 1.08977
+#define MPU60X0_GYRO_SENS_500_NUM 57663
+#define MPU60X0_GYRO_SENS_500_DEN 52913
+#define MPU60X0_GYRO_SENS_1000 2.17953
+#define MPU60X0_GYRO_SENS_1000_NUM 18271
+#define MPU60X0_GYRO_SENS_1000_DEN 8383
+#define MPU60X0_GYRO_SENS_2000 4.35906
+#define MPU60X0_GYRO_SENS_2000_NUM 36542
+#define MPU60X0_GYRO_SENS_2000_DEN 8383
+
+// Get default sensitivity from a table
+extern const float MPU60X0_GYRO_SENS[4];
+// Get default sensitivity numerator and denominator from a table
+extern const int32_t MPU60X0_GYRO_SENS_FRAC[4][2];
+
+/** default accel sensitivy from the datasheet
+ * sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC
+ * ex: MPU with 8g has 4096 LSB/g
+ *     sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
+ */
+#define MPU60X0_ACCEL_SENS_2G 0.613125
+#define MPU60X0_ACCEL_SENS_2G_NUM 981
+#define MPU60X0_ACCEL_SENS_2G_DEN 1600
+#define MPU60X0_ACCEL_SENS_4G 1.22625
+#define MPU60X0_ACCEL_SENS_4G_NUM 981
+#define MPU60X0_ACCEL_SENS_4G_DEN 800
+#define MPU60X0_ACCEL_SENS_8G 2.4525
+#define MPU60X0_ACCEL_SENS_8G_NUM 981
+#define MPU60X0_ACCEL_SENS_8G_DEN 400
+#define MPU60X0_ACCEL_SENS_16G 4.905
+#define MPU60X0_ACCEL_SENS_16G_NUM 981
+#define MPU60X0_ACCEL_SENS_16G_DEN 200
+
+// Get default sensitivity from a table
+extern const float MPU60X0_ACCEL_SENS[4];
+// Get default sensitivity numerator and denominator from a table
+extern const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2];
+
 enum Mpu60x0ConfStatus {
   MPU60X0_CONF_UNINIT,
   MPU60X0_CONF_RESET,
diff --git a/sw/airborne/peripherals/mpu9250.c b/sw/airborne/peripherals/mpu9250.c
index 8adac4a30a..c79ea9e224 100644
--- a/sw/airborne/peripherals/mpu9250.c
+++ b/sw/airborne/peripherals/mpu9250.c
@@ -24,11 +24,39 @@
  *
  * MPU-9250 driver common functions (I2C and SPI).
  *
- * Still needs the either the I2C or SPI specific implementation.
+ * Still needs the either I2C or SPI specific implementation.
  */
 
 #include "peripherals/mpu9250.h"
 
+const float MPU9250_GYRO_SENS[4] = {
+  MPU9250_GYRO_SENS_250,
+  MPU9250_GYRO_SENS_500,
+  MPU9250_GYRO_SENS_1000,
+  MPU9250_GYRO_SENS_2000
+};
+
+const int32_t MPU9250_GYRO_SENS_FRAC[4][2] = {
+  { MPU9250_GYRO_SENS_250_NUM, MPU9250_GYRO_SENS_250_DEN },
+  { MPU9250_GYRO_SENS_500_NUM, MPU9250_GYRO_SENS_500_DEN },
+  { MPU9250_GYRO_SENS_1000_NUM, MPU9250_GYRO_SENS_1000_DEN },
+  { MPU9250_GYRO_SENS_2000_NUM, MPU9250_GYRO_SENS_2000_DEN }
+};
+
+const float MPU9250_ACCEL_SENS[4] = {
+  MPU9250_ACCEL_SENS_2G,
+  MPU9250_ACCEL_SENS_4G,
+  MPU9250_ACCEL_SENS_8G,
+  MPU9250_ACCEL_SENS_16G
+};
+
+const int32_t MPU9250_ACCEL_SENS_FRAC[4][2] = {
+  { MPU9250_ACCEL_SENS_2G_NUM, MPU9250_ACCEL_SENS_2G_DEN },
+  { MPU9250_ACCEL_SENS_4G_NUM, MPU9250_ACCEL_SENS_4G_DEN },
+  { MPU9250_ACCEL_SENS_8G_NUM, MPU9250_ACCEL_SENS_8G_DEN },
+  { MPU9250_ACCEL_SENS_16G_NUM, MPU9250_ACCEL_SENS_16G_DEN }
+};
+
 void mpu9250_set_default_config(struct Mpu9250Config *c)
 {
   c->clk_sel = MPU9250_DEFAULT_CLK_SEL;
diff --git a/sw/airborne/peripherals/mpu9250.h b/sw/airborne/peripherals/mpu9250.h
index 2ad631df5c..db19d9d061 100644
--- a/sw/airborne/peripherals/mpu9250.h
+++ b/sw/airborne/peripherals/mpu9250.h
@@ -52,6 +52,52 @@
 #define MPU9250_I2C_NB_SLAVES 5
 #endif
 
+/** default gyro sensitivy from the datasheet
+ * sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC
+ * ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s)
+ *     sens = 1/32.8 * pi/180 * 4096 = 2.17953
+ */
+#define MPU9250_GYRO_SENS_250 0.544883
+#define MPU9250_GYRO_SENS_250_NUM 19327
+#define MPU9250_GYRO_SENS_250_DEN 35470
+#define MPU9250_GYRO_SENS_500 1.08977
+#define MPU9250_GYRO_SENS_500_NUM 57663
+#define MPU9250_GYRO_SENS_500_DEN 52913
+#define MPU9250_GYRO_SENS_1000 2.17953
+#define MPU9250_GYRO_SENS_1000_NUM 18271
+#define MPU9250_GYRO_SENS_1000_DEN 8383
+#define MPU9250_GYRO_SENS_2000 4.35906
+#define MPU9250_GYRO_SENS_2000_NUM 36542
+#define MPU9250_GYRO_SENS_2000_DEN 8383
+
+// Get default sensitivity from a table
+extern const float MPU9250_GYRO_SENS[4];
+// Get default sensitivity numerator and denominator from a table
+extern const int32_t MPU9250_GYRO_SENS_FRAC[4][2];
+
+/** default accel sensitivy from the datasheet
+ * sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC
+ * ex: MPU with 8g has 4096 LSB/g
+ *     sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
+ */
+#define MPU9250_ACCEL_SENS_2G 0.613125
+#define MPU9250_ACCEL_SENS_2G_NUM 981
+#define MPU9250_ACCEL_SENS_2G_DEN 1600
+#define MPU9250_ACCEL_SENS_4G 1.22625
+#define MPU9250_ACCEL_SENS_4G_NUM 981
+#define MPU9250_ACCEL_SENS_4G_DEN 800
+#define MPU9250_ACCEL_SENS_8G 2.4525
+#define MPU9250_ACCEL_SENS_8G_NUM 981
+#define MPU9250_ACCEL_SENS_8G_DEN 400
+#define MPU9250_ACCEL_SENS_16G 4.905
+#define MPU9250_ACCEL_SENS_16G_NUM 981
+#define MPU9250_ACCEL_SENS_16G_DEN 200
+
+// Get default sensitivity from a table
+extern const float MPU9250_ACCEL_SENS[4];
+// Get default sensitivity numerator and denominator from a table
+extern const int32_t MPU9250_ACCEL_SENS_FRAC[4][2];
+
 enum Mpu9250ConfStatus {
   MPU9250_CONF_UNINIT,
   MPU9250_CONF_RESET,
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
index 354ff3bea6..a01e7d9eb6 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
@@ -64,14 +64,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 PRINT_CONFIG_VAR(ASPIRIN_2_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(ASPIRIN_2_SMPLRT_DIV)
 
-#ifndef ASPIRIN_2_GYRO_RANGE
-#define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
-#endif
 PRINT_CONFIG_VAR(ASPIRIN_2_GYRO_RANGE)
-
-#ifndef ASPIRIN_2_ACCEL_RANGE
-#define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
-#endif
 PRINT_CONFIG_VAR(ASPIRIN_2_ACCEL_RANGE)
 
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
index be9e9fcdb3..b3b0c0729a 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.h
@@ -31,10 +31,42 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-/* default sensitivitiy */
-#include "subsystems/imu/imu_mpu60x0_defaults.h"
 #include "peripherals/mpu60x0_spi.h"
 
+#ifndef ASPIRIN_2_GYRO_RANGE
+#define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+
+#ifndef ASPIRIN_2_ACCEL_RANGE
+#define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
+#endif
+
 struct ImuAspirin2Spi {
   struct Mpu60x0_Spi mpu;
 
diff --git a/sw/airborne/subsystems/imu/imu_bebop.c b/sw/airborne/subsystems/imu/imu_bebop.c
index ee7ad825ce..3d357176ae 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.c
+++ b/sw/airborne/subsystems/imu/imu_bebop.c
@@ -60,14 +60,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 PRINT_CONFIG_VAR(BEBOP_SMPLRT_DIV)
 PRINT_CONFIG_VAR(BEBOP_LOWPASS_FILTER)
 
-#ifndef BEBOP_GYRO_RANGE
-#define BEBOP_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(BEBOP_GYRO_RANGE)
-
-#ifndef BEBOP_ACCEL_RANGE
-#define BEBOP_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(BEBOP_ACCEL_RANGE)
 
 struct OrientationReps imu_to_mag_bebop;    ///< IMU to magneto rotation
diff --git a/sw/airborne/subsystems/imu/imu_bebop.h b/sw/airborne/subsystems/imu/imu_bebop.h
index df11ae6114..669041437c 100644
--- a/sw/airborne/subsystems/imu/imu_bebop.h
+++ b/sw/airborne/subsystems/imu/imu_bebop.h
@@ -34,41 +34,41 @@
 #include "peripherals/ak8963.h"
 #include "peripherals/mpu60x0_i2c.h"
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- */
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef BEBOP_GYRO_RANGE
+#define BEBOP_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
-#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#ifndef BEBOP_ACCEL_RANGE
+#define BEBOP_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
 #endif
 
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
+#endif
+
+
 /** Everything that is in the bebop IMU */
 struct ImuBebop {
   struct Mpu60x0_I2c mpu;         ///< The MPU gyro/accel device
diff --git a/sw/airborne/subsystems/imu/imu_disco.c b/sw/airborne/subsystems/imu/imu_disco.c
index c5c56e03fe..bd2bb6bc98 100644
--- a/sw/airborne/subsystems/imu/imu_disco.c
+++ b/sw/airborne/subsystems/imu/imu_disco.c
@@ -49,14 +49,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 PRINT_CONFIG_VAR(DISCO_SMPLRT_DIV)
 PRINT_CONFIG_VAR(DISCO_LOWPASS_FILTER)
 
-#ifndef DISCO_GYRO_RANGE
-#define DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(DISCO_GYRO_RANGE)
-
-#ifndef DISCO_ACCEL_RANGE
-#define DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(DISCO_ACCEL_RANGE)
 
 /** Disco IMU data */
diff --git a/sw/airborne/subsystems/imu/imu_disco.h b/sw/airborne/subsystems/imu/imu_disco.h
index ed4bcf600e..a1710072f5 100644
--- a/sw/airborne/subsystems/imu/imu_disco.h
+++ b/sw/airborne/subsystems/imu/imu_disco.h
@@ -34,39 +34,38 @@
 #include "peripherals/ak8963.h"
 #include "peripherals/mpu60x0_i2c.h"
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- */
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef DISCO_GYRO_RANGE
+#define DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef DISCO_ACCEL_RANGE
+#define DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[DISCO_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[DISCO_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[DISCO_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DISCO_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[DISCO_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[DISCO_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[DISCO_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DISCO_ACCEL_RANGE][1]
 #endif
 
 /** Everything that is in the disco IMU */
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
index d5bb4af427..12d0b5d1c9 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
+++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.c
@@ -56,14 +56,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 PRINT_CONFIG_VAR(DROTEK_2_SMPLRT_DIV)
 PRINT_CONFIG_VAR(DROTEK_2_LOWPASS_FILTER)
 
-#ifndef DROTEK_2_GYRO_RANGE
-#define DROTEK_2_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(DROTEK_2_GYRO_RANGE)
-
-#ifndef DROTEK_2_ACCEL_RANGE
-#define DROTEK_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(DROTEK_2_ACCEL_RANGE)
 
 #ifndef DROTEK_2_MPU_I2C_ADDR
diff --git a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
index a841bce12c..b5b0e4dac1 100644
--- a/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
+++ b/sw/airborne/subsystems/imu/imu_drotek_10dof_v2.h
@@ -36,43 +36,42 @@
 #include "peripherals/mpu60x0_i2c.h"
 #include "peripherals/hmc58xx.h"
 
+#ifndef DROTEK_2_GYRO_RANGE
+#define DROTEK_2_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
+#endif
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
+#ifndef DROTEK_2_ACCEL_RANGE
+#define DROTEK_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
 #endif
 
 
+
 struct ImuDrotek2 {
   struct Mpu60x0_I2c mpu;
   struct Hmc58xx hmc;
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.c b/sw/airborne/subsystems/imu/imu_mpu6000.c
index 2457414d34..7cd3af302f 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.c
+++ b/sw/airborne/subsystems/imu/imu_mpu6000.c
@@ -50,20 +50,13 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #define IMU_MPU_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #else
-#error Non-default PERIODIC_FREQUENCY: please define MPU_HMC_LOWPASS_FILTER and MPU_HMC_SMPLRT_DIV.
+#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV.
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU_SMPLRT_DIV)
 
-#ifndef IMU_MPU_GYRO_RANGE
-#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU_GYRO_RANGE)
-
-#ifndef IMU_MPU_ACCEL_RANGE
-#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU_ACCEL_RANGE)
 
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000.h b/sw/airborne/subsystems/imu/imu_mpu6000.h
index 369d77c439..07caacc935 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000.h
+++ b/sw/airborne/subsystems/imu/imu_mpu6000.h
@@ -31,9 +31,42 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-#include "subsystems/imu/imu_mpu60x0_defaults.h"
 #include "peripherals/mpu60x0_spi.h"
 
+#ifndef IMU_MPU_GYRO_RANGE
+#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+
+#ifndef IMU_MPU_ACCEL_RANGE
+#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#endif
+
 
 struct ImuMpu6000 {
   struct Mpu60x0_Spi mpu;
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
index 8461fa76fd..36d9a4cb48 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
+++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.c
@@ -53,20 +53,13 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #define IMU_MPU_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #else
-#error Non-default PERIODIC_FREQUENCY: please define MPU_HMC_LOWPASS_FILTER and MPU_HMC_SMPLRT_DIV.
+#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV.
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU_SMPLRT_DIV)
 
-#ifndef IMU_MPU_GYRO_RANGE
-#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU_GYRO_RANGE)
-
-#ifndef IMU_MPU_ACCEL_RANGE
-#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU_ACCEL_RANGE)
 
 // Default channels order
diff --git a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
index 04d34fc3e5..51e16e5d55 100644
--- a/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
+++ b/sw/airborne/subsystems/imu/imu_mpu6000_hmc5883.h
@@ -32,10 +32,43 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-#include "subsystems/imu/imu_mpu60x0_defaults.h"
 #include "peripherals/mpu60x0_spi.h"
 #include "peripherals/hmc58xx.h"
 
+#ifndef IMU_MPU_GYRO_RANGE
+#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+
+#ifndef IMU_MPU_ACCEL_RANGE
+#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
+#endif
+
 
 struct ImuMpu6000Hmc5883 {
   struct Mpu60x0_Spi mpu;
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_defaults.h b/sw/airborne/subsystems/imu/imu_mpu60x0_defaults.h
deleted file mode 100644
index 11b483624b..0000000000
--- a/sw/airborne/subsystems/imu/imu_mpu60x0_defaults.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-/**
- * @file subsystems/imu/imu_mpu60x0_defaults.h
- * Default sensitivity definitions for an IMU using the MPU60x0.
- */
-
-#ifndef IMU_MPU60X0_DEFAULTS_H
-#define IMU_MPU60X0_DEFAULTS_H
-
-#include "generated/airframe.h"
-
-/** default gyro sensitivy and neutral from the datasheet
- * MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range
- * sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/16.4 * pi/180 * 4096 = 4.359066229
- */
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-#define IMU_GYRO_P_SENS 4.359
-#define IMU_GYRO_P_SENS_NUM 4359
-#define IMU_GYRO_P_SENS_DEN 1000
-#define IMU_GYRO_Q_SENS 4.359
-#define IMU_GYRO_Q_SENS_NUM 4359
-#define IMU_GYRO_Q_SENS_DEN 1000
-#define IMU_GYRO_R_SENS 4.359
-#define IMU_GYRO_R_SENS_NUM 4359
-#define IMU_GYRO_R_SENS_DEN 1000
-#endif
-
-/** default accel sensitivy from the datasheet
- * MPU60X0 has 2048 LSB/g
- * fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
- * sens = 9.81 / 2048 * 1024 = 4.905
- */
-#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-#define IMU_ACCEL_X_SENS 4.905
-#define IMU_ACCEL_X_SENS_NUM 4905
-#define IMU_ACCEL_X_SENS_DEN 1000
-#define IMU_ACCEL_Y_SENS 4.905
-#define IMU_ACCEL_Y_SENS_NUM 4905
-#define IMU_ACCEL_Y_SENS_DEN 1000
-#define IMU_ACCEL_Z_SENS 4.905
-#define IMU_ACCEL_Z_SENS_NUM 4905
-#define IMU_ACCEL_Z_SENS_DEN 1000
-#endif
-
-#endif /* IMU_MPU60X0_DEFAULTS_H */
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
index 0108ea3d69..2f19be084a 100644
--- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
@@ -47,20 +47,13 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
 #define IMU_MPU60X0_SMPLRT_DIV 3
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 #else
-#error Non-default PERIODIC_FREQUENCY: please define MPU60X0_HMC_LOWPASS_FILTER and MPU60X0_HMC_SMPLRT_DIV.
+#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU60X0_LOWPASS_FILTER and IMU_MPU60X0_SMPLRT_DIV.
 #endif
 #endif
 PRINT_CONFIG_VAR(IMU_MPU60X0_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU60X0_SMPLRT_DIV)
 
-#ifndef IMU_MPU60X0_GYRO_RANGE
-#define IMU_MPU60X0_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU60X0_GYRO_RANGE)
-
-#ifndef IMU_MPU60X0_ACCEL_RANGE
-#define IMU_MPU60X0_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU60X0_ACCEL_RANGE)
 
 #ifndef IMU_MPU60X0_I2C_ADDR
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
index 4ff1b4d233..2cfd311aef 100644
--- a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
+++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
@@ -31,9 +31,41 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-#include "subsystems/imu/imu_mpu60x0_defaults.h"
 #include "peripherals/mpu60x0_i2c.h"
 
+#ifndef IMU_MPU60X0_GYRO_RANGE
+#define IMU_MPU60X0_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+
+#ifndef IMU_MPU60X0_ACCEL_RANGE
+#define IMU_MPU60X0_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU60X0_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU60X0_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU60X0_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU60X0_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU60X0_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU60X0_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU60X0_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU60X0_ACCEL_RANGE][1]
+#endif
 
 struct ImuMpu60x0 {
   struct Mpu60x0_I2c mpu;
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
index 9529035a0f..1fd4f52c21 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.c
@@ -61,14 +61,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
 
-#ifndef IMU_MPU9250_GYRO_RANGE
-#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
-
-#ifndef IMU_MPU9250_ACCEL_RANGE
-#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
 
 #ifndef IMU_MPU9250_I2C_ADDR
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
index 4c7ab0567c..c5cb7940dd 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_i2c.h
@@ -35,39 +35,38 @@
 #include "peripherals/mpu9250_i2c.h"
 
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef IMU_MPU9250_GYRO_RANGE
+#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef IMU_MPU9250_ACCEL_RANGE
+#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
 #endif
 
 
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
index 13cd64c5fe..746e530417 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
@@ -67,14 +67,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
 
-#ifndef IMU_MPU9250_GYRO_RANGE
-#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
-
-#ifndef IMU_MPU9250_ACCEL_RANGE
-#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
 
 // Default channels order
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
index 3019a32b5c..22406bdca5 100644
--- a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
@@ -35,39 +35,38 @@
 #include "peripherals/mpu9250_spi.h"
 
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- I*/
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef IMU_MPU9250_GYRO_RANGE
+#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef IMU_MPU9250_ACCEL_RANGE
+#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
 #endif
 
 
diff --git a/sw/airborne/subsystems/imu/imu_navstik.c b/sw/airborne/subsystems/imu/imu_navstik.c
index 37db6e2686..10038e4e36 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.c
+++ b/sw/airborne/subsystems/imu/imu_navstik.c
@@ -60,14 +60,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 PRINT_CONFIG_VAR(NAVSTIK_SMPLRT_DIV)
 PRINT_CONFIG_VAR(NAVSTIK_LOWPASS_FILTER)
 
-#ifndef NAVSTIK_GYRO_RANGE
-#define NAVSTIK_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
-#endif
 PRINT_CONFIG_VAR(NAVSTIK_GYRO_RANGE)
-
-#ifndef NAVSTIK_ACCEL_RANGE
-#define NAVSTIK_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
-#endif
 PRINT_CONFIG_VAR(NAVSTIK_ACCEL_RANGE)
 
 /** Basic Navstik IMU data */
diff --git a/sw/airborne/subsystems/imu/imu_navstik.h b/sw/airborne/subsystems/imu/imu_navstik.h
index 9abea9b558..7de296a281 100644
--- a/sw/airborne/subsystems/imu/imu_navstik.h
+++ b/sw/airborne/subsystems/imu/imu_navstik.h
@@ -34,39 +34,38 @@
 #include "peripherals/hmc58xx.h"
 #include "peripherals/mpu60x0_i2c.h"
 
-/** default gyro sensitivy and neutral from the datasheet
- * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
- * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
- * sens = 1/32.8 * pi/180 * 4096 = 2.17953
- */
-#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
-// FIXME
-#define IMU_GYRO_P_SENS 2.17953
-#define IMU_GYRO_P_SENS_NUM 18271
-#define IMU_GYRO_P_SENS_DEN 8383
-#define IMU_GYRO_Q_SENS 2.17953
-#define IMU_GYRO_Q_SENS_NUM 18271
-#define IMU_GYRO_Q_SENS_DEN 8383
-#define IMU_GYRO_R_SENS 2.17953
-#define IMU_GYRO_R_SENS_NUM 18271
-#define IMU_GYRO_R_SENS_DEN 8383
+#ifndef NAVSTIK_GYRO_RANGE
+#define NAVSTIK_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
 #endif
 
-/** default accel sensitivy from the datasheet
- * MPU with 8g has 4096 LSB/g
- * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
- */
+#ifndef NAVSTIK_ACCEL_RANGE
+#define NAVSTIK_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
-// FIXME
-#define IMU_ACCEL_X_SENS 2.4525
-#define IMU_ACCEL_X_SENS_NUM 981
-#define IMU_ACCEL_X_SENS_DEN 400
-#define IMU_ACCEL_Y_SENS 2.4525
-#define IMU_ACCEL_Y_SENS_NUM 981
-#define IMU_ACCEL_Y_SENS_DEN 400
-#define IMU_ACCEL_Z_SENS 2.4525
-#define IMU_ACCEL_Z_SENS_NUM 981
-#define IMU_ACCEL_Z_SENS_DEN 400
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
 #endif
 
 
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.c b/sw/airborne/subsystems/imu/imu_px4fmu.c
index a14c68a11b..2fd2e303dd 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.c
+++ b/sw/airborne/subsystems/imu/imu_px4fmu.c
@@ -53,14 +53,7 @@ PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
 PRINT_CONFIG_VAR(PX4FMU_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(PX4FMU_SMPLRT_DIV)
 
-#ifndef PX4FMU_GYRO_RANGE
-#define PX4FMU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
-#endif
 PRINT_CONFIG_VAR(PX4FMU_GYRO_RANGE)
-
-#ifndef PX4FMU_ACCEL_RANGE
-#define PX4FMU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
-#endif
 PRINT_CONFIG_VAR(PX4FMU_ACCEL_RANGE)
 
 struct ImuPx4fmu imu_px4fmu;
diff --git a/sw/airborne/subsystems/imu/imu_px4fmu.h b/sw/airborne/subsystems/imu/imu_px4fmu.h
index d6584c21e6..dc4a736001 100644
--- a/sw/airborne/subsystems/imu/imu_px4fmu.h
+++ b/sw/airborne/subsystems/imu/imu_px4fmu.h
@@ -31,10 +31,44 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-#include "subsystems/imu/imu_mpu60x0_defaults.h"
 #include "peripherals/mpu60x0_spi.h"
 #include "peripherals/hmc58xx.h"
 
+#ifndef PX4FMU_GYRO_RANGE
+#define PX4FMU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+PRINT_CONFIG_VAR(PX4FMU_GYRO_RANGE)
+
+#ifndef PX4FMU_ACCEL_RANGE
+#define PX4FMU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
+#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
+#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
+#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
+#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
+#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
+#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
+#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
+#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
+#endif
+
+// Set default sensitivity based on range if needed
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
+#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
+#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
+#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
+#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
+#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
+#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
+#endif
+
 struct ImuPx4fmu {
   struct Mpu60x0_Spi mpu;
   struct Hmc58xx hmc;