diff --git a/conf/modules/ins_extended.xml b/conf/modules/ins_extended.xml
index 0c4c39d343..dadc6512ef 100644
--- a/conf/modules/ins_extended.xml
+++ b/conf/modules/ins_extended.xml
@@ -15,6 +15,18 @@
     <define name="INS_SONAR_MAX_RANGE" value="4.0" description="max sonar range in meters"/>
     <define name="INS_SONAR_UPDATE_ON_AGL" value="FALSE" description="assume flat ground and use sonar for height"/>
   </doc>
+
+  <settings>
+    <dl_settings NAME="Ins Extended">
+      <dl_settings NAME="INS">
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.accel_noise" shortname="accel_noise" module="subsystems/ins/vf_extended_float"/>
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_baro" shortname="r_baro"/>
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_alt" shortname="r_alt"/>
+        <dl_setting MAX="10" MIN="0" STEP="0.1" VAR="vff.r_offset" shortname="r_offset"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <header>
     <file name="ins_int.h" dir="subsystems/ins"/>
   </header>
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
index e435aaa286..20e418108a 100644
--- a/sw/airborne/subsystems/ins/vf_extended_float.c
+++ b/sw/airborne/subsystems/ins/vf_extended_float.c
@@ -96,6 +96,11 @@ void vff_init(float init_z, float init_zdot, float init_accel_bias, float init_b
     vff.P[i][i] = VFF_EXTENDED_INIT_PXX;
   }
 
+  vff.accel_noise = VFF_EXTENDED_ACCEL_NOISE;
+  vff.r_baro = R_BARO;
+  vff.r_alt = R_ALT;
+  vff.r_offset = R_OFFSET;
+
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_VFF_EXTENDED, send_vffe);
 #endif
@@ -142,11 +147,11 @@ void vff_propagate(float accel, float dt)
   const float FPF22 = vff.P[2][2];
   const float FPF33 = vff.P[3][3];
 
-  vff.P[0][0] = FPF00 + VFF_EXTENDED_ACCEL_NOISE * dt * dt / 2.;
+  vff.P[0][0] = FPF00 + vff.accel_noise * dt * dt / 2.;
   vff.P[0][1] = FPF01;
   vff.P[0][2] = FPF02;
   vff.P[1][0] = FPF10;
-  vff.P[1][1] = FPF11 + VFF_EXTENDED_ACCEL_NOISE * dt;
+  vff.P[1][1] = FPF11 + vff.accel_noise * dt;
   vff.P[1][2] = FPF12;
   vff.P[2][0] = FPF20;
   vff.P[2][1] = FPF21;
@@ -215,7 +220,7 @@ static void update_baro_conf(float z_meas, float conf)
 
 void vff_update_baro(float z_meas)
 {
-  update_baro_conf(z_meas, R_BARO);
+  update_baro_conf(z_meas, vff.r_baro);
 }
 
 void vff_update_baro_conf(float z_meas, float conf)
@@ -278,7 +283,7 @@ static void update_alt_conf(float z_meas, float conf)
 
 void vff_update_z(float z_meas)
 {
-  update_alt_conf(z_meas, R_ALT);
+  update_alt_conf(z_meas, vff.r_alt);
 }
 
 void vff_update_z_conf(float z_meas, float conf)
@@ -340,7 +345,7 @@ static void update_offset_conf(float offset, float conf)
 
 void vff_update_offset(float offset)
 {
-  update_offset_conf(offset, R_OFFSET);
+  update_offset_conf(offset, vff.r_offset);
 }
 
 
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.h b/sw/airborne/subsystems/ins/vf_extended_float.h
index fc50b9a33f..09d069fa40 100644
--- a/sw/airborne/subsystems/ins/vf_extended_float.h
+++ b/sw/airborne/subsystems/ins/vf_extended_float.h
@@ -44,6 +44,11 @@ struct VffExtended {
   float z_meas_baro; ///< last z measurement from baro in m
 
   float P[VFF_STATE_SIZE][VFF_STATE_SIZE];  ///< covariance matrix
+
+  float accel_noise;
+  float r_baro;
+  float r_alt;
+  float r_offset;
 };
 
 extern struct VffExtended vff;