diff --git a/configs/quadrotor_x.xml b/configs/quadrotor_x.xml
index 7be5ca2..492c19a 100644
--- a/configs/quadrotor_x.xml
+++ b/configs/quadrotor_x.xml
@@ -4,6 +4,12 @@
     </mavlink_interface>
     <sensors>
         <imu>
+            <jsb_acc_x>px4/acc-x</jsb_acc_x>
+            <jsb_acc_y>px4/acc-y</jsb_acc_y>
+            <jsb_acc_z>px4/acc-z</jsb_acc_z>
+            <jsb_gyro_x>px4/gyro-x</jsb_gyro_x>
+            <jsb_gyro_y>px4/gyro-y</jsb_gyro_y>
+            <jsb_gyro_z>px4/gyro-z</jsb_gyro_z>
         </imu>
         <gps>
             <jsb_gps_fix_type>px4/gps-fix-type</jsb_gps_fix_type>
diff --git a/include/sensor_imu_plugin.h b/include/sensor_imu_plugin.h
index 03a638a..8cdd16a 100644
--- a/include/sensor_imu_plugin.h
+++ b/include/sensor_imu_plugin.h
@@ -95,4 +95,17 @@ class SensorImuPlugin : public SensorPlugin {
   Eigen::Vector3d _accelerometer_turn_on_bias{Eigen::Vector3d::Zero()};
 
   std::normal_distribution<double> _standard_normal_distribution;
+
+  /** Accelerations are affected by JSBSim airframe configuration <location name="EYEPOINT">
+  * ensure you have set the eyepoint location as to where you expect accelerometer measurements
+  * or more appropriately, use the px4_default_imu_sensor.xml configuration.
+  */
+  std::string _jsb_acc_x = "accelerations/a-pilot-x-ft_sec2";
+  std::string _jsb_acc_y = "accelerations/a-pilot-y-ft_sec2";
+  std::string _jsb_acc_z = "accelerations/a-pilot-z-ft_sec2";
+
+  // PX4 requires axis angular acceleration vs. body frame acceleration.
+  std::string _jsb_gyro_x = "velocities/p-rad_sec";
+  std::string _jsb_gyro_y = "velocities/q-rad_sec";
+  std::string _jsb_gyro_z = "velocities/r-rad_sec";
 };
diff --git a/models/quadrotor_x/quadrotor_x.xml b/models/quadrotor_x/quadrotor_x.xml
index a491306..f2cf15a 100644
--- a/models/quadrotor_x/quadrotor_x.xml
+++ b/models/quadrotor_x/quadrotor_x.xml
@@ -452,5 +452,6 @@
       </function>
     </axis>
   </aerodynamics>
+  <system file="px4_default_imu_sensor"/>
   <system file="px4_default_gps_sensor"/>
 </fdm_config>
diff --git a/src/sensor_imu_plugin.cpp b/src/sensor_imu_plugin.cpp
index 4f54f73..f8be80f 100644
--- a/src/sensor_imu_plugin.cpp
+++ b/src/sensor_imu_plugin.cpp
@@ -63,6 +63,12 @@ void SensorImuPlugin::setSensorConfigs(const TiXmlElement& configs) {
   GetConfigElement<double>(configs, "accelerometer_random_walk", accelerometer_random_walk);
   GetConfigElement<double>(configs, "accelerometer_bias_correlation_time", accelerometer_bias_correlation_time);
   GetConfigElement<double>(configs, "accelerometer_turn_on_bias_sigma", accelerometer_turn_on_bias_sigma);
+  GetConfigElement<std::string>(configs, "jsb_acc_x", _jsb_acc_x);
+  GetConfigElement<std::string>(configs, "jsb_acc_y", _jsb_acc_y);
+  GetConfigElement<std::string>(configs, "jsb_acc_z", _jsb_acc_z);
+  GetConfigElement<std::string>(configs, "jsb_gyro_x", _jsb_gyro_x);
+  GetConfigElement<std::string>(configs, "jsb_gyro_y", _jsb_gyro_y);
+  GetConfigElement<std::string>(configs, "jsb_gyro_z", _jsb_gyro_z);
 }
 
 SensorData::Imu SensorImuPlugin::getData() {
@@ -83,17 +89,17 @@ SensorData::Imu SensorImuPlugin::getData() {
 }
 
 Eigen::Vector3d SensorImuPlugin::getAccelFromJSBSim() {
-  double x = _sim_ptr->GetPropertyValue("accelerations/a-pilot-x-ft_sec2");
-  double y = _sim_ptr->GetPropertyValue("accelerations/a-pilot-y-ft_sec2");
-  double z = _sim_ptr->GetPropertyValue("accelerations/a-pilot-z-ft_sec2");
+  double x = _sim_ptr->GetPropertyValue(_jsb_acc_x);
+  double y = _sim_ptr->GetPropertyValue(_jsb_acc_y);
+  double z = _sim_ptr->GetPropertyValue(_jsb_acc_z);
 
   return Eigen::Vector3d(ftToM(x), ftToM(y), ftToM(z));
 }
 
 Eigen::Vector3d SensorImuPlugin::getGyroFromJSBSim() {
-  double x = _sim_ptr->GetPropertyValue("velocities/p-rad_sec");
-  double y = _sim_ptr->GetPropertyValue("velocities/q-rad_sec");
-  double z = _sim_ptr->GetPropertyValue("velocities/r-rad_sec");
+  double x = _sim_ptr->GetPropertyValue(_jsb_gyro_x);
+  double y = _sim_ptr->GetPropertyValue(_jsb_gyro_y);
+  double z = _sim_ptr->GetPropertyValue(_jsb_gyro_z);
 
   return Eigen::Vector3d(x, y, z);
 }
diff --git a/systems/px4_default_imu_sensor.xml b/systems/px4_default_imu_sensor.xml
new file mode 100644
index 0000000..55ed97a
--- /dev/null
+++ b/systems/px4_default_imu_sensor.xml
@@ -0,0 +1,161 @@
+<?xml version="1.0"?>
+<system name="PX4 IMU Sensor">
+<!--  =================================================================
+This is a generic JSBSim system file to simulate the IMU behavior for PX4.
+  =================================================================  -->
+
+    <!-- Enable Individual Component Failure -->
+    <property value="1">px4/acc_x/on</property>
+    <property value="1">px4/acc_y/on</property>
+    <property value="1">px4/acc_z/on</property>
+
+    <property value="1">px4/gyro_x/on</property>
+    <property value="1">px4/gyro_y/on</property>
+    <property value="1">px4/gyro_z/on</property>
+
+    <channel name="Accelerometer-X" execute="px4/acc_x/on">
+        <accelerometer name="Default-ACC-X">
+            <location unit="M">
+                <x> 0 </x>
+                <y> 0 </y>
+                <z> 0.345 </z>
+            </location>
+            <!--
+            <orientation unit="DEG">
+                <pitch> 0 </pitch>
+                <roll>  0 </roll>
+                <yaw>   0 </yaw>
+            </orientation>
+            <lag> 0 </lag>
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            -->
+            <axis> X </axis>
+            <output> px4/acc-x </output>
+        </accelerometer>
+    </channel>
+
+    <channel name="Accelerometer-Y" execute="px4/acc_y/on">
+        <accelerometer name="Default-ACC-Y">
+            <location unit="M">
+                <x> 0 </x>
+                <y> 0 </y>
+                <z> 0.345 </z>
+            </location>
+            <!--
+            <orientation unit="DEG">
+                <pitch> 0 </pitch>
+                <roll>  0 </roll>
+                <yaw>   0 </yaw>
+            </orientation>
+            <lag> 0 </lag>
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            -->
+            <axis> Y </axis>
+            <output> px4/acc-y </output>
+        </accelerometer>
+    </channel>
+
+    <channel name="Accelerometer-Z" execute="px4/acc_z/on">
+        <accelerometer name="Default-ACC-Z">
+            <location unit="M">
+                <x> 0 </x>
+                <y> 0 </y>
+                <z> 0.345 </z>
+            </location>
+            <!--
+            <orientation unit="DEG">
+                <pitch> 0 </pitch>
+                <roll>  0 </roll>
+                <yaw>   0 </yaw>
+            </orientation>
+            <lag> 0 </lag>
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            -->
+            <axis> Z </axis>
+            <output> px4/acc-z </output>
+        </accelerometer>
+    </channel>
+
+    <channel name="Gyro-X" execute="px4/gyro_x/on">
+        <sensor name="px4/gyro-x">
+            <input>velocities/p-rad_sec</input>
+            <lag> 0 </lag>
+            <!--Adjust as required
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            <delay [type="time|frames"]> number < /delay>
+            -->
+        </sensor>
+    </channel>
+
+    <channel name="Gyro-Y" execute="px4/gyro_y/on">
+        <sensor name="px4/gyro-y">
+            <input>velocities/q-rad_sec</input>
+            <lag> 0 </lag>
+            <!--Adjust as required
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            <delay [type="time|frames"]> number < /delay>
+            -->
+        </sensor>
+    </channel>
+
+    <channel name="Gyro-Z" execute="px4/gyro_z/on">
+        <sensor name="px4/gyro-z">
+            <input>velocities/r-rad_sec</input>
+            <lag> 0 </lag>
+            <!--Adjust as required
+            <noise variation="PERCENT|ABSOLUTE"> number </noise>
+            <quantization name="name">
+                <bits> number </bits>
+                <min> number </min>
+                <max> number </max>
+            </quantization>
+            <drift_rate> number </drift_rate>
+            <gain> number </gain>
+            <bias> number </bias>
+            <delay [type="time|frames"]> number < /delay>
+            -->
+        </sensor>
+    </channel>
+
+</system>
+