diff --git a/drivers/lsm6dsl/include/lsm6dsl_params.h b/drivers/lsm6dsl/include/lsm6dsl_params.h
index 049688ec96..afe458c8fc 100644
--- a/drivers/lsm6dsl/include/lsm6dsl_params.h
+++ b/drivers/lsm6dsl/include/lsm6dsl_params.h
@@ -58,14 +58,19 @@ extern "C" {
 #define LSM6DSL_PARAM_GYRO_FIFO_DEC  (LSM6DSL_DECIMATION_NO)
 #endif
 
-#define LSM6DSL_PARAMS_DEFAULT       { .i2c             = LSM6DSL_PARAM_I2C, \
-                                       .addr            = LSM6DSL_PARAM_ADDR, \
-                                       .acc_odr         = LSM6DSL_PARAM_ACC_ODR, \
-                                       .gyro_odr        = LSM6DSL_PARAM_GYRO_ODR, \
-                                       .acc_fs          = LSM6DSL_PARAM_ACC_FS, \
-                                       .gyro_fs         = LSM6DSL_PARAM_GYRO_FS, \
+#ifndef LSM6DSL_PARAMS
+#define LSM6DSL_PARAMS               { .i2c             = LSM6DSL_PARAM_I2C,          \
+                                       .addr            = LSM6DSL_PARAM_ADDR,         \
+                                       .acc_odr         = LSM6DSL_PARAM_ACC_ODR,      \
+                                       .gyro_odr        = LSM6DSL_PARAM_GYRO_ODR,     \
+                                       .acc_fs          = LSM6DSL_PARAM_ACC_FS,       \
+                                       .gyro_fs         = LSM6DSL_PARAM_GYRO_FS,      \
                                        .acc_decimation  = LSM6DSL_PARAM_ACC_FIFO_DEC, \
                                        .gyro_decimation = LSM6DSL_PARAM_GYRO_FIFO_DEC }
+#endif
+#ifndef LSM6DSL_SAUL_INFO
+#define LSM6DSL_SAUL_INFO            { .name = "lsm6dsl" }
+#endif
 /** @} */
 
 /**
@@ -73,11 +78,7 @@ extern "C" {
  */
 static const lsm6dsl_params_t lsm6dsl_params[] =
 {
-#ifdef LSM6DSL_PARAMS_CUSTOM
-    LSM6DSL_PARAMS_CUSTOM,
-#else
-    LSM6DSL_PARAMS_DEFAULT,
-#endif
+    LSM6DSL_PARAMS
 };
 
 /**
@@ -85,7 +86,7 @@ static const lsm6dsl_params_t lsm6dsl_params[] =
  */
 static const saul_reg_info_t lsm6dsl_saul_info[] =
 {
-    { .name = "lsm6dsl" }
+    LSM6DSL_SAUL_INFO
 };
 
 #ifdef __cplusplus
diff --git a/sys/auto_init/saul/auto_init_lsm6dsl.c b/sys/auto_init/saul/auto_init_lsm6dsl.c
index 91b6455132..a8cec21e91 100644
--- a/sys/auto_init/saul/auto_init_lsm6dsl.c
+++ b/sys/auto_init/saul/auto_init_lsm6dsl.c
@@ -29,7 +29,7 @@
 /**
  * @brief   Define the number of configured sensors
  */
-#define LSM6DSL_NUM    (sizeof(lsm6dsl_params)/sizeof(lsm6dsl_params[0]))
+#define LSM6DSL_NUM    (sizeof(lsm6dsl_params) / sizeof(lsm6dsl_params[0]))
 
 /**
  * @brief   Allocate memory for the device descriptors
@@ -42,7 +42,12 @@ static lsm6dsl_t lsm6dsl_devs[LSM6DSL_NUM];
 static saul_reg_t saul_entries[LSM6DSL_NUM * 3];
 
 /**
- * @brief   Reference the driver structs
+ * @brief   Define the number of saul info
+ */
+#define LSM6DSL_INFO_NUM    (sizeof(lsm6dsl_saul_info) / sizeof(lsm6dsl_saul_info[0]))
+
+/**
+ * @name    Reference the driver structs
  * @{
  */
 extern saul_driver_t lsm6dsl_saul_acc_driver;
@@ -53,11 +58,12 @@ extern saul_driver_t lsm6dsl_saul_temp_driver;
 
 void auto_init_lsm6dsl(void)
 {
+    assert(LSM6DSL_NUM == LSM6DSL_INFO_NUM);
+
     for (unsigned int i = 0; i < LSM6DSL_NUM; i++) {
         LOG_DEBUG("[auto_init_saul] initializing lsm6dsl #%u\n", i);
 
-        int res = lsm6dsl_init(&lsm6dsl_devs[i], &lsm6dsl_params[i]);
-        if (res < 0) {
+        if (lsm6dsl_init(&lsm6dsl_devs[i], &lsm6dsl_params[i]) < 0) {
             LOG_ERROR("[auto_init_saul] error initializing lsm6dsl #%u\n", i);
             continue;
         }