diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index d5679a28d..1c84aad88 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -215,6 +215,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_sdcard.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index bdf5091c3..a3c0549bd 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -57,6 +57,8 @@
 //#define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_I2C_ESC
 
+#define PIOS_INCLUDE_ADXL345
+
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
 #define STARTUP_LOG_ENABLED		1
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 56d387edd..832208c1f 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -102,9 +102,9 @@ const struct pios_spi_cfg pios_spi_flash_accel_cfg = {
     .SPI_CRCPolynomial     = 7,
     .SPI_CPOL              = SPI_CPOL_High,
     .SPI_CPHA              = SPI_CPHA_2Edge,
-    .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32, 
+    .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256, 
   },
-  .use_crc = TRUE,
+  .use_crc = FALSE,
   .dma = {
     .ahb_clk  = RCC_AHBPeriph_DMA1,
     
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index ab01ca5b6..cee4517a0 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -97,6 +97,10 @@
 #endif
 #include <pios_iap.h>
 
+#if defined(PIOS_INCLUDE_ADXL345)
+#include <pios_adxl345.h>
+#endif
+
 #if defined(PIOS_INCLUDE_BL_HELPER)
 #include <pios_bl_helper.h>
 #endif
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index f25a92797..cd3c2c7ef 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -166,6 +166,8 @@
 		65209A1912208B0600453371 /* gpsposition.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpsposition.xml; sourceTree = "<group>"; };
 		6526645A122DF972006F9A3C /* pios_i2c_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_priv.h; sourceTree = "<group>"; };
 		6526645B122DF972006F9A3C /* pios_wdg.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_wdg.h; sourceTree = "<group>"; };
+		6528CCB412E406B800CF5144 /* pios_adxl345.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_adxl345.c; sourceTree = "<group>"; };
+		6528CCE212E40F6700CF5144 /* pios_adxl345.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adxl345.h; sourceTree = "<group>"; };
 		65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
 		65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
 		65408AA812BB1648004DACC5 /* i2cstats.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = i2cstats.xml; sourceTree = "<group>"; };
@@ -7471,6 +7473,7 @@
 				65E8F03511EFF25C00BBF654 /* pios_opahrs_proto.c */,
 				65E8F03611EFF25C00BBF654 /* pios_sdcard.c */,
 				65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
+				6528CCB412E406B800CF5144 /* pios_adxl345.c */,
 			);
 			name = Common;
 			path = ../../PiOS/Common;
@@ -7480,6 +7483,7 @@
 			isa = PBXGroup;
 			children = (
 				6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
+				6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
 				6526645B122DF972006F9A3C /* pios_wdg.h */,
 				651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */,
 				651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */,
diff --git a/ground/src/shared/uavobjectdefinition/attituderaw.xml b/ground/src/shared/uavobjectdefinition/attituderaw.xml
index 3e1e5e8f5..72d935818 100644
--- a/ground/src/shared/uavobjectdefinition/attituderaw.xml
+++ b/ground/src/shared/uavobjectdefinition/attituderaw.xml
@@ -2,10 +2,10 @@
     <object name="AttitudeRaw" singleinstance="true" settings="false">
         <description>The raw attitude sensor data from @ref AHRSCommsModule.  Not always updated.</description>
         <field name="magnetometers" units="mGa" type="int16" elementnames="X,Y,Z"/>
-        <field name="gyros" units="raw" type="uint16" elementnames="X,Y,Z"/>
+        <field name="gyros" units="raw" type="int16" elementnames="X,Y,Z"/>
         <field name="gyros_filtered" units="deg/s" type="float" elementnames="X,Y,Z"/>
         <field name="gyrotemp" units="raw" type="uint16" elementnames="XY,Z"/>
-        <field name="accels" units="raw" type="uint16" elementnames="X,Y,Z"/>
+        <field name="accels" units="raw" type="int16" elementnames="X,Y,Z"/>
         <field name="accels_filtered" units="m/s" type="float" elementnames="X,Y,Z"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>