diff --git a/flight/targets/boards/revolution/firmware/Makefile b/flight/targets/boards/revolution/firmware/Makefile
index ae21d38ab..56cee4ccd 100644
--- a/flight/targets/boards/revolution/firmware/Makefile
+++ b/flight/targets/boards/revolution/firmware/Makefile
@@ -29,11 +29,8 @@ USE_DSP_LIB ?= NO
 
 # List of mandatory modules to include
 MODULES += Sensors
-#MODULES += Attitude/revolution
-MODULES += StateEstimation # use instead of Attitude
-MODULES += Altitude/revolution
+MODULES += StateEstimation
 MODULES += Airspeed
-#MODULES += AltitudeHold # now integrated in Stabilization
 MODULES += Stabilization
 MODULES += ManualControl
 MODULES += Receiver
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 40feef7ad..da954a045 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -922,6 +922,12 @@ void PIOS_Board_Init(void)
     PIOS_ADC_Init(&pios_adc_cfg);
 #endif
 
+#if defined(PIOS_INCLUDE_MPU6000)
+    PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
+    PIOS_MPU6000_CONFIG_Configure();
+    PIOS_MPU6000_Register();
+#endif
+
 #if defined(PIOS_INCLUDE_HMC5X83)
     onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
     PIOS_HMC5x83_Register(onboard_mag);
@@ -929,15 +935,10 @@ void PIOS_Board_Init(void)
 
 #if defined(PIOS_INCLUDE_MS5611)
     PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
+    PIOS_MS5611_Register();
 #endif
 
-#if defined(PIOS_INCLUDE_MPU6000)
-    PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
-    PIOS_MPU6000_CONFIG_Configure();
-    PIOS_MPU6000_Register();
-#endif
-
-#ifdef PIOS_INCLUDE_WS2811
+    #ifdef PIOS_INCLUDE_WS2811
 #include <pios_ws2811.h>
     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
     HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);