diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index f9774977b..feb65f635 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -226,14 +226,6 @@ int main()
     PIOS_I2C_Init();
     PIOS_HMC5843_Init();
     
-    /* Configure the HMC5843 Sensor */
-    PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
-    HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
-    HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
-    HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
-    HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
-    PIOS_HMC5843_Config(&HMC5843_InitStructure); 
-    
     // Get 3 ID bytes
     strcpy ((char *)mag_data.id, "ZZZ");
     PIOS_HMC5843_ReadID(mag_data.id);
diff --git a/flight/PiOS/Common/pios_hmc5843.c b/flight/PiOS/Common/pios_hmc5843.c
index f767a18b9..52506af1f 100644
--- a/flight/PiOS/Common/pios_hmc5843.c
+++ b/flight/PiOS/Common/pios_hmc5843.c
@@ -34,12 +34,80 @@
 
 #if defined(PIOS_INCLUDE_HMC5843)
 
+/* HMC5843 Addresses */
+#define PIOS_HMC5843_I2C_ADDR			0x1E
+#define PIOS_HMC5843_CONFIG_REG_A		(uint8_t)0x00
+#define PIOS_HMC5843_CONFIG_REG_B		(uint8_t)0x01
+#define PIOS_HMC5843_MODE_REG			(uint8_t)0x02
+#define PIOS_HMC5843_DATAOUT_XMSB_REG		0x03
+#define PIOS_HMC5843_DATAOUT_XLSB_REG		0x04
+#define PIOS_HMC5843_DATAOUT_YMSB_REG		0x05
+#define PIOS_HMC5843_DATAOUT_YLSB_REG		0x06
+#define PIOS_HMC5843_DATAOUT_ZMSB_REG		0x07
+#define PIOS_HMC5843_DATAOUT_ZLSB_REG		0x08
+#define PIOS_HMC5843_DATAOUT_STATUS_REG		0x09
+#define PIOS_HMC5843_DATAOUT_IDA_REG		0x0A
+#define PIOS_HMC5843_DATAOUT_IDB_REG		0x0B
+#define PIOS_HMC5843_DATAOUT_IDC_REG		0x0C
+
+/* Output Data Rate */
+#define PIOS_HMC5843_ODR_05			0x00
+#define PIOS_HMC5843_ODR_1			0x04
+#define PIOS_HMC5843_ODR_2			0x08
+#define PIOS_HMC5843_ODR_5			0x0C
+#define PIOS_HMC5843_ODR_10			0x10
+#define PIOS_HMC5843_ODR_20			0x14
+#define PIOS_HMC5843_ODR_50			0x18
+
+/* Measure configuration */
+#define PIOS_HMC5843_MEASCONF_NORMAL		0x00
+#define PIOS_HMC5843_MEASCONF_BIAS_POS		0x01
+#define PIOS_HMC5843_MEASCONF_BIAS_NEG		0x02
+
+/* Gain settings */
+#define PIOS_HMC5843_GAIN_0_7			0x00
+#define PIOS_HMC5843_GAIN_1			0x20
+#define PIOS_HMC5843_GAIN_1_5			0x40
+#define PIOS_HMC5843_GAIN_2			0x60
+#define PIOS_HMC5843_GAIN_3_2			0x80
+#define PIOS_HMC5843_GAIN_3_8			0xA0
+#define PIOS_HMC5843_GAIN_4_5			0xC0
+#define PIOS_HMC5843_GAIN_6_5			0xE0
+
+/* Modes */
+#define PIOS_HMC5843_MODE_CONTINUOUS		0x00
+#define PIOS_HMC5843_MODE_SINGLE		0x01
+#define PIOS_HMC5843_MODE_IDLE			0x02
+#define PIOS_HMC5843_MODE_SLEEP			0x02
+
+/* Sensitivity Conversion Values */
+#define PIOS_HMC5843_Sensitivity_0_7Ga		1602	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_1Ga		1300	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_1_5Ga		970	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_2Ga		780	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_3_2Ga		530	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_3_8Ga		460	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_4_5Ga		390	// LSB/Ga
+#define PIOS_HMC5843_Sensitivity_6_5Ga		280	// LSB/Ga  --> NOT RECOMMENDED
+
 /* Global Variables */
 
 
+/* Local Types */
+typedef struct {
+	uint8_t M_ODR;       /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
+	uint8_t Meas_Conf;   /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
+	uint8_t Gain;        /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
+	uint8_t Mode;
+} PIOS_HMC5843_ConfigTypeDef;
+
 /* Local Variables */
 static bool pios_hmc5843_data_ready;
 
+static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
+static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
+static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
+
 /**
   * @brieft Initialise the HMC5843 sensor
   */
@@ -72,6 +140,14 @@ void PIOS_HMC5843_Init(void)
 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
 	NVIC_Init(&NVIC_InitStructure);
 
+	/* Configure the HMC5843 Sensor */
+	PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
+	HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
+	HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
+	HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
+	HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOUS;
+	PIOS_HMC5843_Config(&HMC5843_InitStructure);
+
 	pios_hmc5843_data_ready = false;
 }
 
@@ -132,7 +208,7 @@ void PIOS_HMC5843_Init(void)
 *              1  |  0   |  Negative Bias
 *              1  |  1   |  Sleep Mode
 */
-void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
+static void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
 {
 	uint8_t CRTLA = 0x00;
 	uint8_t CRTLB = 0x00;
@@ -241,7 +317,7 @@ bool PIOS_HMC5843_NewDataAvailable(void)
 * \return -1 if error during I2C transfer
 * \return -4 if invalid length
 */
-bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
+static bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
 {
   uint8_t addr_buffer[] = {
     address,
@@ -275,7 +351,7 @@ bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len)
 * \return 0 if operation was successful
 * \return -1 if error during I2C transfer
 */
-bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
+static bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer)
 {
   uint8_t data[] = {
     address,
diff --git a/flight/PiOS/inc/pios_hmc5843.h b/flight/PiOS/inc/pios_hmc5843.h
index 897204008..fc20ff753 100644
--- a/flight/PiOS/inc/pios_hmc5843.h
+++ b/flight/PiOS/inc/pios_hmc5843.h
@@ -31,81 +31,11 @@
 #ifndef PIOS_HMC5843_H
 #define PIOS_HMC5843_H
 
-/* HMC5843 Addresses */
-#define PIOS_HMC5843_I2C_ADDR			0x1E
-#define PIOS_HMC5843_CONFIG_REG_A		(uint8_t)0x00
-#define PIOS_HMC5843_CONFIG_REG_B		(uint8_t)0x01
-#define PIOS_HMC5843_MODE_REG			(uint8_t)0x02
-#define PIOS_HMC5843_DATAOUT_XMSB_REG		0x03
-#define PIOS_HMC5843_DATAOUT_XLSB_REG		0x04
-#define PIOS_HMC5843_DATAOUT_YMSB_REG		0x05
-#define PIOS_HMC5843_DATAOUT_YLSB_REG		0x06
-#define PIOS_HMC5843_DATAOUT_ZMSB_REG		0x07
-#define PIOS_HMC5843_DATAOUT_ZLSB_REG		0x08
-#define PIOS_HMC5843_DATAOUT_STATUS_REG		0x09
-#define PIOS_HMC5843_DATAOUT_IDA_REG		0x0A
-#define PIOS_HMC5843_DATAOUT_IDB_REG		0x0B
-#define PIOS_HMC5843_DATAOUT_IDC_REG		0x0C
-
-/* Output Data Rate */
-#define PIOS_HMC5843_ODR_05			0x00
-#define PIOS_HMC5843_ODR_1			0x04
-#define PIOS_HMC5843_ODR_2			0x08
-#define PIOS_HMC5843_ODR_5			0x0C
-#define PIOS_HMC5843_ODR_10			0x10
-#define PIOS_HMC5843_ODR_20			0x14
-#define PIOS_HMC5843_ODR_50			0x18
-
-/* Measure configuration */
-#define PIOS_HMC5843_MEASCONF_NORMAL		0x00
-#define PIOS_HMC5843_MEASCONF_BIAS_POS		0x01
-#define PIOS_HMC5843_MEASCONF_BIAS_NEG		0x02
-
-/* Gain settings */
-#define PIOS_HMC5843_GAIN_0_7			0x00
-#define PIOS_HMC5843_GAIN_1			0x20
-#define PIOS_HMC5843_GAIN_1_5			0x40
-#define PIOS_HMC5843_GAIN_2			0x60
-#define PIOS_HMC5843_GAIN_3_2			0x80
-#define PIOS_HMC5843_GAIN_3_8			0xA0
-#define PIOS_HMC5843_GAIN_4_5			0xC0
-#define PIOS_HMC5843_GAIN_6_5			0xE0
-
-/* Modes */
-#define PIOS_HMC5843_MODE_CONTINUOUS		0x00
-#define PIOS_HMC5843_MODE_SINGLE		0x01
-#define PIOS_HMC5843_MODE_IDLE			0x02
-#define PIOS_HMC5843_MODE_SLEEP			0x02
-
-/* Sensitivity Conversion Values */
-#define PIOS_HMC5843_Sensitivity_0_7Ga		1602	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_1Ga		1300	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_1_5Ga		970	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_2Ga		780	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_3_2Ga		530	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_3_8Ga		460	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_4_5Ga		390	// LSB/Ga
-#define PIOS_HMC5843_Sensitivity_6_5Ga		280	// LSB/Ga  --> NOT RECOMMENDED
-
-/* Global Types */
-typedef struct {
-	uint8_t M_ODR;       /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
-	uint8_t Meas_Conf;   /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
-	uint8_t Gain;        /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
-	uint8_t Mode;
-} PIOS_HMC5843_ConfigTypeDef;
-
-/* Global Variables */
-
-
 /* Public Functions */
 extern void PIOS_HMC5843_Init(void);
-extern void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct);
 extern bool PIOS_HMC5843_NewDataAvailable(void);
 extern void PIOS_HMC5843_ReadMag(int16_t out[3]);
 extern void PIOS_HMC5843_ReadID(uint8_t out[4]);
-extern bool PIOS_HMC5843_Read(uint8_t address, uint8_t *buffer, uint8_t len);
-extern bool PIOS_HMC5843_Write(uint8_t address, uint8_t buffer);
 
 #endif /* PIOS_HMC5843_H */