diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c
index b49ac751b..2ee8901e0 100644
--- a/flight/modules/Attitude/revolution/attitude.c
+++ b/flight/modules/Attitude/revolution/attitude.c
@@ -352,7 +352,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
 
     // During initialization and
     if (first_run) {
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
         // To initialize we need a valid mag reading
         if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
             return -1;
diff --git a/flight/modules/Extensions/MagBaro/magbaro.c b/flight/modules/Extensions/MagBaro/magbaro.c
index 2b219ee16..aa956c57e 100644
--- a/flight/modules/Extensions/MagBaro/magbaro.c
+++ b/flight/modules/Extensions/MagBaro/magbaro.c
@@ -64,7 +64,7 @@ static int32_t alt_ds_pres = 0;
 static int alt_ds_count    = 0;
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
 int32_t mag_test;
 static float mag_bias[3] = { 0, 0, 0 };
 static float mag_scale[3] = { 1, 1, 1 };
@@ -108,7 +108,7 @@ int32_t MagBaroInitialize()
 #endif
 
     if (magbaroEnabled) {
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
         MagSensorInitialize();
 #endif
 
@@ -127,15 +127,16 @@ MODULE_INITCALL(MagBaroInitialize, MagBaroStart);
 /**
  * Module thread, should not return.
  */
-#if defined(PIOS_INCLUDE_HMC5883)
-static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
-#ifdef PIOS_HMC5883_HAS_GPIOS
+#if defined(PIOS_INCLUDE_HMC5X83)
+static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
     .exti_cfg  = 0,
 #endif
-    .M_ODR     = PIOS_HMC5883_ODR_15,
-    .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
-    .Gain = PIOS_HMC5883_GAIN_1_9,
-    .Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+    .M_ODR     = PIOS_HMC5x83_ODR_15,
+    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain      = PIOS_HMC5x83_GAIN_1_9,
+    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
 };
 #endif
 
@@ -148,9 +149,9 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
     PIOS_BMP085_Init();
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
     MagSensorData mag;
-    PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+    PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
     uint32_t mag_update_time = PIOS_DELAY_GetRaw();
 #endif
 
@@ -197,10 +198,10 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
         }
 #endif /* if defined(PIOS_INCLUDE_BMP085) */
 
-#if defined(PIOS_INCLUDE_HMC5883)
-        if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
+#if defined(PIOS_INCLUDE_HMC5X83)
+        if (PIOS_HMC5x83_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
             int16_t values[3];
-            PIOS_HMC5883_ReadMag(values);
+            PIOS_HMC5x83_ReadMag(values);
             float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
                               (float)values[0] * mag_scale[1] - mag_bias[1],
                               -(float)values[2] * mag_scale[2] - mag_bias[2] };
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index e1d85b2f1..c93dc64f8 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -200,8 +200,8 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         PIOS_DEBUG_Assert(0);
     }
 
-#if defined(PIOS_INCLUDE_HMC5883)
-    mag_test = PIOS_HMC5883_Test();
+#if defined(PIOS_INCLUDE_HMC5X83)
+    mag_test = PIOS_HMC5x83_Test();
 #else
     mag_test = 0;
 #endif
@@ -409,11 +409,11 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         // Because most crafts wont get enough information from gravity to zero yaw gyro, we try
         // and make it average zero (weakly)
 
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
         MagSensorData mag;
-        if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
+        if (PIOS_HMC5x83_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
             int16_t values[3];
-            PIOS_HMC5883_ReadMag(values);
+            PIOS_HMC5x83_ReadMag(values);
             float mags[3] = { (float)values[1] - mag_bias[0],
                               (float)values[0] - mag_bias[1],
                               -(float)values[2] - mag_bias[2] };
@@ -428,7 +428,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             MagSensorSet(&mag);
             mag_update_time = PIOS_DELAY_GetRaw();
         }
-#endif /* if defined(PIOS_INCLUDE_HMC5883) */
+#endif /* if defined(PIOS_INCLUDE_HMC5X83) */
 
 #ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c
index 15b61a665..d2e109655 100644
--- a/flight/modules/StateEstimation/filtercf.c
+++ b/flight/modules/StateEstimation/filtercf.c
@@ -221,7 +221,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
 
     // During initialization and
     if (this->first_run) {
-#if defined(PIOS_INCLUDE_HMC5883)
+#if defined(PIOS_INCLUDE_HMC5X83)
         // wait until mags have been updated
         if (!this->magUpdated) {
             return FILTERRESULT_ERROR;
diff --git a/flight/pios/common/pios_hmc5883.c b/flight/pios/common/pios_hmc5883.c
deleted file mode 100644
index d425e16dc..000000000
--- a/flight/pios/common/pios_hmc5883.c
+++ /dev/null
@@ -1,425 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_HMC5883 HMC5883 Functions
- * @brief Deals with the hardware interface to the magnetometers
- * @{
- * @file       pios_hmc5883.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      HMC5883 Magnetic Sensor Functions from AHRS
- * @see        The GNU Public License (GPL) Version 3
- *
- ******************************************************************************
- */
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "pios.h"
-
-#ifdef PIOS_INCLUDE_HMC5883
-
-/* Global Variables */
-
-/* Local Types */
-
-/* Local Variables */
-volatile bool pios_hmc5883_data_ready;
-
-static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg);
-static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len);
-static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
-
-static const struct pios_hmc5883_cfg *dev_cfg;
-
-/**
- * @brief Initialize the HMC5883 magnetometer sensor.
- * @return none
- */
-void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg)
-{
-    dev_cfg = cfg; // store config before enabling interrupt
-
-#ifdef PIOS_HMC5883_HAS_GPIOS
-    PIOS_EXTI_Init(cfg->exti_cfg);
-#endif
-
-    int32_t val = PIOS_HMC5883_Config(cfg);
-
-    PIOS_Assert(val == 0);
-
-    pios_hmc5883_data_ready = false;
-}
-
-/**
- * @brief Initialize the HMC5883 magnetometer sensor
- * \return none
- * \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure sensor.
- *
- * CTRL_REGA: Control Register A
- * Read Write
- * Default value: 0x10
- * 7:5  0   These bits must be cleared for correct operation.
- * 4:2 DO2-DO0: Data Output Rate Bits
- *             DO2 |  DO1 |  DO0 |   Minimum Data Output Rate (Hz)
- *            ------------------------------------------------------
- *              0  |  0   |  0   |            0.75
- *              0  |  0   |  1   |            1.5
- *              0  |  1   |  0   |            3
- *              0  |  1   |  1   |            7.5
- *              1  |  0   |  0   |           15 (default)
- *              1  |  0   |  1   |           30
- *              1  |  1   |  0   |           75
- *              1  |  1   |  1   |           Not Used
- * 1:0 MS1-MS0: Measurement Configuration Bits
- *             MS1 | MS0 |   MODE
- *            ------------------------------
- *              0  |  0   |  Normal
- *              0  |  1   |  Positive Bias
- *              1  |  0   |  Negative Bias
- *              1  |  1   |  Not Used
- *
- * CTRL_REGB: Control RegisterB
- * Read Write
- * Default value: 0x20
- * 7:5 GN2-GN0: Gain Configuration Bits.
- *             GN2 |  GN1 |  GN0 |   Mag Input   | Gain       | Output Range
- *                 |      |      |  Range[Ga]    | [LSB/mGa]  |
- *            ------------------------------------------------------
- *              0  |  0   |  0   |  ±0.88Ga      |   1370     | 0xF800–0x07FF (-2048:2047)
- *              0  |  0   |  1   |  ±1.3Ga (def) |   1090     | 0xF800–0x07FF (-2048:2047)
- *              0  |  1   |  0   |  ±1.9Ga       |   820      | 0xF800–0x07FF (-2048:2047)
- *              0  |  1   |  1   |  ±2.5Ga       |   660      | 0xF800–0x07FF (-2048:2047)
- *              1  |  0   |  0   |  ±4.0Ga       |   440      | 0xF800–0x07FF (-2048:2047)
- *              1  |  0   |  1   |  ±4.7Ga       |   390      | 0xF800–0x07FF (-2048:2047)
- *              1  |  1   |  0   |  ±5.6Ga       |   330      | 0xF800–0x07FF (-2048:2047)
- *              1  |  1   |  1   |  ±8.1Ga       |   230      | 0xF800–0x07FF (-2048:2047)
- *                               |Not recommended|
- *
- * 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
- *
- * _MODE_REG: Mode Register
- * Read Write
- * Default value: 0x02
- * 7:2  0   These bits must be cleared for correct operation.
- * 1:0 MD1-MD0: Mode Select Bits
- *             MS1 | MS0 |   MODE
- *            ------------------------------
- *              0  |  0   |  Continuous-Conversion Mode.
- *              0  |  1   |  Single-Conversion Mode
- *              1  |  0   |  Negative Bias
- *              1  |  1   |  Sleep Mode
- */
-static uint8_t CTRLB = 0x00;
-static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg)
-{
-    uint8_t CTRLA = 0x00;
-    uint8_t MODE  = 0x00;
-
-    CTRLB  = 0;
-
-    CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
-    CTRLB |= (uint8_t)(cfg->Gain);
-    MODE  |= (uint8_t)(cfg->Mode);
-
-    // CRTL_REGA
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0) {
-        return -1;
-    }
-
-    // CRTL_REGB
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB) != 0) {
-        return -1;
-    }
-
-    // Mode register
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE) != 0) {
-        return -1;
-    }
-
-    return 0;
-}
-
-/**
- * @brief Read current X, Z, Y values (in that order)
- * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
- * \return 0 for success or -1 for failure
- */
-int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
-{
-    pios_hmc5883_data_ready = false;
-    uint8_t buffer[6];
-    int32_t temp;
-    int32_t sensitivity;
-
-    if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
-        return -1;
-    }
-
-    switch (CTRLB & 0xE0) {
-    case 0x00:
-        sensitivity = PIOS_HMC5883_Sensitivity_0_88Ga;
-        break;
-    case 0x20:
-        sensitivity = PIOS_HMC5883_Sensitivity_1_3Ga;
-        break;
-    case 0x40:
-        sensitivity = PIOS_HMC5883_Sensitivity_1_9Ga;
-        break;
-    case 0x60:
-        sensitivity = PIOS_HMC5883_Sensitivity_2_5Ga;
-        break;
-    case 0x80:
-        sensitivity = PIOS_HMC5883_Sensitivity_4_0Ga;
-        break;
-    case 0xA0:
-        sensitivity = PIOS_HMC5883_Sensitivity_4_7Ga;
-        break;
-    case 0xC0:
-        sensitivity = PIOS_HMC5883_Sensitivity_5_6Ga;
-        break;
-    case 0xE0:
-        sensitivity = PIOS_HMC5883_Sensitivity_8_1Ga;
-        break;
-    default:
-        PIOS_Assert(0);
-    }
-
-    for (int i = 0; i < 3; i++) {
-        temp   = ((int16_t)((uint16_t)buffer[2 * i] << 8)
-                  + buffer[2 * i + 1]) * 1000 / sensitivity;
-        out[i] = temp;
-    }
-    // Data reads out as X,Z,Y
-    temp   = out[2];
-    out[2] = out[1];
-    out[1] = temp;
-
-    // This should not be necessary but for some reason it is coming out of continuous conversion mode
-    PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_CONTINUOUS);
-
-    return 0;
-}
-
-
-/**
- * @brief Read the identification bytes from the HMC5883 sensor
- * \param[out] uint8_t array of size 4 to store HMC5883 ID.
- * \return 0 if successful, -1 if not
- */
-uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
-{
-    uint8_t retval = PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3);
-
-    out[3] = '\0';
-    return retval;
-}
-
-/**
- * @brief Tells whether new magnetometer readings are available
- * \return true if new data is available
- * \return false if new data is not available
- */
-bool PIOS_HMC5883_NewDataAvailable(void)
-{
-    return pios_hmc5883_data_ready;
-}
-
-/**
- * @brief Reads one or more bytes into a buffer
- * \param[in] address HMC5883 register address (depends on size)
- * \param[out] buffer destination buffer
- * \param[in] len number of bytes which should be read
- * \return 0 if operation was successful
- * \return -1 if error during I2C transfer
- * \return -2 if unable to claim i2c device
- */
-static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len)
-{
-    uint8_t addr_buffer[] = {
-        address,
-    };
-
-    const struct pios_i2c_txn txn_list[] = {
-        {
-            .info = __func__,
-            .addr = PIOS_HMC5883_I2C_ADDR,
-            .rw   = PIOS_I2C_TXN_WRITE,
-            .len  = sizeof(addr_buffer),
-            .buf  = addr_buffer,
-        }
-        ,
-        {
-            .info = __func__,
-            .addr = PIOS_HMC5883_I2C_ADDR,
-            .rw   = PIOS_I2C_TXN_READ,
-            .len  = len,
-            .buf  = buffer,
-        }
-    };
-
-    return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
-}
-
-/**
- * @brief Writes one or more bytes to the HMC5883
- * \param[in] address Register address
- * \param[in] buffer source buffer
- * \return 0 if operation was successful
- * \return -1 if error during I2C transfer
- * \return -2 if unable to claim i2c device
- */
-static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
-{
-    uint8_t data[] = {
-        address,
-        buffer,
-    };
-
-    const struct pios_i2c_txn txn_list[] = {
-        {
-            .info = __func__,
-            .addr = PIOS_HMC5883_I2C_ADDR,
-            .rw   = PIOS_I2C_TXN_WRITE,
-            .len  = sizeof(data),
-            .buf  = data,
-        }
-        ,
-    };
-
-    ;
-    return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
-}
-
-/**
- * @brief Run self-test operation.  Do not call this during operational use!!
- * \return 0 if success, -1 if test failed
- */
-int32_t PIOS_HMC5883_Test(void)
-{
-    int32_t failed = 0;
-    uint8_t registers[3] = { 0, 0, 0 };
-    uint8_t status;
-    uint8_t ctrl_a_read;
-    uint8_t ctrl_b_read;
-    uint8_t mode_read;
-    int16_t values[3];
-
-
-    /* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
-    char id[4];
-
-    PIOS_HMC5883_ReadID((uint8_t *)id);
-    if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
-        return -1;
-    }
-
-    /* Backup existing configuration */
-    if (PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, registers, 3) != 0) {
-        return -1;
-    }
-
-    /* Stop the device and read out last value */
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_IDLE) != 0) {
-        return -1;
-    }
-    if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1) != 0) {
-        return -1;
-    }
-    if (PIOS_HMC5883_ReadMag(values) != 0) {
-        return -1;
-    }
-
-    /*
-     * Put HMC5883 into self test mode
-     * This is done by placing measurement config into positive (0x01) or negative (0x10) bias
-     * and then placing the mode register into single-measurement mode.  This causes the HMC5883
-     * to create an artificial magnetic field of ~1.1 Gauss.
-     *
-     * If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
-     * (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
-     *
-     * Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
-     */
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15) != 0) {
-        return -1;
-    }
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_8_1) != 0) {
-        return -1;
-    }
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE) != 0) {
-        return -1;
-    }
-
-    /* Must wait for value to be updated */
-    PIOS_DELAY_WaitmS(200);
-
-    if (PIOS_HMC5883_ReadMag(values) != 0) {
-        return -1;
-    }
-
-    /*
-       if(abs(values[0] - 766) > 20)
-       failed |= 1;
-       if(abs(values[1] - 766) > 20)
-       failed |= 1;
-       if(abs(values[2] - 713) > 20)
-       failed |= 1;
-     */
-
-    PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read, 1);
-    PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read, 1);
-    PIOS_HMC5883_Read(PIOS_HMC5883_MODE_REG, &mode_read, 1);
-    PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1);
-
-
-    /* Restore backup configuration */
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, registers[0]) != 0) {
-        return -1;
-    }
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, registers[1]) != 0) {
-        return -1;
-    }
-    PIOS_DELAY_WaitmS(10);
-    if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, registers[2]) != 0) {
-        return -1;
-    }
-
-    return failed;
-}
-
-/**
- * @brief IRQ Handler
- */
-bool PIOS_HMC5883_IRQHandler(void)
-{
-    pios_hmc5883_data_ready = true;
-
-    return false;
-}
-
-#endif /* PIOS_INCLUDE_HMC5883 */
-
-/**
- * @}
- * @}
- */
diff --git a/flight/pios/inc/pios_hmc5883.h b/flight/pios/inc/pios_hmc5883.h
deleted file mode 100644
index 6d34dae20..000000000
--- a/flight/pios/inc/pios_hmc5883.h
+++ /dev/null
@@ -1,116 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
- * @addtogroup PIOS_HMC5883 HMC5883 Functions
- * @brief Deals with the hardware interface to the magnetometers
- * @{
- *
- * @file       pios_hmc5883.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      HMC5883 functions header.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#ifndef PIOS_HMC5883_H
-#define PIOS_HMC5883_H
-
-/* HMC5883 Addresses */
-#define PIOS_HMC5883_I2C_ADDR           0x1E
-#define PIOS_HMC5883_I2C_READ_ADDR      0x3D
-#define PIOS_HMC5883_I2C_WRITE_ADDR     0x3C
-#define PIOS_HMC5883_CONFIG_REG_A       (uint8_t)0x00
-#define PIOS_HMC5883_CONFIG_REG_B       (uint8_t)0x01
-#define PIOS_HMC5883_MODE_REG           (uint8_t)0x02
-#define PIOS_HMC5883_DATAOUT_XMSB_REG   0x03
-#define PIOS_HMC5883_DATAOUT_XLSB_REG   0x04
-#define PIOS_HMC5883_DATAOUT_ZMSB_REG   0x05
-#define PIOS_HMC5883_DATAOUT_ZLSB_REG   0x06
-#define PIOS_HMC5883_DATAOUT_YMSB_REG   0x07
-#define PIOS_HMC5883_DATAOUT_YLSB_REG   0x08
-#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
-#define PIOS_HMC5883_DATAOUT_IDA_REG    0x0A
-#define PIOS_HMC5883_DATAOUT_IDB_REG    0x0B
-#define PIOS_HMC5883_DATAOUT_IDC_REG    0x0C
-
-/* Output Data Rate */
-#define PIOS_HMC5883_ODR_0_75           0x00
-#define PIOS_HMC5883_ODR_1_5            0x04
-#define PIOS_HMC5883_ODR_3              0x08
-#define PIOS_HMC5883_ODR_7_5            0x0C
-#define PIOS_HMC5883_ODR_15             0x10
-#define PIOS_HMC5883_ODR_30             0x14
-#define PIOS_HMC5883_ODR_75             0x18
-
-/* Measure configuration */
-#define PIOS_HMC5883_MEASCONF_NORMAL    0x00
-#define PIOS_HMC5883_MEASCONF_BIAS_POS  0x01
-#define PIOS_HMC5883_MEASCONF_BIAS_NEG  0x02
-
-/* Gain settings */
-#define PIOS_HMC5883_GAIN_0_88          0x00
-#define PIOS_HMC5883_GAIN_1_3           0x20
-#define PIOS_HMC5883_GAIN_1_9           0x40
-#define PIOS_HMC5883_GAIN_2_5           0x60
-#define PIOS_HMC5883_GAIN_4_0           0x80
-#define PIOS_HMC5883_GAIN_4_7           0xA0
-#define PIOS_HMC5883_GAIN_5_6           0xC0
-#define PIOS_HMC5883_GAIN_8_1           0xE0
-
-/* Modes */
-#define PIOS_HMC5883_MODE_CONTINUOUS    0x00
-#define PIOS_HMC5883_MODE_SINGLE        0x01
-#define PIOS_HMC5883_MODE_IDLE          0x02
-#define PIOS_HMC5883_MODE_SLEEP         0x03
-
-/* Sensitivity Conversion Values */
-#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_1_3Ga  1090    // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_1_9Ga  820     // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_2_5Ga  660     // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_4_0Ga  440     // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_4_7Ga  390     // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_5_6Ga  330     // LSB/Ga
-#define PIOS_HMC5883_Sensitivity_8_1Ga  230     // LSB/Ga  --> NOT RECOMMENDED
-
-
-struct pios_hmc5883_cfg {
-#ifdef PIOS_HMC5883_HAS_GPIOS
-    const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
-#endif
-    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;
-};
-
-/* Public Functions */
-extern void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg);
-extern bool PIOS_HMC5883_NewDataAvailable(void);
-extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
-extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
-extern int32_t PIOS_HMC5883_Test(void);
-extern bool PIOS_HMC5883_IRQHandler();
-
-#endif /* PIOS_HMC5883_H */
-
-/**
- * @}
- * @}
- */
diff --git a/flight/pios/inc/pios_hmc5x83.h b/flight/pios/inc/pios_hmc5x83.h
index 94f53b2f9..949966ef5 100644
--- a/flight/pios/inc/pios_hmc5x83.h
+++ b/flight/pios/inc/pios_hmc5x83.h
@@ -108,7 +108,7 @@ extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
 #endif
 
 struct pios_hmc5x83_cfg {
-#ifdef PIOS_HMC5x83_HAS_GPIOS
+#ifdef PIOS_HMC5X83_HAS_GPIOS
     const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
 #endif
     uint8_t M_ODR; // OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
diff --git a/flight/pios/pios.h b/flight/pios/pios.h
index 1bb1ea968..124dc1d8a 100644
--- a/flight/pios/pios.h
+++ b/flight/pios/pios.h
@@ -204,12 +204,6 @@
 #include <pios_hmc5843.h>
 #endif
 
-#ifdef PIOS_INCLUDE_HMC5883
-/* HMC5883 3-Axis Digital Compass */
-/* #define PIOS_HMC5883_HAS_GPIOS */
-#include <pios_hmc5883.h>
-#endif
-
 #ifdef PIOS_INCLUDE_HMC5X83
 /* HMC5883/HMC5983 3-Axis Digital Compass */
 /* #define PIOS_HMC5x83_HAS_GPIOS */
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
index e7da296e9..95332df45 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
@@ -84,7 +84,7 @@
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-/* #define PIOS_INCLUDE_HMC5883 */
+/* #define PIOS_INCLUDE_HMC5X83 */
 /* #define PIOS_HMC5883_HAS_GPIOS */
 /* #define PIOS_INCLUDE_BMP085 */
 /* #define PIOS_INCLUDE_MS5611 */
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index a55d4cb09..44065be33 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -84,8 +84,8 @@
 // #define PIOS_INCLUDE_MPU6000
 // #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-// #define PIOS_INCLUDE_HMC5883
-// #define PIOS_HMC5883_HAS_GPIOS
+// #define PIOS_INCLUDE_HMC5X83
+// #define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 // #define PIOS_INCLUDE_MS5611
 // #define PIOS_INCLUDE_MPXV
diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
index 687f1c5f7..2e8971636 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
+++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
@@ -90,10 +90,10 @@ void PIOS_ADC_DMC_irq_handler(void)
 
 #endif /* if defined(PIOS_INCLUDE_ADC) */
 
-#if defined(PIOS_INCLUDE_HMC5883)
-#include "pios_hmc5883.h"
-static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
-    .vector = PIOS_HMC5883_IRQHandler,
+#if defined(PIOS_INCLUDE_HMC5X83)
+#include "pios_hmc5x83.h"
+static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
+    .vector = PIOS_HMC5x83_IRQHandler,
     .line   = EXTI_Line7,
     .pin    = {
         .gpio = GPIOB,
@@ -123,14 +123,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
     },
 };
 
-static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
-    .exti_cfg  = &pios_exti_hmc5883_cfg,
-    .M_ODR     = PIOS_HMC5883_ODR_75,
-    .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
-    .Gain = PIOS_HMC5883_GAIN_1_9,
-    .Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+    .exti_cfg  = &pios_exti_hmc5x83_cfg,
+    .M_ODR     = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain      = PIOS_HMC5x83_GAIN_1_9,
+    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
 };
-#endif /* PIOS_INCLUDE_HMC5883 */
+#endif /* PIOS_INCLUDE_HMC5X83 */
 
 /**
  * Configuration for the MS5611 chip
@@ -929,8 +930,8 @@ void PIOS_Board_Init(void)
     PIOS_ADC_Init(&pios_adc_cfg);
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5883)
-    PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+#if defined(PIOS_INCLUDE_HMC5X83)
+    PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
 #endif
 
 #if defined(PIOS_INCLUDE_MS5611)
diff --git a/flight/targets/boards/oplinkmini/firmware/inc/pios_config.h b/flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
index 8dd30c0f3..7717beb52 100644
--- a/flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
+++ b/flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
@@ -81,7 +81,7 @@
 /* #define PIOS_INCLUDE_MPU6000 */
 /* #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
-/* #define PIOS_INCLUDE_HMC5883 */
+/* #define PIOS_INCLUDE_HMC5X83 */
 /* #define PIOS_HMC5883_HAS_GPIOS */
 /* #define PIOS_INCLUDE_BMP085 */
 /* #define PIOS_INCLUDE_MS5611 */
diff --git a/flight/targets/boards/osd/firmware/inc/pios_config.h b/flight/targets/boards/osd/firmware/inc/pios_config.h
index 33542a953..66e178349 100644
--- a/flight/targets/boards/osd/firmware/inc/pios_config.h
+++ b/flight/targets/boards/osd/firmware/inc/pios_config.h
@@ -81,8 +81,8 @@
 /* #define PIOS_INCLUDE_MPU6000 */
 /* #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
-#define PIOS_INCLUDE_HMC5883
-/* #define PIOS_HMC5883_HAS_GPIOS */
+#define PIOS_INCLUDE_HMC5X83
+/* #define PIOS_HMC5X83_HAS_GPIOS */
 #define PIOS_INCLUDE_BMP085
 /* #define PIOS_INCLUDE_MS5611 */
 /* #define PIOS_INCLUDE_MPXV */
diff --git a/flight/targets/boards/revolution/firmware/inc/pios_config.h b/flight/targets/boards/revolution/firmware/inc/pios_config.h
index 49cd0d8e6..5ee827783 100644
--- a/flight/targets/boards/revolution/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revolution/firmware/inc/pios_config.h
@@ -84,8 +84,8 @@
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-#define PIOS_INCLUDE_HMC5883
-#define PIOS_HMC5883_HAS_GPIOS
+#define PIOS_INCLUDE_HMC5X83
+#define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS5611
 #define PIOS_INCLUDE_MPXV
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 4901cc432..b97adb07a 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -91,10 +91,10 @@ void PIOS_ADC_DMC_irq_handler(void)
 
 #endif /* if defined(PIOS_INCLUDE_ADC) */
 
-#if defined(PIOS_INCLUDE_HMC5883)
-#include "pios_hmc5883.h"
-static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
-    .vector = PIOS_HMC5883_IRQHandler,
+#if defined(PIOS_INCLUDE_HMC5X83)
+#include "pios_hmc5x83.h"
+static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
+    .vector = PIOS_HMC5x83_IRQHandler,
     .line   = EXTI_Line7,
     .pin    = {
         .gpio = GPIOB,
@@ -124,14 +124,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
     },
 };
 
-static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
-    .exti_cfg  = &pios_exti_hmc5883_cfg,
-    .M_ODR     = PIOS_HMC5883_ODR_75,
-    .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
-    .Gain = PIOS_HMC5883_GAIN_1_9,
-    .Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+    .exti_cfg  = &pios_exti_hmc5x83_cfg,
+    .M_ODR     = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain      = PIOS_HMC5x83_GAIN_1_9,
+    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
 };
-#endif /* PIOS_INCLUDE_HMC5883 */
+#endif /* PIOS_INCLUDE_HMC5X83 */
 
 /**
  * Configuration for the MS5611 chip
@@ -944,8 +945,8 @@ void PIOS_Board_Init(void)
     PIOS_ADC_Init(&pios_adc_cfg);
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5883)
-    PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+#if defined(PIOS_INCLUDE_HMC5X83)
+    PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
 #endif
 
 #if defined(PIOS_INCLUDE_MS5611)
diff --git a/flight/targets/boards/revoproto/firmware/inc/pios_config.h b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
index 6077225aa..897f9b360 100644
--- a/flight/targets/boards/revoproto/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
@@ -81,8 +81,8 @@
 #define PIOS_INCLUDE_MPU6000
 #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-#define PIOS_INCLUDE_HMC5883
-#define PIOS_HMC5883_HAS_GPIOS
+#define PIOS_INCLUDE_HMC5X83
+#define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS5611
 #define PIOS_INCLUDE_MPXV
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index e628d615e..de2c5982d 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -81,10 +81,10 @@ void PIOS_ADC_DMC_irq_handler(void)
 
 #endif /* if defined(PIOS_INCLUDE_ADC) */
 
-#if defined(PIOS_INCLUDE_HMC5883)
-#include "pios_hmc5883.h"
-static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
-    .vector = PIOS_HMC5883_IRQHandler,
+#if defined(PIOS_INCLUDE_HMC5X83)
+#include "pios_hmc5x83.h"
+static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
+    .vector = PIOS_HMC5x83_IRQHandler,
     .line   = EXTI_Line5,
     .pin    = {
         .gpio = GPIOB,
@@ -114,14 +114,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
     },
 };
 
-static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
-    .exti_cfg  = &pios_exti_hmc5883_cfg,
-    .M_ODR     = PIOS_HMC5883_ODR_75,
-    .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
-    .Gain = PIOS_HMC5883_GAIN_1_9,
-    .Mode = PIOS_HMC5883_MODE_CONTINUOUS,
+static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+    .exti_cfg  = &pios_exti_hmc5x83_cfg,
+    .M_ODR     = PIOS_HMC5x83_ODR_75,
+    .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain      = PIOS_HMC5x83_GAIN_1_9,
+    .Mode      = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .Driver    = &PIOS_HMC5x83_I2C_DRIVER,
 };
-#endif /* PIOS_INCLUDE_HMC5883 */
+#endif /* PIOS_INCLUDE_HMC5X83 */
 
 /**
  * Configuration for the MS5611 chip
@@ -938,8 +939,8 @@ void PIOS_Board_Init(void)
     PIOS_ADC_Init(&pios_adc_cfg);
 #endif
 
-#if defined(PIOS_INCLUDE_HMC5883)
-    PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+#if defined(PIOS_INCLUDE_HMC5X83)
+    PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_pressure_adapter_id, 0);
 #endif
 
 #if defined(PIOS_INCLUDE_MS5611)
diff --git a/flight/targets/boards/simposix/firmware/inc/pios_config.h b/flight/targets/boards/simposix/firmware/inc/pios_config.h
index 9194e68b9..0dc6b7aaa 100644
--- a/flight/targets/boards/simposix/firmware/inc/pios_config.h
+++ b/flight/targets/boards/simposix/firmware/inc/pios_config.h
@@ -63,7 +63,7 @@
 
 /* Select the sensors to include */
 // #define PIOS_INCLUDE_BMA180
-// #define PIOS_INCLUDE_HMC5883
+// #define PIOS_INCLUDE_HMC5X83
 // #define PIOS_INCLUDE_MPU6000
 // #define PIOS_MPU6000_ACCEL
 // #define PIOS_INCLUDE_L3GD20
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index a80fc6fc5..72381423e 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -64,7 +64,7 @@ SRC += $(PIOSCOMMON)/pios_etasv3.c
 SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
 SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_hmc5843.c
-SRC += $(PIOSCOMMON)/pios_hmc5883.c
+SRC += $(PIOSCOMMON)/pios_hmc5x83.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_mpu6000.c