diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile
index f9906b940..eb8dd2f04 100644
--- a/flight/AHRS/Makefile
+++ b/flight/AHRS/Makefile
@@ -95,6 +95,7 @@ SRC += $(PIOSSTM32F10X)/pios_usart.c
 SRC += $(PIOSSTM32F10X)/pios_irq.c
 SRC += $(PIOSSTM32F10X)/pios_adc.c
 SRC += $(PIOSSTM32F10X)/pios_i2c.c
+SRC += $(PIOSSTM32F10X)/pios_gpio.c
 #SRC += $(PIOSSTM32F10X)/pios_spi.c
 
 ## PIOS Hardware (Common)
diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 20fa77460..6962f77d8 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -33,6 +33,7 @@
 
 /* Function Prototypes */
 
+
 /**
 * AHRS Main function
 */
@@ -54,6 +55,10 @@ int main()
 	PIOS_I2C_Init();
 	PIOS_HMC5843_Init();
 
+	/* Setup the Accelerometer FS (Full-Scale) GPIO */
+	PIOS_GPIO_Enable(0);
+	SET_ACCEL_2G;
+
 	/* Configure the HMC5843 Sensor */
 	PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
 	HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
@@ -82,12 +87,13 @@ int main()
 		if(heading < 0) heading += 360;
 
 		// Output Heading data to
-		PIOS_COM_SendFormattedString(COM_USART1, "Chip ID: %s\rHeading: %d\rRaw Mag Values: X=%d Y=%d Y=%d\r", id, heading, data[0], data[1], data[2]);
+		PIOS_COM_SendFormattedString(COM_USART1, "HMC5843 Chip ID: %s\rHeading: %d\rRaw Mag Values: X=%d Y=%d Y=%d\r", id, heading, data[0], data[1], data[2]);
 
 		// Test ADC
 		PIOS_COM_SendFormattedString(COM_USART1, "ADC Values: %d,%d,%d,%d,%d,%d\r\n", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
 
-		PIOS_DELAY_WaitmS(250);
+		// Delay until next reading
+		PIOS_DELAY_WaitmS(500);
 	}
 
 	return 0;
diff --git a/flight/AHRS/inc/pios_board.h b/flight/AHRS/inc/pios_board.h
index 6d8fb6ad5..f09107f3a 100644
--- a/flight/AHRS/inc/pios_board.h
+++ b/flight/AHRS/inc/pios_board.h
@@ -302,4 +302,17 @@ TIM8  |           |           |           |
 						/* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
 #define PIOS_ADC_IRQ_PRIO			PIOS_IRQ_PRIO_HIGH
 
+//-------------------------
+// GPIO
+//-------------------------
+#define PIOS_GPIO_1_PORT			GPIOB
+#define PIOS_GPIO_1_PIN				GPIO_Pin_9
+#define PIOS_GPIO_1_GPIO_CLK			RCC_APB2Periph_GPIOB
+#define PIOS_GPIO_PORTS				{ PIOS_GPIO_1_PORT }
+#define PIOS_GPIO_PINS				{ PIOS_GPIO_1_PIN }
+#define PIOS_GPIO_CLKS				{ PIOS_GPIO_1_GPIO_CLK }
+#define PIOS_GPIO_NUM				1
+#define SET_ACCEL_2G PIOS_GPIO_On(0);
+#define SET_ACCEL_6G PIOS_GPIO_Off(0)
+
 #endif /* PIOS_BOARD_H */
diff --git a/flight/AHRS/inc/pios_config.h b/flight/AHRS/inc/pios_config.h
index c066d1b23..4f3f118a6 100644
--- a/flight/AHRS/inc/pios_config.h
+++ b/flight/AHRS/inc/pios_config.h
@@ -38,6 +38,7 @@
 #define PIOS_INCLUDE_USART
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_HMC5843
+#define PIOS_INCLUDE_GPIO
 
 
 #endif /* PIOS_CONFIG_H */
diff --git a/flight/PiOS/STM32F10x/pios_gpio.c b/flight/PiOS/STM32F10x/pios_gpio.c
index 0b99a7873..6293969d6 100644
--- a/flight/PiOS/STM32F10x/pios_gpio.c
+++ b/flight/PiOS/STM32F10x/pios_gpio.c
@@ -41,7 +41,7 @@ static const uint32_t GPIO_CLK[PIOS_GPIO_NUM] = PIOS_GPIO_CLKS;
 
 
 /**
-* Initialises all the LED's
+* Initialises all the GPIO's
 */
 void PIOS_GPIO_Init(void)
 {