diff --git a/flight/PiOS/Common/pios_bma180.c b/flight/PiOS/Common/pios_bma180.c
index 1a28eaae4..e2d6fe727 100644
--- a/flight/PiOS/Common/pios_bma180.c
+++ b/flight/PiOS/Common/pios_bma180.c
@@ -149,11 +149,12 @@ void PIOS_BMA180_Init()
 
 /**
  * @brief Read a single set of values from the x y z channels
+ * @param[out] data Int16 array of (x,y,z) sensor values
  * @returns 0 if successful
  * @retval -1 unable to claim bus
  * @retval -2 unable to transfer data
  */
-int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
+int32_t PIOS_BMA180_ReadAccels(int16_t * data)
 {
 	// To save memory use same buffer for in and out but offset by
 	// a byte
@@ -167,9 +168,12 @@ int32_t PIOS_BMA180_Read(struct pios_bma180_data * data)
 	PIOS_BMA180_ReleaseBus();	
 	
 	//        |    MSB        |   LSB       | 0 | new_data |
-	data->x = ( (rec[2] << 8) | rec[1] ) / 4;
-	data->y = ( (rec[4] << 8) | rec[3] ) / 4;
-	data->z = ( (rec[6] << 8) | rec[5] ) / 4;
+	data[0] = (rec[2] << 8) | rec[1];
+	data[1] = (rec[4] << 8) | rec[3];
+	data[2] = (rec[6] << 8) | rec[5];
+	data[0] /= 4;
+	data[1] /= 4;
+	data[2] /= 4;
 	
 	return 0; // return number of remaining entries
 }
@@ -200,8 +204,8 @@ int32_t PIOS_BMA180_Test()
 		return -2;
 	PIOS_BMA180_ReleaseBus();
 	
-	struct pios_bma180_data data;
-	if(PIOS_BMA180_Read(&data) != 0)
+	int16_t data[3];
+	if(PIOS_BMA180_ReadAccels(data) != 0)
 		return -3;
 	
 	if(rec[1] != 0x3)
diff --git a/flight/PiOS/Common/pios_imu3000.c b/flight/PiOS/Common/pios_imu3000.c
index 7c672ab3a..d19ac8883 100644
--- a/flight/PiOS/Common/pios_imu3000.c
+++ b/flight/PiOS/Common/pios_imu3000.c
@@ -132,8 +132,14 @@ static void PIOS_IMU3000_Config(PIOS_IMU3000_ConfigTypeDef * IMU3000_Config_Stru
  * \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
  * \returns The number of samples remaining in the fifo
 */
-uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data)
+int32_t PIOS_IMU3000_ReadGyros(int16_t * data)
 {
+	uint8_t buf[6];
+	if(PIOS_IMU3000_Read(PIOS_IMU3000_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
+		return -1;
+	data[0] = buf[0] << 8 | buf[1];
+	data[1] = buf[2] << 8 | buf[3];
+	data[2] = buf[4] << 8 | buf[5];
 	return 0;
 }
 
diff --git a/flight/PiOS/inc/pios_bma180.h b/flight/PiOS/inc/pios_bma180.h
index 66717d4a0..e46bd2d18 100644
--- a/flight/PiOS/inc/pios_bma180.h
+++ b/flight/PiOS/inc/pios_bma180.h
@@ -77,7 +77,7 @@ struct pios_bma180_data {
 /* Public Functions */
 void PIOS_BMA180_Attach(uint32_t spi_id);
 void PIOS_BMA180_Init();
-int32_t PIOS_BMA180_Read(struct pios_bma180_data * data);
+int32_t PIOS_BMA180_ReadAccels(int16_t * data);
 int32_t PIOS_BMA180_Test();
 
 #endif /* PIOS_BMA180_H */
diff --git a/flight/PiOS/inc/pios_imu3000.h b/flight/PiOS/inc/pios_imu3000.h
index 40b7ed5b5..04666729f 100644
--- a/flight/PiOS/inc/pios_imu3000.h
+++ b/flight/PiOS/inc/pios_imu3000.h
@@ -119,7 +119,7 @@ struct pios_imu3000_data {
 /* Public Functions */
 extern void PIOS_IMU3000_Init(void);
 extern bool PIOS_IMU3000_NewDataAvailable(void);
-extern uint8_t PIOS_IMU3000_ReadGyros(struct pios_imu3000_data * data);
+extern int32_t PIOS_IMU3000_ReadGyros(int16_t * data);
 extern int32_t PIOS_IMU3000_ReadID();
 extern uint8_t PIOS_IMU3000_Test();