diff --git a/flight/PiOS/STM32F4xx/pios_mpu6050.c b/flight/PiOS/STM32F4xx/pios_mpu6050.c
new file mode 100644
index 000000000..d50674a26
--- /dev/null
+++ b/flight/PiOS/STM32F4xx/pios_mpu6050.c
@@ -0,0 +1,396 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_MPU6050 MPU6050 Functions
+ * @brief Deals with the hardware interface to the 3-axis gyro
+ * @{
+ *
+ * @file       pios_mpu050.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      MPU6050 3-axis gyor functions from INS
+ * @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
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_MPU6050)
+
+/* Global Variables */
+
+/* Local Variables */
+#define DEG_TO_RAD (M_PI / 180.0)
+static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg);
+static int32_t PIOS_MPU6050_Read(uint8_t address, uint8_t * buffer, uint8_t len);
+static int32_t PIOS_MPU6050_Write(uint8_t address, uint8_t buffer);
+
+#define PIOS_MPU6050_MAX_DOWNSAMPLE 10
+static int16_t pios_mpu6050_buffer[PIOS_MPU6050_MAX_DOWNSAMPLE * sizeof(struct pios_mpu6050_data)];
+static t_fifo_buffer pios_mpu6050_fifo;
+
+volatile bool mpu6050_first_read = true;
+volatile bool mpu6050_configured = false;
+volatile bool mpu6050_cb_ready = true;
+
+static struct pios_mpu6050_cfg const * cfg;
+
+/**
+ * @brief Initialize the MPU6050 3-axis gyro sensor.
+ * @return none
+ */
+void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * new_cfg)
+{
+	cfg = new_cfg;
+	
+	fifoBuf_init(&pios_mpu6050_fifo, (uint8_t *) pios_mpu6050_buffer, sizeof(pios_mpu6050_buffer));
+
+	/* Configure EOC pin as input floating */
+	GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
+	
+	/* Configure the End Of Conversion (EOC) interrupt */
+	SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
+	EXTI_Init(&cfg->eoc_exti.init);
+	
+	/* Enable and set EOC EXTI Interrupt to the lowest priority */
+	NVIC_Init(&cfg->eoc_irq.init);
+
+	/* Configure the MPU6050 Sensor */
+	PIOS_MPU6050_Config(cfg);
+}
+
+/**
+ * @brief Initialize the MPU6050 3-axis gyro sensor
+ * \return none
+ * \param[in] PIOS_MPU6050_ConfigTypeDef struct to be used to configure sensor.
+*
+*/
+static void PIOS_MPU6050_Config(struct pios_mpu6050_cfg const * cfg)
+{
+	mpu6050_first_read = true;
+	mpu6050_cb_ready = true;
+	
+	// Reset chip and fifo
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, 0x01 | 0x02) != 0);
+	PIOS_DELAY_WaituS(20);
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, 0x00) != 0);
+
+	// FIFO storage
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_FIFO_EN_REG, cfg->Fifo_store) != 0);
+
+	// Sample rate divider
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
+
+	// Digital low-pass filter and scale
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_DLPF_CFG_REG, cfg->filter | (cfg->range << 3)) != 0) ;
+
+	// Interrupt configuration
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_USER_CTRL_REG, cfg->User_ctl) != 0) ;
+
+	// Interrupt configuration
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
+	
+	// Interrupt configuration
+	while (PIOS_MPU6050_Write(PIOS_MPU6050_INT_CFG_REG, cfg->Interrupt_cfg) != 0) ;
+	
+	mpu6050_configured = true;
+}
+
+/**
+ * @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
+ * \returns The number of samples remaining in the fifo
+*/
+int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * data)
+{
+	uint8_t buf[6];
+	if(PIOS_MPU6050_Read(PIOS_MPU6050_GYRO_X_OUT_MSB, (uint8_t *) buf, sizeof(buf)) < 0)
+		return -1;
+	data->x = buf[0] << 8 | buf[1];
+	data->y = buf[2] << 8 | buf[3];
+	data->z = buf[4] << 8 | buf[5];
+	return 0;
+}
+
+
+/**
+ * @brief Read the identification bytes from the MPU6050 sensor
+ * \return ID read from MPU6050 or -1 if failure
+*/
+int32_t PIOS_MPU6050_ReadID()
+{
+	uint8_t mpu6050_id;
+	if(PIOS_MPU6050_Read(PIOS_MPU6050_WHOAMI, (uint8_t *) &mpu6050_id, 1) != 0)
+		return -1;
+	return mpu6050_id;
+}
+
+/**
+ * \brief Reads the data from the MPU6050 FIFO
+ * \param[out] buffer destination buffer
+ * \param[in] len maximum number of bytes which should be read
+ * \note This returns the data as X, Y, Z the temperature
+ * \return number of bytes transferred if operation was successful
+ * \return -1 if error during I2C transfer
+ */
+int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer)
+{
+	if(fifoBuf_getUsed(&pios_mpu6050_fifo) < sizeof(*buffer))
+		return -1;
+		
+	fifoBuf_getData(&pios_mpu6050_fifo, (uint8_t *) buffer, sizeof(*buffer));
+	
+	return 0;
+}
+
+/**
+* @brief Reads one or more bytes from MPU6050 into a buffer
+* \param[in] address MPU6050 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_MPU6050_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_MPU6050_I2C_ADDR,
+		 .rw = PIOS_I2C_TXN_WRITE,
+		 .len = sizeof(addr_buffer),
+		 .buf = addr_buffer,
+		 }
+		,
+		{
+		 .info = __func__,
+		 .addr = PIOS_MPU6050_I2C_ADDR,
+		 .rw = PIOS_I2C_TXN_READ,
+		 .len = len,
+		 .buf = buffer,
+		 }
+	};
+
+	return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
+}
+
+// Must allocate on stack to be persistent
+static uint8_t cb_addr_buffer[] = {
+	0,
+};
+static struct pios_i2c_txn cb_txn_list[] = {
+	{
+		.addr = PIOS_MPU6050_I2C_ADDR,
+		.rw = PIOS_I2C_TXN_WRITE,
+		.len = sizeof(cb_addr_buffer),
+		.buf = cb_addr_buffer,
+	}
+	,
+	{
+		.addr = PIOS_MPU6050_I2C_ADDR,
+		.rw = PIOS_I2C_TXN_READ,
+		.len = 0,
+		.buf = 0,
+	}
+};
+
+
+
+static int32_t PIOS_MPU6050_Read_Callback(uint8_t address, uint8_t * buffer, uint8_t len, void *callback)
+{
+	cb_addr_buffer[0] = address;
+	cb_txn_list[0].info = __func__,
+	cb_txn_list[1].info = __func__;
+	cb_txn_list[1].len = len;
+	cb_txn_list[1].buf = buffer;
+	
+	return PIOS_I2C_Transfer_Callback(PIOS_I2C_GYRO_ADAPTER, cb_txn_list, NELEMENTS(cb_txn_list), callback);
+}
+
+/**
+ * @brief Writes one or more bytes to the MPU6050
+ * \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_MPU6050_Write(uint8_t address, uint8_t buffer)
+{
+	uint8_t data[] = {
+		address,
+		buffer,
+	};
+
+	const struct pios_i2c_txn txn_list[] = {
+		{
+		 .info = __func__,
+		 .addr = PIOS_MPU6050_I2C_ADDR,
+		 .rw = PIOS_I2C_TXN_WRITE,
+		 .len = sizeof(data),
+		 .buf = data,
+		 }
+		,
+	};
+
+	return PIOS_I2C_Transfer(PIOS_I2C_GYRO_ADAPTER, txn_list, NELEMENTS(txn_list));
+}
+
+float PIOS_MPU6050_GetScale() 
+{
+	switch (cfg->range) {
+		case PIOS_MPU6050_SCALE_250_DEG:
+			return DEG_TO_RAD / 131.0;
+		case PIOS_MPU6050_SCALE_500_DEG:
+			return DEG_TO_RAD / 65.5;
+		case PIOS_MPU6050_SCALE_1000_DEG:
+			return DEG_TO_RAD / 32.8;
+		case PIOS_MPU6050_SCALE_2000_DEG:
+			return DEG_TO_RAD / 16.4;
+	}
+	return 0;
+}
+/**
+ * @brief Run self-test operation.
+ * \return 0 if test succeeded
+ * \return non-zero value if test succeeded
+ */
+uint8_t PIOS_MPU6050_Test(void)
+{
+	/* Verify that ID matches (MPU6050 ID is 0x69) */
+	int32_t mpu6050_id = PIOS_MPU6050_ReadID();
+	if(mpu6050_id < 0)
+		return -1;
+	
+	if(mpu6050_id != PIOS_MPU6050_I2C_ADDR & 0xFE)
+		return -2;
+	
+	return 0;
+}
+
+static uint8_t mpu6050_read_buffer[sizeof(struct pios_mpu6050_data) + 2]; // Right now using ,Y,Z,fifo_footer
+static void MPU6050_callback()
+{
+	struct pios_mpu6050_data data;
+
+	if(fifoBuf_getFree(&pios_mpu6050_fifo) < sizeof(data))
+		goto out;
+
+	if(mpu6050_first_read) {
+		data.temperature = mpu6050_read_buffer[0] << 8 | mpu6050_read_buffer[1];
+		data.x = mpu6050_read_buffer[2] << 8 | mpu6050_read_buffer[3];
+		data.y = mpu6050_read_buffer[4] << 8 | mpu6050_read_buffer[5];
+		data.z = mpu6050_read_buffer[6] << 8 | mpu6050_read_buffer[7];
+		
+		mpu6050_first_read = false;
+	} else {
+		// First two bytes are left over fifo from last call
+		data.temperature = mpu6050_read_buffer[2] << 8 | mpu6050_read_buffer[3];
+		data.x = mpu6050_read_buffer[4] << 8 | mpu6050_read_buffer[5];
+		data.y = mpu6050_read_buffer[6] << 8 | mpu6050_read_buffer[7];
+		data.z = mpu6050_read_buffer[8] << 8 | mpu6050_read_buffer[9];
+	}
+	
+	fifoBuf_putData(&pios_mpu6050_fifo, (uint8_t *) &data, sizeof(data));
+	
+out:
+	mpu6050_cb_ready = true;
+
+}
+
+/**
+* @brief IRQ Handler
+*/
+uint32_t mpu6050_irq = 0;
+uint16_t fifo_level;
+uint8_t fifo_level_data[2];
+uint32_t cb_not_ready = 0;
+void PIOS_MPU6050_IRQHandler(void)
+{
+	
+	mpu6050_irq++;
+
+	if(!mpu6050_configured)
+		return;
+		
+	//PIOS_Assert(MPU6050_cb_ready);
+	if(!mpu6050_cb_ready) {
+		PIOS_LED_Toggle(LED2);
+		cb_not_ready++;
+		return;
+	}
+
+	// If at least one read doesnt succeed then the irq not reset and we will stall
+	while(PIOS_MPU6050_Read(PIOS_MPU6050_FIFO_CNT_MSB, (uint8_t *) &fifo_level_data, sizeof(fifo_level_data)) != 0)
+		PIOS_DELAY_WaituS(10);
+				
+	fifo_level = (fifo_level_data[0] << 8) + fifo_level_data[1];
+	
+	PIOS_DELAY_WaituS(10);
+	
+	if(mpu6050_first_read) {
+		// Stupid system for MPU6050.  If first read from buffer then we will read 4 sensors without fifo
+		// footer.  After this we will read out a fifo footer
+		if(fifo_level < sizeof(mpu6050_read_buffer))
+			return;
+			
+		mpu6050_cb_ready = false;
+		
+		// Leave footer in buffer
+		PIOS_MPU6050_Read_Callback(PIOS_MPU6050_FIFO_REG, mpu6050_read_buffer, sizeof(mpu6050_read_buffer) - 2, MPU6050_callback);
+		
+	} else {
+		// Stupid system for MPU6050.  Ensure something is left in buffer
+		if(fifo_level < (sizeof(mpu6050_read_buffer) + 2))
+			return;
+		
+		mpu6050_cb_ready = false;
+		
+		// Leave footer in buffer
+		PIOS_MPU6050_Read_Callback(PIOS_MPU6050_FIFO_REG, mpu6050_read_buffer, sizeof(mpu6050_read_buffer), MPU6050_callback);
+		
+	}
+}
+
+/**
+ * The physical IRQ handler
+ * Soon this will be generic in pios_exti and the BMA180 will register
+ * against it.  Right now this is crap!
+ */
+void EXTI1_IRQHandler(void)
+{
+	if (EXTI_GetITStatus(EXTI_Line1) != RESET)
+	{
+		PIOS_MPU6050_IRQHandler();
+		EXTI_ClearITPendingBit(EXTI_Line1);
+	}
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */
diff --git a/flight/PiOS/inc/pios_mpu6050.h b/flight/PiOS/inc/pios_mpu6050.h
new file mode 100644
index 000000000..309c46919
--- /dev/null
+++ b/flight/PiOS/inc/pios_mpu6050.h
@@ -0,0 +1,151 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_MPU6050 MPU6050 Functions
+ * @brief Deals with the hardware interface to the 3-axis gyro
+ * @{
+ *
+ * @file       pios_MPU6050.h
+ * @author     David "Buzz" Carlson (buzz@chebuzz.com)
+ * 				The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      MPU6050 3-axis gyor function headers
+ * @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_MPU6050_H
+#define PIOS_MPU6050_H
+
+#include "pios.h"
+
+/* MPU6050 Addresses */
+#define PIOS_MPU6050_I2C_ADDR             0x69
+#define PIOS_MPU6050_X_MSB_OFFSET_REG     0x43
+#define PIOS_MPU6050_X_LSB_OFFSET_REG     0x44
+#define PIOS_MPU6050_Y_MSB_OFFSET_REG     0x45
+#define PIOS_MPU6050_Y_LSB_OFFSET_REG     0x46
+#define PIOS_MPU6050_Z_MSB_OFFSET_REG     0x47
+#define PIOS_MPU6050_Z_LSB_OFFSET_REG     0x48
+#define PIOS_MPU6050_FIFO_EN_REG          0x23
+#define PIOS_MPU6050_SMPLRT_DIV_REG       0X19
+#define PIOS_MPU6050_DLPF_CFG_REG         0X16
+#define PIOS_MPU6050_INT_CFG_REG          0x37
+#define PIOS_MPU6050_INT_STATUS_REG       0x3A
+#define PIOS_MPU6050_TEMP_OUT_MSB         0x41
+#define PIOS_MPU6050_TEMP_OUT_LSB         0x42
+#define PIOS_MPU6050_GYRO_X_OUT_MSB       0x1D
+#define PIOS_MPU6050_GYRO_X_OUT_LSB       0x1E
+#define PIOS_MPU6050_GYRO_Y_OUT_MSB       0x1F
+#define PIOS_MPU6050_GYRO_Y_OUT_LSB       0x20
+#define PIOS_MPU6050_GYRO_Z_OUT_MSB       0x21
+#define PIOS_MPU6050_GYRO_Z_OUT_LSB       0x22
+#define PIOS_MPU6050_FIFO_CNT_MSB         0x72
+#define PIOS_MPU6050_FIFO_CNT_LSB         0x73
+#define PIOS_MPU6050_FIFO_REG             0x74
+#define PIOS_MPU6050_USER_CTRL_REG        0x6A
+#define PIOS_MPU6050_PWR_MGMT_REG         0x6C
+#define PIOS_MPU6050_WHOAMI               0x75
+
+/* FIFO enable for storing different values */
+#define PIOS_MPU6050_FIFO_TEMP_OUT        0x80
+#define PIOS_MPU6050_FIFO_GYRO_X_OUT      0x40
+#define PIOS_MPU6050_FIFO_GYRO_Y_OUT      0x20
+#define PIOS_MPU6050_FIFO_GYRO_Z_OUT      0x10
+#define PIOS_MPU6050_FIFO_FOOTER          0x01
+
+
+/* Interrupt Configuration */
+#define PIOS_MPU6050_INT_ACTL             0x80
+#define PIOS_MPU6050_INT_OPEN             0x40
+#define PIOS_MPU6050_INT_LATCH_EN         0x20
+#define PIOS_MPU6050_INT_CLR_ANYRD        0x10
+#define PIOS_MPU6050_INT_IMU_RDY          0x04
+#define PIOS_MPU6050_INT_DATA_RDY         0x01
+
+/* Interrupt status */
+#define PIOS_MPU6050_INT_STATUS_FIFO_FULL 0x80
+#define PIOS_MPU6050_INT_STATUS_IMU_RDY   0X04
+#define PIOS_MPU6050_INT_STATUS_DATA_RDY  0X01
+
+/* User control functionality */
+#define PIOS_MPU6050_USERCTL_FIFO_EN      0X40
+#define PIOS_MPU6050_USERCTL_FIFO_RST     0X02
+#define PIOS_MPU6050_USERCTL_GYRO_RST     0X01
+
+/* Power management and clock selection */
+#define PIOS_MPU6050_PWRMGMT_IMU_RST      0X80
+#define PIOS_MPU6050_PWRMGMT_INTERN_CLK   0X00
+#define PIOS_MPU6050_PWRMGMT_PLL_X_CLK    0X01
+#define PIOS_MPU6050_PWRMGMT_PLL_Y_CLK    0X02
+#define PIOS_MPU6050_PWRMGMT_PLL_Z_CLK    0X03
+#define PIOS_MPU6050_PWRMGMT_STOP_CLK     0X07
+
+enum pios_mpu6050_range {
+	PIOS_MPU6050_SCALE_250_DEG  = 0x00,
+	PIOS_MPU6050_SCALE_500_DEG  = 0x01,
+	PIOS_MPU6050_SCALE_1000_DEG = 0x02,
+	PIOS_MPU6050_SCALE_2000_DEG = 0x03
+};
+
+enum pios_mpu6050_filter {
+	PIOS_MPU6050_LOWPASS_256_HZ = 0x00,
+	PIOS_MPU6050_LOWPASS_188_HZ = 0x01,
+	PIOS_MPU6050_LOWPASS_98_HZ  = 0x02,
+	PIOS_MPU6050_LOWPASS_42_HZ  = 0x03,
+	PIOS_MPU6050_LOWPASS_20_HZ  = 0x04,
+	PIOS_MPU6050_LOWPASS_10_HZ  = 0x05,
+	PIOS_MPU6050_LOWPASS_5_HZ   = 0x06
+};
+
+struct pios_mpu6050_data {
+	int16_t x;
+	int16_t y;
+	int16_t z;
+	int16_t temperature;
+};
+
+struct pios_mpu6050_cfg {
+	struct stm32_gpio drdy;
+	struct stm32_exti eoc_exti;
+	struct stm32_irq eoc_irq;
+	
+	uint8_t Fifo_store;		/* FIFO storage of different readings (See datasheet page 31 for more details) */
+	uint8_t Smpl_rate_div;	/* Sample rate divider to use (See datasheet page 32 for more details) */
+	uint8_t Interrupt_cfg;	/* Interrupt configuration (See datasheet page 35 for more details) */
+	uint8_t User_ctl;		/* User control settings (See datasheet page 41 for more details)  */
+	uint8_t Pwr_mgmt_clk;	/* Power management and clock selection (See datasheet page 32 for more details) */
+	enum pios_mpu6050_range range;
+	enum pios_mpu6050_filter filter;
+};
+
+/* Public Functions */
+extern void PIOS_MPU6050_Init(const struct pios_mpu6050_cfg * cfg);
+extern int32_t PIOS_MPU6050_ReadFifo(struct pios_mpu6050_data * buffer);
+extern int32_t PIOS_MPU6050_ReadGyros(struct pios_mpu6050_data * buffer);
+extern int32_t PIOS_MPU6050_ReadID();
+extern uint8_t PIOS_MPU6050_Test();
+extern float PIOS_MPU6050_GetScale();
+
+#endif /* PIOS_MPU6050_H */
+
+/** 
+  * @}
+  * @}
+  */
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index e1b2eb277..de3358ba8 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -117,6 +117,9 @@
 #if defined(PIOS_INCLUDE_IMU3000)
 #include <pios_imu3000.h>
 #endif
+#if defined(PIOS_INCLUDE_MPU6050)
+#include <pios_mpu6050.h>
+#endif
 #include <pios_iap.h>
 
 #if defined(PIOS_INCLUDE_ADXL345)
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 5912e875c..15e101e25 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -3320,6 +3320,18 @@
 		65FA9B71147087020019A260 /* STM32F4xx_Revolution.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32F4xx_Revolution.h; sourceTree = "<group>"; };
 		65FA9B77147095D40019A260 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
 		65FA9B79147095D40019A260 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
+		65FA9B7A14709E700019A260 /* pios_mpu6050.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_mpu6050.c; sourceTree = "<group>"; };
+		65FA9B7B14709E9E0019A260 /* pios_board_info.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board_info.h; sourceTree = "<group>"; };
+		65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_gcsrcvr_priv.h; sourceTree = "<group>"; };
+		65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_hcsr04.h; sourceTree = "<group>"; };
+		65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_esc.h; sourceTree = "<group>"; };
+		65FA9B7F14709E9E0019A260 /* pios_iap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_iap.h; sourceTree = "<group>"; };
+		65FA9B8014709E9E0019A260 /* pios_initcall.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_initcall.h; sourceTree = "<group>"; };
+		65FA9B8114709E9E0019A260 /* pios_mpu6050.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_mpu6050.h; sourceTree = "<group>"; };
+		65FA9B8214709E9E0019A260 /* pios_ppm_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_ppm_priv.h; sourceTree = "<group>"; };
+		65FA9B8314709E9E0019A260 /* pios_tim_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim_priv.h; sourceTree = "<group>"; };
+		65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
+		65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; };
 		65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
 		65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
 		65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
@@ -3862,6 +3874,7 @@
 				65904ECF14613B6100FD9482 /* pios_imu3000.c */,
 				65904ED014613B6100FD9482 /* pios_irq.c */,
 				65904ED114613B6100FD9482 /* pios_led.c */,
+				65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
 				65904ED214613B6100FD9482 /* pios_ppm.c */,
 				65904ED314613B6100FD9482 /* pios_servo.c */,
 				65904ED414613B6100FD9482 /* pios_spi.c */,
@@ -8490,6 +8503,7 @@
 		65E8F03811EFF25C00BBF654 /* inc */ = {
 			isa = PBXGroup;
 			children = (
+				65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */,
 				65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */,
 				65E8F03A11EFF25C00BBF654 /* pios_adc.h */,
 				6528CCE212E40F6700CF5144 /* pios_adxl345.h */,
@@ -8497,6 +8511,7 @@
 				65E6E09912E037C800058553 /* pios_adc_priv.h */,
 				65DEA78613F1118400095B06 /* pios_bma180.h */,
 				65E8F03B11EFF25C00BBF654 /* pios_bmp085.h */,
+				65FA9B7B14709E9E0019A260 /* pios_board_info.h */,
 				65E8F03C11EFF25C00BBF654 /* pios_com.h */,
 				65E8F03D11EFF25C00BBF654 /* pios_com_priv.h */,
 				65E8C745139A6D1A00E1F979 /* pios_crc.h */,
@@ -8505,17 +8520,24 @@
 				65E8F04011EFF25C00BBF654 /* pios_exti.h */,
 				6512D60512ED4CA2008175E5 /* pios_flash_w25x.h */,
 				65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
+				65FA9B7C14709E9E0019A260 /* pios_gcsrcvr_priv.h */,
 				65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
+				65FA9B7D14709E9E0019A260 /* pios_hcsr04.h */,
 				65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
 				65D1FBD413F504C9006374A6 /* pios_hmc5883.h */,
+				65FA9B7F14709E9E0019A260 /* pios_iap.h */,
 				65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
+				65FA9B7E14709E9E0019A260 /* pios_i2c_esc.h */,
 				6526645A122DF972006F9A3C /* pios_i2c_priv.h */,
 				65D1FBDA13F51AE1006374A6 /* pios_imu3000.h */,
+				65FA9B8014709E9E0019A260 /* pios_initcall.h */,
 				65E8F04411EFF25C00BBF654 /* pios_irq.h */,
 				65E8F04511EFF25C00BBF654 /* pios_led.h */,
+				65FA9B8114709E9E0019A260 /* pios_mpu6050.h */,
 				65E8F04611EFF25C00BBF654 /* pios_opahrs.h */,
 				65E8F04711EFF25C00BBF654 /* pios_opahrs_proto.h */,
 				65E8F04811EFF25C00BBF654 /* pios_ppm.h */,
+				65FA9B8214709E9E0019A260 /* pios_ppm_priv.h */,
 				65E8F04911EFF25C00BBF654 /* pios_pwm.h */,
 				657FF86A12EA8BFB00801617 /* pios_pwm_priv.h */,
 				65643CAC1413322000A32F59 /* pios_rcvr.h */,
@@ -8533,6 +8555,8 @@
 				65E8F04E11EFF25C00BBF654 /* pios_spi_priv.h */,
 				65E8F04F11EFF25C00BBF654 /* pios_stm32.h */,
 				65E8F05011EFF25C00BBF654 /* pios_sys.h */,
+				65FA9B8314709E9E0019A260 /* pios_tim_priv.h */,
+				65FA9B8414709E9F0019A260 /* pios_tim.h */,
 				65E8F05111EFF25C00BBF654 /* pios_usart.h */,
 				65E8F05211EFF25C00BBF654 /* pios_usart_priv.h */,
 				65E8F05311EFF25C00BBF654 /* pios_usb.h */,