diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h
index a987b9e4e..e19ef51e0 100644
--- a/flight/PiOS/Boards/STM3210E_INS.h
+++ b/flight/PiOS/Boards/STM3210E_INS.h
@@ -207,8 +207,17 @@ extern uint32_t pios_com_aux_id;
 //------------------------
 // BMA180
 //------------------------
-#define PIOS_BMA_ENABLE                        PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
-#define PIOS_BMA_DISABLE                       PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
+#define PIOS_BMA180_ENABLE                      PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,0)
+#define PIOS_BMA180_DISABLE                     PIOS_SPI_RC_PinSet(PIOS_SPI_ACCEL,1)
+#define PIOS_BMA180_DRDY_GPIO_PORT              GPIOC
+#define PIOS_BMA180_DRDY_GPIO_PIN               GPIO_Pin_4
+#define PIOS_BMA180_DRDY_PORT_SOURCE            GPIO_PortSourceGPIOC
+#define PIOS_BMA180_DRDY_PIN_SOURCE             GPIO_PinSource4
+#define PIOS_BMA180_DRDY_CLK                    RCC_APB2Periph_GPIOC
+#define PIOS_BMA180_DRDY_EXTI_LINE              EXTI_Line4
+#define PIOS_BMA180_DRDY_IRQn                   EXTI4_IRQn
+#define PIOS_BMA180_DRDY_PRIO                   PIOS_IRQ_PRIO_LOW
+
 
 //------------------------
 // PIOS_HMC5883
diff --git a/flight/PiOS/Common/pios_bma180.c b/flight/PiOS/Common/pios_bma180.c
index e2d6fe727..3f97748c3 100644
--- a/flight/PiOS/Common/pios_bma180.c
+++ b/flight/PiOS/Common/pios_bma180.c
@@ -38,6 +38,47 @@ static int32_t PIOS_BMA180_GetReg(uint8_t reg);
 static int32_t PIOS_BMA180_SetReg(uint8_t reg, uint8_t data);
 static int32_t PIOS_BMA180_SelectBW(uint8_t bw);
 static int32_t PIOS_BMA180_SetRange(uint8_t range);
+static int32_t PIOS_BMA180_EnableIrq();
+volatile bool pios_bma180_data_ready = false;
+
+/**
+ * @brief Initialize with good default settings
+ */
+void PIOS_BMA180_Init()
+{
+	GPIO_InitTypeDef GPIO_InitStructure;
+	EXTI_InitTypeDef EXTI_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	/* Enable DRDY GPIO clock */
+	RCC_APB2PeriphClockCmd(PIOS_BMA180_DRDY_CLK | RCC_APB2Periph_AFIO, ENABLE);
+	
+	/* Configure EOC pin as input floating */
+	GPIO_InitStructure.GPIO_Pin = PIOS_BMA180_DRDY_GPIO_PIN;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+	GPIO_Init(PIOS_BMA180_DRDY_GPIO_PORT, &GPIO_InitStructure);
+	
+	/* Configure the End Of Conversion (EOC) interrupt */
+	GPIO_EXTILineConfig(PIOS_BMA180_DRDY_PORT_SOURCE, PIOS_BMA180_DRDY_PIN_SOURCE);
+	EXTI_InitStructure.EXTI_Line = PIOS_BMA180_DRDY_EXTI_LINE;
+	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
+	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+	EXTI_Init(&EXTI_InitStructure);
+	
+	/* Enable and set EOC EXTI Interrupt to the lowest priority */
+	NVIC_InitStructure.NVIC_IRQChannel = PIOS_BMA180_DRDY_IRQn;
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_BMA180_DRDY_PRIO;
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+	
+	pios_bma180_data_ready = false;
+	
+	PIOS_BMA180_SelectBW(BMA_BW_150HZ);
+	PIOS_BMA180_SetRange(BMA_RANGE_8G);
+	PIOS_BMA180_EnableIrq();
+}
 
 /**
  * @brief Claim the SPI bus for the accel communications and select this chip
@@ -47,7 +88,7 @@ int32_t PIOS_BMA180_ClaimBus()
 {
 	if(PIOS_SPI_ClaimBus(PIOS_SPI_ACCEL) != 0)
 		return -1;
-	PIOS_BMA_ENABLE;
+	PIOS_BMA180_ENABLE;
 	return 0;
 }
 
@@ -57,7 +98,7 @@ int32_t PIOS_BMA180_ClaimBus()
  */
 int32_t PIOS_BMA180_ReleaseBus()
 {
-	PIOS_BMA_DISABLE;
+	PIOS_BMA180_DISABLE;
 	return PIOS_SPI_ReleaseBus(PIOS_SPI_ACCEL);
 }
 
@@ -128,6 +169,11 @@ static int32_t PIOS_BMA180_SetRange(uint8_t range)
 	return PIOS_BMA180_SetReg(BMA_RANGE_ADDR, reg);
 }
 
+static int32_t PIOS_BMA180_EnableIrq() 
+{
+	return PIOS_BMA180_SetReg(BMA_CTRREG3, BMA_NEW_DAT_INT);
+}
+
 /**
  * @brief Connect to the correct SPI bus
  */
@@ -136,17 +182,6 @@ void PIOS_BMA180_Attach(uint32_t spi_id)
 	PIOS_SPI_ACCEL = spi_id;
 }
 
-/**
- * @brief Initialize with good default settings
- */
-void PIOS_BMA180_Init()
-{
-	if(0){
-	PIOS_BMA180_SelectBW(BMA_BW_150HZ);
-	PIOS_BMA180_SetRange(BMA_RANGE_8G);
-	}
-}
-
 /**
  * @brief Read a single set of values from the x y z channels
  * @param[out] data Int16 array of (x,y,z) sensor values
@@ -197,13 +232,16 @@ int32_t PIOS_BMA180_Test()
 	// Read chip ID then version ID
 	uint8_t buf[3] = {0x80 | BMA_CHIPID_ADDR, 0, 0};
 	uint8_t rec[3] = {0,0, 0};
+	int32_t retval;
 
 	if(PIOS_BMA180_ClaimBus() != 0)
 		return -1;
-	if(PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL) != 0)
-		return -2;
+	retval = PIOS_SPI_TransferBlock(PIOS_SPI_ACCEL,&buf[0],&rec[0],sizeof(buf),NULL);
 	PIOS_BMA180_ReleaseBus();
 	
+	if(retval != 0)
+		return -2;
+	
 	int16_t data[3];
 	if(PIOS_BMA180_ReadAccels(data) != 0)
 		return -3;
@@ -217,6 +255,14 @@ int32_t PIOS_BMA180_Test()
 	return 0;
 }
 
+/**
+ * @brief IRQ Handler
+ */
+void PIOS_BMA180_IRQHandler(void)
+{
+	pios_bma180_data_ready = true;
+}
+
 /**
  * @}
  * @}
diff --git a/flight/PiOS/Common/pios_hmc5883.c b/flight/PiOS/Common/pios_hmc5883.c
index 1e5849cce..feb7256f0 100644
--- a/flight/PiOS/Common/pios_hmc5883.c
+++ b/flight/PiOS/Common/pios_hmc5883.c
@@ -232,6 +232,11 @@ void PIOS_HMC5883_ReadMag(int16_t out[3])
 					    + buffer[2 * i + 1]) * 1000 / PIOS_HMC5883_Sensitivity_8_1Ga;
 		break;
 	}
+	
+	// Data reads out as X,Z,Y
+	int16_t temp = out[2];
+	out[2] = out[1];
+	out[1] = temp;
 }
 
 
diff --git a/flight/PiOS/STM32F10x/pios_exti.c b/flight/PiOS/STM32F10x/pios_exti.c
index e20a179e6..1367ac466 100644
--- a/flight/PiOS/STM32F10x/pios_exti.c
+++ b/flight/PiOS/STM32F10x/pios_exti.c
@@ -87,17 +87,29 @@ void EXTI9_5_IRQHandler(void)
 /**
 * Handle external line 4 interrupt requests
 */
-#if defined(PIOS_INCLUDE_USB)
+#if defined(PIOS_INCLUDE_IMU3000)
+extern void PIOS_IMU3000_IRQHandler();
+#endif
+
 void EXTI4_IRQHandler(void)
 {
+#if defined(PIOS_INCLUDE_USB)
 	if (EXTI_GetITStatus(PIOS_USB_DETECT_EXTI_LINE) != RESET) {
 		/* Clear the EXTI line pending bit */
 		EXTI_ClearITPendingBit(PIOS_USB_DETECT_EXTI_LINE);
 	}
-}
 #endif /* PIOS_INCLUDE_USB */
+#if defined (PIOS_INCLUDE_BMA180)
+	if (EXTI_GetITStatus(PIOS_BMA180_DRDY_EXTI_LINE) != RESET) {
+		PIOS_BMA180_IRQHandler();
+		EXTI_ClearITPendingBit(PIOS_BMA180_DRDY_EXTI_LINE);
+	}
+#endif
+}
 
+#if defined(PIOS_INCLUDE_IMU3000)
 extern void PIOS_IMU3000_IRQHandler();
+#endif
 void EXTI1_IRQHandler(void)
 {
 #if defined(PIOS_INCLUDE_IMU3000)
diff --git a/flight/PiOS/inc/pios_bma180.h b/flight/PiOS/inc/pios_bma180.h
index e46bd2d18..74cd7f995 100644
--- a/flight/PiOS/inc/pios_bma180.h
+++ b/flight/PiOS/inc/pios_bma180.h
@@ -42,6 +42,7 @@
 #define BMA_WE_ADDR       0x0D
 #define BMA_BW_ADDR       0x20
 #define BMA_RANGE_ADDR    0x35
+#define BMA_CTRREG3       0x21
 
 /* Accel range  */
 #define BMA_RANGE_MASK    0x0E          
@@ -68,6 +69,8 @@
 #define BMA_BW_HP1HZ      0x08		// High-pass, 1Hz
 #define BMA_BW_BP0_300HZ  0x09      // Band-pass, 0.3Hz-300Hz
 
+#define BMA_NEW_DAT_INT   0x02
+
 struct pios_bma180_data {
 	int16_t x;
 	int16_t y;
@@ -79,6 +82,7 @@ void PIOS_BMA180_Attach(uint32_t spi_id);
 void PIOS_BMA180_Init();
 int32_t PIOS_BMA180_ReadAccels(int16_t * data);
 int32_t PIOS_BMA180_Test();
+void PIOS_BMA180_IRQHandler(void);
 
 #endif /* PIOS_BMA180_H */