diff --git a/flight/pios/common/pios_hmc5x83.c b/flight/pios/common/pios_hmc5x83.c
index b471d821f..098843844 100644
--- a/flight/pios/common/pios_hmc5x83.c
+++ b/flight/pios/common/pios_hmc5x83.c
@@ -48,6 +48,9 @@ typedef struct {
     uint16_t magCountMax;
     uint16_t magCount;
     volatile bool data_ready;
+    int16_t  magData[3];
+    bool     hw_error;
+    uint32_t lastConfigTime;
 } pios_hmc5x83_dev_data_t;
 
 static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
@@ -162,7 +165,7 @@ pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_
     }
 
     if (PIOS_HMC5x83_Config(dev) != 0) {
-        return (pios_hmc5x83_dev_t)NULL;
+        dev->hw_error = true;
     }
 
     dev->data_ready = false;
@@ -241,6 +244,8 @@ static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
     uint8_t CTRLA = 0x00;
     uint8_t MODE  = 0x00;
 
+    dev->lastConfigTime = PIOS_DELAY_GetRaw();
+
     const struct pios_hmc5x83_cfg *cfg = dev->cfg;
 
     dev->CTRLB = 0;
@@ -265,6 +270,15 @@ static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
         return -1;
     }
 
+#ifdef PIOS_INCLUDE_WDG
+    // give HMC5x83 on I2C some extra time
+    PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+
+    if (PIOS_HMC5x83_Test((pios_hmc5x83_dev_t)dev) != 0) {
+        return -1;
+    }
+
     return 0;
 }
 
@@ -434,6 +448,12 @@ int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
     int16_t values[3];
     pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
 
+#ifdef PIOS_INCLUDE_WDG
+    // give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
+    // this is not in a loop, so it is safe
+    PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+
     /* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */
     char id[4];
 
@@ -690,9 +710,9 @@ int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint
 #endif /* PIOS_INCLUDE_I2C */
 
 /* PIOS sensor driver implementation */
-bool PIOS_HMC5x83_driver_Test(uintptr_t context)
+bool PIOS_HMC5x83_driver_Test(__attribute__((unused)) uintptr_t context)
 {
-    return !PIOS_HMC5x83_Test((pios_hmc5x83_dev_t)context);
+    return true; // Do not do tests now, Sensors module takes this rather too seriously.
 }
 
 void PIOS_HMC5x83_driver_Reset(__attribute__((unused)) uintptr_t context) {}
@@ -706,19 +726,51 @@ void PIOS_HMC5x83_driver_get_scale(float *scales, uint8_t size, __attribute__((u
 void PIOS_HMC5x83_driver_fetch(void *data, uint8_t size, uintptr_t context)
 {
     PIOS_Assert(size > 0);
-    int16_t mag[3];
-    PIOS_HMC5x83_ReadMag((pios_hmc5x83_dev_t)context, mag);
+    pios_hmc5x83_dev_data_t *dev = dev_validate((pios_hmc5x83_dev_t)context);
+
     PIOS_SENSORS_3Axis_SensorsWithTemp *tmp = data;
+
     tmp->count = 1;
-    tmp->sample[0].x = mag[0];
-    tmp->sample[0].y = mag[1];
-    tmp->sample[0].z = mag[2];
+    tmp->sample[0].x = dev->magData[0];
+    tmp->sample[0].y = dev->magData[1];
+    tmp->sample[0].z = dev->magData[2];
     tmp->temperature = 0;
 }
 
+
 bool PIOS_HMC5x83_driver_poll(uintptr_t context)
 {
-    return PIOS_HMC5x83_NewDataAvailable((pios_hmc5x83_dev_t)context);
+    pios_hmc5x83_dev_data_t *dev = dev_validate((pios_hmc5x83_dev_t)context);
+
+    if (dev->hw_error) {
+        if (PIOS_DELAY_DiffuS(dev->lastConfigTime) < 1000000) {
+            return false;
+        }
+
+#ifdef PIOS_INCLUDE_WDG
+        // give HMC5x83 on I2C some extra time
+        PIOS_WDG_Clear();
+#endif /* PIOS_INCLUDE_WDG */
+
+        if (PIOS_HMC5x83_Config(dev) == 0) {
+            dev->hw_error = false;
+        }
+    }
+
+    if (dev->hw_error) {
+        return false;
+    }
+
+    if (!PIOS_HMC5x83_NewDataAvailable((pios_hmc5x83_dev_t)context)) {
+        return false;
+    }
+
+    if (PIOS_HMC5x83_ReadMag((pios_hmc5x83_dev_t)context, dev->magData) != 0) {
+        dev->hw_error = true;
+        return false;
+    }
+
+    return true;
 }
 
 #endif /* PIOS_INCLUDE_HMC5x83 */