diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index 43c8f8727..48b002248 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -244,7 +244,7 @@ static void SensorsTask(void *parameters)
 #endif
 
 // Using L3DG20 gyro
-#elif defined(PIOS_INCLUDE_L3GD20)
+#elif 0 && defined(PIOS_INCLUDE_L3GD20)
 		struct pios_l3gd20_data gyro;
 		count = 0;
 		while((read_good = PIOS_L3GD20_ReadFifo(&gyro)) != 0);
@@ -288,7 +288,7 @@ static void SensorsTask(void *parameters)
 		gyrosData.y = gyros[1] * gyro_scaling;
 		gyrosData.z = gyros[2] * gyro_scaling;
 		gyrosData.temperature = 35.0f + ((float) gyro.temperature + 512.0f) / 340.0f;
-
+		gyrosData.temperature = PIOS_L3GD20_ReadID();
 		if (bias_correct_gyro) {
 			// Apply bias correction to the gyros
 			GyrosBiasData gyrosBias;
diff --git a/flight/PiOS/STM32F4xx/pios_l3gd20.c b/flight/PiOS/STM32F4xx/pios_l3gd20.c
index c4df919e7..7a029d619 100644
--- a/flight/PiOS/STM32F4xx/pios_l3gd20.c
+++ b/flight/PiOS/STM32F4xx/pios_l3gd20.c
@@ -247,15 +247,15 @@ float PIOS_L3GD20_GetScale()
  */
 uint8_t PIOS_L3GD20_Test(void)
 {
-	/* Verify that ID matches (MPU6050 ID is 0x69) */
-	int32_t L3GD20_id = PIOS_L3GD20_ReadID();
-	if(L3GD20_id < 0)
+	int32_t l3gd20_id = PIOS_L3GD20_ReadID();
+	if(l3gd20_id < 0)
 		return -1;
-	
-	if(L3GD20_id != 0x68);
-		return -2;
-	
-	return 0;
+
+	uint8_t id = l3gd20_id;
+	if(id == 0xD4)
+		return 0;
+
+	return -2;
 }
 
 /**
diff --git a/flight/PiOS/inc/pios_l3gd20.h b/flight/PiOS/inc/pios_l3gd20.h
index 2db1399e0..dd1f4183d 100644
--- a/flight/PiOS/inc/pios_l3gd20.h
+++ b/flight/PiOS/inc/pios_l3gd20.h
@@ -62,7 +62,7 @@
 #define PIOS_L3GD20_FIFO_CNT_MSB         0x72
 #define PIOS_L3GD20_FIFO_CNT_LSB         0x73
 #define PIOS_L3GD20_FIFO_REG             0x74
-#define PIOS_L3GD20_WHOAMI               0x75
+#define PIOS_L3GD20_WHOAMI               0x0F
 
 /* FIFO enable for storing different values */
 #define PIOS_L3GD20_FIFO_TEMP_OUT        0x80
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 3e954e115..ff870f8cc 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -59,7 +59,7 @@
 #define PIOS_INCLUDE_HMC5883
 //#define PIOS_INCLUDE_MPU6000
 //#define PIOS_MPU6000_ACCEL
-//#define PIOS_INCLUDE_L3GD20
+#define PIOS_INCLUDE_L3GD20
 #define PIOS_INCLUDE_MS5611
 //#define PIOS_INCLUDE_HCSR04
 
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 888e7319d..e6dd9ba6b 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -1671,17 +1671,18 @@ void PIOS_Board_Init(void) {
 	
 	PIOS_DELAY_WaitmS(500);
 
-/*
+
 #if defined(PIOS_INCLUDE_MPU6000)
 	PIOS_MPU6000_Attach(pios_spi_gyro_id);
 	PIOS_MPU6000_Init(&pios_mpu6000_cfg);
 #elif defined(PIOS_INCLUDE_L3GD20)
 	PIOS_L3GD20_Attach(pios_spi_gyro_id);
+	PIOS_Assert(PIOS_L3GD20_Test() == 0);
 //	PIOS_L3GD20_Init(&pios_l3gd20_cfg);
 #else
 	PIOS_Assert(0);
 #endif
-*/
+
 	PIOS_BMA180_Attach(pios_spi_accel_id);
 	PIOS_BMA180_Init(&pios_bma180_cfg);