diff --git a/flight/make/apps-defs.mk b/flight/make/apps-defs.mk
index 77620dabf..8639492df 100644
--- a/flight/make/apps-defs.mk
+++ b/flight/make/apps-defs.mk
@@ -78,6 +78,7 @@ SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
 SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_hmc5843.c
 SRC += $(PIOSCOMMON)/pios_hmc5x83.c
+SRC += $(PIOSCOMMON)/pios_qmc5883l.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_l3gd20.c
 SRC += $(PIOSCOMMON)/pios_mpu6000.c
diff --git a/flight/pios/common/pios_board_sensors.c b/flight/pios/common/pios_board_sensors.c
index 1357c1798..29b865cfa 100644
--- a/flight/pios/common/pios_board_sensors.c
+++ b/flight/pios/common/pios_board_sensors.c
@@ -60,6 +60,10 @@ pios_hmc5x83_dev_t pios_hmc5x83_internal_id;
 # endif
 #endif
 
+#ifdef PIOS_INCLUDE_QMC5883L
+# include "pios_qmc5883l.h"
+#endif
+
 #ifdef PIOS_INCLUDE_L3GD20
 # include "pios_l3gd20.h"
 #endif
@@ -146,35 +150,36 @@ void PIOS_BOARD_Sensors_Configure()
 
 # endif /* PIOS_INCLUDE_HMC5X83_INTERNAL */
 
-# ifdef PIOS_INCLUDE_HMC5X83
+# if defined(PIOS_INCLUDE_HMC5X83) || defined(PIOS_INCLUDE_QMC5883L)
+    AuxMagSettingsInitialize();
 
     AuxMagSettingsTypeOptions option;
     AuxMagSettingsTypeGet(&option);
 
-    const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
+    uint32_t auxmag_i2c_id = 0;
 
-    if (hmc5x83_external_cfg) {
-        uint32_t i2c_id = 0;
-
-        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
-            // i2c_external
+    if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+        // i2c_external
 #ifdef PIOS_I2C_FLEXI_ADAPTER
-            i2c_id = PIOS_I2C_FLEXI_ADAPTER;
+        auxmag_i2c_id = PIOS_I2C_FLEXI_ADAPTER;
 #endif
-        } else if (option == AUXMAGSETTINGS_TYPE_I2C) {
-            // i2c_internal (or Sparky2/F3 dedicated I2C port)
+    } else if (option == AUXMAGSETTINGS_TYPE_I2C) {
+        // i2c_internal (or Sparky2/F3 dedicated I2C port)
 #ifdef PIOS_I2C_EXTERNAL_ADAPTER
-            i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
+        auxmag_i2c_id = PIOS_I2C_EXTERNAL_ADAPTER;
 #endif
-        }
+    }
 
-        if (i2c_id) {
-            uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, i2c_id, 0);
-#  ifdef PIOS_INCLUDE_WDG
+    if (auxmag_i2c_id) {
+#  ifdef PIOS_INCLUDE_HMC5X83
+        const struct pios_hmc5x83_cfg *hmc5x83_external_cfg = PIOS_BOARD_HW_DEFS_GetExternalHMC5x83Cfg(pios_board_info_blob.board_rev);
+        if (hmc5x83_external_cfg) {
+            uint32_t external_mag = PIOS_HMC5x83_Init(hmc5x83_external_cfg, auxmag_i2c_id, 0);
+#   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 */
+#   endif /* PIOS_INCLUDE_WDG */
             // add this sensor to the sensor task's list
             // be careful that you don't register a slow, unimportant sensor after registering the fastest sensor
             // and before registering some other fast and important sensor
@@ -183,8 +188,16 @@ void PIOS_BOARD_Sensors_Configure()
             // mag alarm is cleared later, so use I2C
             AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
         }
+#  endif /* PIOS_INCLUDE_HMC5X83 */
+#  ifdef PIOS_INCLUDE_QMC5883L
+        pios_qmc5883l_dev_t qmc5883l_dev = PIOS_QMC5883L_Init(auxmag_i2c_id);
+#   ifdef PIOS_INCLUDE_WDG
+        PIOS_WDG_Clear();
+#   endif /* PIOS_INCLUDE_WDG */
+        AlarmsSet(SYSTEMALARMS_ALARM_I2C, (qmc5883l_dev) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_WARNING);
+#  endif /* PIOS_INCLUDE_QMC5883L */
     }
-# endif /* PIOS_INCLUDE_HMC5X83 */
+# endif /* PIOS_INCLUDE_HMC5X83 || PIOS_INCLUDE_QMC5883L */
 
     // internal ms5611 baro
 #ifdef PIOS_INCLUDE_MS56XX
diff --git a/flight/pios/common/pios_qmc5883l.c b/flight/pios/common/pios_qmc5883l.c
new file mode 100644
index 000000000..66718b37f
--- /dev/null
+++ b/flight/pios/common/pios_qmc5883l.c
@@ -0,0 +1,315 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_QMC5883L QMC5883L Functions
+ * @brief Deals with the hardware interface to the QMC5883L magnetometer
+ * @{
+ *
+ * @file       pios_qmc5883l.c
+ * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2018
+ * @brief      QMC5883L functions implementation.
+ * @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
+ */
+#include "pios.h"
+#ifdef PIOS_INCLUDE_QMC5883L
+
+#include <pios_sensors.h>
+#include "pios_qmc5883l.h"
+
+#define PIOS_QMC5883L_I2C_ADDR                 0x0D
+#define PIOS_QMC5883L_CHIP_ID                  0xFF
+
+#define PIOS_QMC5883L_REG_DATA                 0x00
+#define PIOS_QMC5883L_REG_STATUS               0x06
+#define PIOS_QMC5883L_REG_TEMPL                0x07
+#define PIOS_QMC5883L_REG_TEMPH                0x08
+#define PIOS_QMC5883L_REG_CTRL1                0x09
+#define PIOS_QMC5883L_REG_CTRL2                0x0A
+#define PIOS_QMC5883L_REG_FBR                  0x0B
+#define PIOS_QMC5883L_REG_CHIP_ID              0x0D
+
+
+#define    PIOS_QMC5883L_CTRL1_ODR_10HZ        (0 << 2)
+#define    PIOS_QMC5883L_CTRL1_ODR_50HZ        (1 << 2)
+#define    PIOS_QMC5883L_CTRL1_ODR_100HZ       (2 << 2)
+#define    PIOS_QMC5883L_CTRL1_ODR_200HZ       (3 << 2)
+
+#define    PIOS_QMC5883L_CTRL1_OSR_512         (0 << 6)
+#define    PIOS_QMC5883L_CTRL1_OSR_256         (1 << 6)
+#define    PIOS_QMC5883L_CTRL1_OSR_128         (2 << 6)
+#define    PIOS_QMC5883L_CTRL1_OSR_64          (3 << 6)
+
+#define    PIOS_QMC5883L_CTRL1_RNG_2G          (0 << 4)
+#define    PIOS_QMC5883L_CTRL1_RNG_8G          (1 << 4)
+
+#define    PIOS_QMC5883L_CTRL1_MODE_STANDBY    (0 << 0)
+#define    PIOS_QMC5883L_CTRL1_MODE_CONTINUOUS (1 << 0)
+
+#define PIOS_QMC5883L_CTRL2_INT_ENB            (1 << 0)
+#define PIOS_QMC5883L_CTRL2_ROL_PNT            (1 << 6)
+#define PIOS_QMC5883L_CTRL2_SOFT_RST           (1 << 7)
+
+#define PIOS_QMC5883L_FBR_RECOMMENDED          0x01
+
+#define    PIOS_QMC5883L_STATUS_DOR            (1 << 2)
+#define    PIOS_QMC5883L_STATUS_OVL            (1 << 1)
+#define    PIOS_QMC5883L_STATUS_DRDY           (1 << 0)
+
+
+#define PIOS_QMC5883L_I2C_CONFIG_RETRY_DELAY   1000000
+#define PIOS_QMC5883L_I2C_CONFIG_DATA_DELAY    10000
+#define PIOS_QMC5883L_I2C_RETRIES              2
+
+enum pios_qmc5883l_dev_magic {
+    PIOS_QMC5883L_MAGIC = 0xF8D3262A
+};
+
+struct pios_qmc5883l_dev {
+    enum pios_qmc5883l_dev_magic magic;
+    uint32_t i2c_id;
+
+    bool     sensorIsAlive;
+    uint32_t configTime;
+    uint32_t readTime;
+
+    int16_t  data_X, data_Y, data_Z;
+};
+
+
+static int32_t PIOS_QMC5883L_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len);
+static int32_t PIOS_QMC5883L_Write(uintptr_t i2c_id, uint8_t address, uint8_t buffer);
+static int32_t PIOS_QMC5883L_Configure(struct pios_qmc5883l_dev *dev);
+
+// sensor driver interface
+static bool PIOS_QMC5883L_driver_Test(uintptr_t context);
+static void PIOS_QMC5883L_driver_Reset(uintptr_t context);
+static void PIOS_QMC5883L_driver_get_scale(float *scales, uint8_t size, uintptr_t context);
+static void PIOS_QMC5883L_driver_fetch(void *, uint8_t size, uintptr_t context);
+static bool PIOS_QMC5883L_driver_poll(uintptr_t context);
+
+const PIOS_SENSORS_Driver PIOS_QMC5883L_Driver = {
+    .test      = PIOS_QMC5883L_driver_Test,
+    .poll      = PIOS_QMC5883L_driver_poll,
+    .fetch     = PIOS_QMC5883L_driver_fetch,
+    .reset     = PIOS_QMC5883L_driver_Reset,
+    .get_queue = NULL,
+    .get_scale = PIOS_QMC5883L_driver_get_scale,
+    .is_polled = true,
+};
+
+static bool PIOS_QMC5883L_Validate(struct pios_qmc5883l_dev *dev)
+{
+    return dev && (dev->magic == PIOS_QMC5883L_MAGIC);
+}
+
+pios_qmc5883l_dev_t PIOS_QMC5883L_Init(uint32_t i2c_device)
+{
+    struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)pios_malloc(sizeof(*dev));
+
+    memset(dev, 0, sizeof(*dev));
+
+    dev->i2c_id = i2c_device;
+    dev->magic  = PIOS_QMC5883L_MAGIC;
+
+    PIOS_SENSORS_Register(&PIOS_QMC5883L_Driver, PIOS_SENSORS_TYPE_3AXIS_AUXMAG, (uintptr_t)dev);
+
+    return dev;
+}
+
+static int32_t PIOS_QMC5883L_Configure(struct pios_qmc5883l_dev *dev)
+{
+    // read chip id?
+    uint8_t chip_id;
+
+    if (dev->sensorIsAlive) {
+        return 0;
+    }
+
+    if (PIOS_DELAY_DiffuS(dev->configTime) < PIOS_QMC5883L_I2C_CONFIG_RETRY_DELAY) { // Do not reinitialize too often
+        return -1;
+    }
+
+    dev->configTime    = PIOS_DELAY_GetRaw();
+    // Reset chip
+    dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_CTRL2, PIOS_QMC5883L_CTRL2_SOFT_RST) == 0);
+    if (!dev->sensorIsAlive) {
+        return -1;
+    }
+
+    // Read ID
+    dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_CHIP_ID, &chip_id, sizeof(chip_id)) == 0);
+    if (!dev->sensorIsAlive) {
+        return -1;
+    }
+
+    if (chip_id != PIOS_QMC5883L_CHIP_ID) {
+        return -2;
+    }
+
+    // Set FBR
+    dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_FBR, PIOS_QMC5883L_FBR_RECOMMENDED) == 0);
+    if (!dev->sensorIsAlive) {
+        return -1;
+    }
+
+    // Set control registers
+    dev->sensorIsAlive = (PIOS_QMC5883L_Write(dev->i2c_id, PIOS_QMC5883L_REG_CTRL1, PIOS_QMC5883L_CTRL1_MODE_CONTINUOUS | PIOS_QMC5883L_CTRL1_ODR_200HZ | PIOS_QMC5883L_CTRL1_OSR_512 | PIOS_QMC5883L_CTRL1_RNG_8G) == 0);
+    if (!dev->sensorIsAlive) {
+        return -1;
+    }
+
+    return 0;
+}
+
+/**
+ * Reads one or more bytes into a buffer
+ * \param[in] the command indicating the address to read
+ * \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
+ */
+static int32_t PIOS_QMC5883L_Read(uintptr_t i2c_id, uint8_t address, uint8_t *buffer, uint8_t len)
+{
+    const struct pios_i2c_txn txn_list[] = {
+        {
+            .info = __func__,
+            .addr = PIOS_QMC5883L_I2C_ADDR,
+            .rw   = PIOS_I2C_TXN_WRITE,
+            .len  = 1,
+            .buf  = &address,
+        }
+        ,
+        {
+            .info = __func__,
+            .addr = PIOS_QMC5883L_I2C_ADDR,
+            .rw   = PIOS_I2C_TXN_READ,
+            .len  = len,
+            .buf  = buffer,
+        }
+    };
+
+    for (uint8_t retry = PIOS_QMC5883L_I2C_RETRIES; retry > 0; --retry) {
+        if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
+            return 0;
+        }
+    }
+
+    return -1;
+}
+
+static int32_t PIOS_QMC5883L_Write(uintptr_t i2c_id, uint8_t address, uint8_t value)
+{
+    uint8_t data[] = { address, value };
+
+    const struct pios_i2c_txn txn_list[] = {
+        {
+            .info = __func__,
+            .addr = PIOS_QMC5883L_I2C_ADDR,
+            .rw   = PIOS_I2C_TXN_WRITE,
+            .len  = sizeof(data),
+            .buf  = data,
+        }
+    };
+
+    for (uint8_t retry = PIOS_QMC5883L_I2C_RETRIES; retry > 0; --retry) {
+        if (PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list)) == 0) {
+            return 0;
+        }
+    }
+
+    return -1;
+}
+
+bool PIOS_QMC5883L_driver_Test(__attribute__((unused)) uintptr_t context)
+{
+    return true;
+}
+
+static void PIOS_QMC5883L_driver_Reset(__attribute__((unused)) uintptr_t context)
+{}
+
+static void PIOS_QMC5883L_driver_get_scale(float *scales, uint8_t size, __attribute__((unused))  uintptr_t context)
+{
+    PIOS_Assert(size > 0);
+    scales[0] = 0.5;
+}
+
+static void PIOS_QMC5883L_driver_fetch(void *data, __attribute__((unused)) uint8_t size, uintptr_t context)
+{
+    struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)context;
+
+    PIOS_Assert(PIOS_QMC5883L_Validate(dev));
+    PIOS_Assert(data);
+
+    PIOS_SENSORS_3Axis_SensorsWithTemp *tmp = data;
+
+    tmp->count = 1;
+    tmp->sample[0].x = dev->data_X;
+    tmp->sample[0].y = dev->data_Y;
+    tmp->sample[0].z = dev->data_Z;
+    tmp->temperature = 0;
+}
+
+static bool PIOS_QMC5883L_driver_poll(uintptr_t context)
+{
+    struct pios_qmc5883l_dev *dev = (struct pios_qmc5883l_dev *)context;
+
+    PIOS_Assert(PIOS_QMC5883L_Validate(dev));
+
+    if (!dev->sensorIsAlive) {
+        if (PIOS_QMC5883L_Configure(dev) < 0) {
+            return false;
+        }
+    }
+
+    if (PIOS_DELAY_DiffuS(dev->readTime) < PIOS_QMC5883L_I2C_CONFIG_DATA_DELAY) {
+        return false;
+    }
+
+    // Read Status
+    uint8_t status;
+    dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_STATUS, &status, sizeof(status)) == 0);
+    if (!dev->sensorIsAlive) {
+        return false;
+    }
+
+    // Is it ready?
+    if (!(status & PIOS_QMC5883L_STATUS_DRDY)) {
+        return false;
+    }
+
+    uint8_t data[6];
+    dev->sensorIsAlive = (PIOS_QMC5883L_Read(dev->i2c_id, PIOS_QMC5883L_REG_DATA, data, sizeof(data)) == 0);
+    if (!dev->sensorIsAlive) {
+        return false;
+    }
+
+    dev->readTime = PIOS_DELAY_GetRaw();
+
+    dev->data_X   = (int16_t)(data[1] << 8 | data[0]);
+    dev->data_Y   = (int16_t)(data[3] << 8 | data[2]);
+    dev->data_Z   = (int16_t)(data[5] << 8 | data[4]);
+
+    return true;
+}
+
+
+#endif /* PIOS_INCLUDE_QMC5883L */
diff --git a/flight/pios/inc/pios_qmc5883l.h b/flight/pios/inc/pios_qmc5883l.h
new file mode 100644
index 000000000..8b1bb5509
--- /dev/null
+++ b/flight/pios/inc/pios_qmc5883l.h
@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_QMC5883L QMC5883L Functions
+ * @brief Deals with the hardware interface to the QMC5883L magnetometer
+ * @{
+ *
+ * @file       pios_qmc5883l.h
+ * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2018
+ * @brief      QMC5883L functions header.
+ * @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_QMC5883L_H
+#define PIOS_QMC5883L_H
+
+struct pios_qmc5883l_dev;
+typedef struct pios_qmc5883l_dev *pios_qmc5883l_dev_t;
+
+extern pios_qmc5883l_dev_t PIOS_QMC5883L_Init(uint32_t i2c_device);
+
+
+#endif /* PIOS_QMC5883L_H */
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index 577c10ec6..cb8958086 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -87,6 +87,7 @@
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
 #define PIOS_INCLUDE_HMC5X83_INTERNAL
+#define PIOS_INCLUDE_QMC5883L
 // #define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 /* #define PIOS_INCLUDE_MS56XX */
diff --git a/flight/targets/boards/nucleof303re/firmware/inc/pios_config.h b/flight/targets/boards/nucleof303re/firmware/inc/pios_config.h
index abe4f0eaf..9123f8d8f 100644
--- a/flight/targets/boards/nucleof303re/firmware/inc/pios_config.h
+++ b/flight/targets/boards/nucleof303re/firmware/inc/pios_config.h
@@ -86,6 +86,7 @@
 /* #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_QMC5883L
 /* #define PIOS_HMC5883_HAS_GPIOS */
 /* #define PIOS_INCLUDE_MPU9250 */
 /* #define PIOS_MPU9250_ACCEL */
diff --git a/flight/targets/boards/revolution/firmware/inc/pios_config.h b/flight/targets/boards/revolution/firmware/inc/pios_config.h
index c8393ba41..a02bb3c34 100644
--- a/flight/targets/boards/revolution/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revolution/firmware/inc/pios_config.h
@@ -88,6 +88,7 @@
 #define PIOS_INCLUDE_HMC5X83
 #define PIOS_INCLUDE_HMC5X83_INTERNAL
 #define PIOS_HMC5X83_HAS_GPIOS
+#define PIOS_INCLUDE_QMC5883L
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS56XX
 #define PIOS_INCLUDE_MPXV
diff --git a/flight/targets/boards/revonano/firmware/inc/pios_config.h b/flight/targets/boards/revonano/firmware/inc/pios_config.h
index 219648a16..762bda3fd 100644
--- a/flight/targets/boards/revonano/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revonano/firmware/inc/pios_config.h
@@ -86,6 +86,7 @@
 // #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_QMC5883L
 // #define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS56XX
diff --git a/flight/targets/boards/revoproto/firmware/inc/pios_config.h b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
index 7238d5885..a1cdb562b 100644
--- a/flight/targets/boards/revoproto/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
@@ -85,6 +85,7 @@
 #define PIOS_INCLUDE_HMC5X83
 #define PIOS_INCLUDE_HMC5X83_INTERNAL
 #define PIOS_HMC5X83_HAS_GPIOS
+#define PIOS_INCLUDE_QMC5883L
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS56XX
 #define PIOS_INCLUDE_MPXV
diff --git a/flight/targets/boards/sparky2/firmware/inc/pios_config.h b/flight/targets/boards/sparky2/firmware/inc/pios_config.h
index 9e456403e..0aac31493 100644
--- a/flight/targets/boards/sparky2/firmware/inc/pios_config.h
+++ b/flight/targets/boards/sparky2/firmware/inc/pios_config.h
@@ -86,6 +86,7 @@
 /* seems to be completely unused #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_QMC5883L
 /* Sparky2 5X83s are all external and thus don't have GPIOs #define PIOS_HMC5X83_HAS_GPIOS */
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS56XX
diff --git a/flight/targets/boards/spracingf3/firmware/inc/pios_config.h b/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
index b4f856a2b..36aa4826c 100644
--- a/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
+++ b/flight/targets/boards/spracingf3/firmware/inc/pios_config.h
@@ -88,6 +88,7 @@
 #define PIOS_INCLUDE_HMC5X83
 #define PIOS_INCLUDE_HMC5X83_INTERNAL
 #define PIOS_HMC5883_HAS_GPIOS
+#define PIOS_INCLUDE_QMC5883L
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS56XX
 /* #define PIOS_INCLUDE_MPXV */
diff --git a/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h b/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
index 89bd45e3b..0d8830f61 100644
--- a/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
+++ b/flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
@@ -86,6 +86,7 @@
 /* #define PIOS_MPU6000_ACCEL */
 /* #define PIOS_INCLUDE_HMC5843 */
 #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_QMC5883L
 /* #define PIOS_HMC5883_HAS_GPIOS */
 #define PIOS_INCLUDE_MPU9250
 #define PIOS_MPU9250_ACCEL