diff --git a/flight/libraries/auxmagsupport.c b/flight/libraries/auxmagsupport.c
index d8011fae4..1c6239e50 100644
--- a/flight/libraries/auxmagsupport.c
+++ b/flight/libraries/auxmagsupport.c
@@ -27,9 +27,7 @@
 #include <stdint.h>
 #include "inc/auxmagsupport.h"
 #include "CoordinateConversions.h"
-#if defined(PIOS_INCLUDE_HMC5X83)
-#include "pios_hmc5x83.h"
-#endif
+#include "pios_hmc5x83.h" // this is needed for mag orientation even for other mag types
 
 #define assumptions \
     ( \
diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c
index 8c94ec1b1..cf8e36225 100644
--- a/flight/modules/System/systemmod.c
+++ b/flight/modules/System/systemmod.c
@@ -183,6 +183,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
         vTaskDelay(10);
     }
 
+#ifndef PIOS_INCLUDE_WDG
+// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
+#define PIOS_WDG_Clear()
+#endif
     /* create all modules thread */
     MODULE_TASKCREATE_ALL;
 
diff --git a/flight/pios/inc/pios_initcall.h b/flight/pios/inc/pios_initcall.h
index 52669e658..4f014f93b 100644
--- a/flight/pios/inc/pios_initcall.h
+++ b/flight/pios/inc/pios_initcall.h
@@ -92,7 +92,6 @@ extern void StartModules();
 
 #define MODULE_INITCALL(ifn, sfn) __define_module_initcall("module", ifn, sfn)
 
-#if 0
 #define MODULE_INITIALISE_ALL \
     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
           if (fn->fn_minit) { \
@@ -100,24 +99,7 @@ extern void StartModules();
       } \
       initTaskDone = 1; \
     }
-#else
-#define MODULE_INITIALISE_ALL \
-    { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
-          if (fn->fn_minit) { \
-              (fn->fn_minit)(); } \
-      } \
-      initTaskDone = 1; \
-    }
-#endif
 
-#if 0
-#define MODULE_TASKCREATE_ALL \
-    { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
-          if (fn->fn_tinit) { \
-              (fn->fn_tinit)(); } \
-      } \
-    }
-#else
 #define MODULE_TASKCREATE_ALL    \
     { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) { \
           if (fn->fn_tinit) {    \
@@ -125,7 +107,6 @@ extern void StartModules();
               PIOS_WDG_Clear();  \
           } \
     } }
-#endif
 
 #endif /* USE_SIM_POSIX */
 
diff --git a/flight/pios/stm32f10x/pios_i2c.c b/flight/pios/stm32f10x/pios_i2c.c
index d68f5d071..77f150ac0 100644
--- a/flight/pios/stm32f10x/pios_i2c.c
+++ b/flight/pios/stm32f10x/pios_i2c.c
@@ -711,6 +711,12 @@ static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter *i2c_adapter)
 
 static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
 {
+    // retry with wait code from
+    // TauLabs 20150718 - Prevent F3 I2C Init Lockup #1728
+    uint8_t retry_count;
+    uint8_t retry_count_clk;
+    static const uint8_t MAX_I2C_RETRY_COUNT = 10;
+
     /* Reset the I2C block */
     I2C_DeInit(i2c_adapter->cfg->regs);
 
@@ -731,11 +737,13 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
     /* have to be repeated (due to futher bus errors) but better than clocking 0xFF into an */
     /* ESC */
     // bool sda_hung = GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET;
-    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET) {
+    retry_count_clk = 0;
+    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) == Bit_RESET && (retry_count_clk++ < MAX_I2C_RETRY_COUNT)) {
+        retry_count = 0;
         /* Set clock high and wait for any clock stretching to finish. */
         GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
-        while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET) {
-            ;
+        while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
+            PIOS_DELAY_WaituS(1);
         }
         PIOS_DELAY_WaituS(2);
 
@@ -759,12 +767,14 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
     /* Set data and clock high and wait for any clock stretching to finish. */
     GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
     GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
-    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET) {
-        ;
+    retry_count = 0;
+    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
+        PIOS_DELAY_WaituS(1);
     }
     /* Wait for data to be high */
-    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET) {
-        ;
+    retry_count = 0;
+    while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET && (retry_count++ < MAX_I2C_RETRY_COUNT)) {
+        PIOS_DELAY_WaituS(1);
     }
 
 
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 659980639..9d92f6e83 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -36,6 +36,7 @@
 #include <taskinfo.h>
 #include <sanitycheck.h>
 #include <actuatorsettings.h>
+#include <auxmagsettings.h>
 
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
@@ -54,6 +55,24 @@
  */
 #include "../board_hw_defs.c"
 
+#if defined(PIOS_INCLUDE_HMC5X83)
+#include "pios_hmc5x83.h"
+pios_hmc5x83_dev_t external_mag = 0;
+
+static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+    .exti_cfg    = NULL,
+#endif
+    .M_ODR       = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
+};
+#endif /* PIOS_INCLUDE_HMC5X83 */
+
 /* One slot per selectable receiver group.
  *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
  * NOTE: No slot in this map for NONE.
@@ -244,8 +263,13 @@ void PIOS_Board_Init(void)
 
 #ifndef ERASE_FLASH
 #ifdef PIOS_INCLUDE_WDG
-    /* Initialize watchdog as early as possible to catch faults during init */
-    PIOS_WDG_Init();
+    /* From TauLabs
+     * Initialize watchdog as early as possible to catch faults during init
+     * but do it only if there is no debugger connected
+     */
+    if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
+        PIOS_WDG_Init();
+    }
 #endif
 #endif
 
@@ -718,11 +742,25 @@ void PIOS_Board_Init(void)
         break;
     case HWSETTINGS_CC_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
-        {
-            if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
-                PIOS_Assert(0);
-            }
+        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+            PIOS_Assert(0);
         }
+        PIOS_DELAY_WaitmS(50);  // this was after the other PIOS_I2C_Init() on Revo, so I copied it here too
+#if defined(PIOS_INCLUDE_HMC5X83)
+        // get auxmag type
+        AuxMagSettingsTypeOptions option;
+        AuxMagSettingsInitialize();
+        AuxMagSettingsTypeGet(&option);
+        // if the aux mag type is FlexiPort then set it up
+        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            // attach the 5x83 mag to the previously inited I2C2
+            external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
+            // add this sensor to the sensor task's list
+            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
 #endif /* PIOS_INCLUDE_I2C */
         break;
     case HWSETTINGS_CC_FLEXIPORT_OSDHK:
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index 2bc9c11b9..a551f858f 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -84,7 +84,7 @@
 // #define PIOS_INCLUDE_MPU6000
 // #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-// #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_HMC5X83
 // #define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 // #define PIOS_INCLUDE_MS5611
diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
index bb9f6c33d..108fb340e 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
+++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
@@ -36,6 +36,7 @@
 #include <pios_oplinkrcvr_priv.h>
 #include <taskinfo.h>
 #include <pios_callbackscheduler.h>
+#include <auxmagsettings.h>
 
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
@@ -92,8 +93,16 @@ void PIOS_ADC_DMC_irq_handler(void)
 
 #if defined(PIOS_INCLUDE_HMC5X83)
 #include "pios_hmc5x83.h"
+pios_hmc5x83_dev_t onboard_mag = 0;
+pios_hmc5x83_dev_t external_mag = 0;
+
+bool pios_board_internal_mag_handler()
+{
+    return PIOS_HMC5x83_IRQHandler(onboard_mag);
+}
+
 static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
-    .vector = PIOS_HMC5x83_IRQHandler,
+    .vector = pios_board_internal_mag_handler,
     .line   = EXTI_Line7,
     .pin    = {
         .gpio = GPIOB,
@@ -123,12 +132,28 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
     },
 };
 
-static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
     .exti_cfg    = &pios_exti_hmc5x83_cfg,
+#endif
     .M_ODR       = PIOS_HMC5x83_ODR_75,
     .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
     .Gain        = PIOS_HMC5x83_GAIN_1_9,
     .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
+};
+
+static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+    .exti_cfg    = NULL,
+#endif
+    .M_ODR       = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
     .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
     .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 };
@@ -397,7 +422,13 @@ void PIOS_Board_Init(void)
         PIOS_IAP_WriteBootCmd(2, 0);
     }
 #ifdef PIOS_INCLUDE_WDG
-    PIOS_WDG_Init();
+    /* From TauLabs
+     * Initialize watchdog as early as possible to catch faults during init
+     * but do it only if there is no debugger connected
+     */
+    if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
+        PIOS_WDG_Init();
+    }
 #endif
 
     /* Initialize the task monitor */
@@ -654,11 +685,25 @@ void PIOS_Board_Init(void)
         break;
     case HWSETTINGS_RM_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
-        {
-            if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-                PIOS_Assert(0);
-            }
+        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+            PIOS_Assert(0);
         }
+        PIOS_DELAY_WaitmS(50);  // this was after the other PIOS_I2C_Init(), so I copied it here too
+#if defined(PIOS_INCLUDE_HMC5X83)
+        // get auxmag type
+        AuxMagSettingsTypeOptions option;
+        AuxMagSettingsInitialize();
+        AuxMagSettingsTypeGet(&option);
+        // if the aux mag type is FlexiPort then set it up
+        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            // attach the 5x83 mag to the previously inited I2C2
+            external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
+            // add this sensor to the sensor task's list
+            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
 #endif /* PIOS_INCLUDE_I2C */
         break;
     case HWSETTINGS_RM_FLEXIPORT_GPS:
@@ -882,6 +927,7 @@ void PIOS_Board_Init(void)
     };
     GPIO_Init(GPIOA, &gpioA8);
 
+    // init I2C1 for use with the internal mag and baro
     if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
@@ -893,7 +939,10 @@ void PIOS_Board_Init(void)
 #endif
 
 #if defined(PIOS_INCLUDE_HMC5X83)
-    PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
+    // attach the 5x83 mag to the previously inited I2C1
+    onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_internal_cfg, pios_i2c_mag_pressure_adapter_id, 0);
+    // add this sensor to the sensor task's list
+    PIOS_HMC5x83_Register(onboard_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
 #endif
 
 #if defined(PIOS_INCLUDE_MS5611)
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 2d339d223..660e0d194 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -38,7 +38,6 @@
 #include <pios_ws2811.h>
 #include <auxmagsettings.h>
 
-
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
 #endif
@@ -1024,4 +1023,3 @@ void PIOS_Board_Init(void)
  * @}
  * @}
  */
-
diff --git a/flight/targets/boards/revolution/firmware/revolution.cpp b/flight/targets/boards/revolution/firmware/revolution.cpp
index be85f08c4..268325b26 100644
--- a/flight/targets/boards/revolution/firmware/revolution.cpp
+++ b/flight/targets/boards/revolution/firmware/revolution.cpp
@@ -128,16 +128,7 @@ void initTask(__attribute__((unused)) void *parameters)
     PIOS_Board_Init();
 
     /* Initialize modules */
-#if 1
     MODULE_INITIALISE_ALL;
-#else
-    for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) {
-        if (fn->fn_minit) {
-            (fn->fn_minit)();
-        }
-    }
-    initTaskDone = 1;
-#endif
 
     /* terminate this task */
     vTaskDelete(NULL);
diff --git a/flight/targets/boards/revonano/firmware/inc/pios_config.h b/flight/targets/boards/revonano/firmware/inc/pios_config.h
index 16803c751..e14b9aaf9 100644
--- a/flight/targets/boards/revonano/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revonano/firmware/inc/pios_config.h
@@ -84,7 +84,7 @@
 // #define PIOS_INCLUDE_MPU6000
 // #define PIOS_MPU6000_ACCEL
 /* #define PIOS_INCLUDE_HMC5843 */
-// #define PIOS_INCLUDE_HMC5X83
+#define PIOS_INCLUDE_HMC5X83
 // #define PIOS_HMC5X83_HAS_GPIOS
 /* #define PIOS_INCLUDE_BMP085 */
 #define PIOS_INCLUDE_MS5611
diff --git a/flight/targets/boards/revonano/firmware/pios_board.c b/flight/targets/boards/revonano/firmware/pios_board.c
index dcf373a51..001fd37cd 100644
--- a/flight/targets/boards/revonano/firmware/pios_board.c
+++ b/flight/targets/boards/revonano/firmware/pios_board.c
@@ -38,6 +38,7 @@
 #include <pios_ws2811.h>
 #include <sanitycheck.h>
 #include <actuatorsettings.h>
+#include <auxmagsettings.h>
 
 #ifdef PIOS_INCLUDE_INSTRUMENTATION
 #include <pios_instrumentation.h>
@@ -92,9 +93,26 @@ void PIOS_ADC_DMC_irq_handler(void)
     /* Call into the generic code to handle the IRQ for this specific device */
     PIOS_ADC_DMA_Handler();
 }
-
 #endif /* if defined(PIOS_INCLUDE_ADC) */
 
+#if defined(PIOS_INCLUDE_HMC5X83)
+#include "pios_hmc5x83.h"
+pios_hmc5x83_dev_t external_mag = 0;
+
+static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+    .exti_cfg    = NULL,
+#endif
+    .M_ODR       = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
+};
+#endif /* PIOS_INCLUDE_HMC5X83 */
+
 /**
  * Configuration for the MS5611 chip
  */
@@ -360,8 +378,15 @@ void PIOS_Board_Init(void)
         PIOS_IAP_WriteBootCmd(1, 0);
         PIOS_IAP_WriteBootCmd(2, 0);
     }
+
 #ifdef PIOS_INCLUDE_WDG
-    PIOS_WDG_Init();
+    /* From TauLabs
+     * Initialize watchdog as early as possible to catch faults during init
+     * but do it only if there is no debugger connected
+     */
+    if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
+        PIOS_WDG_Init();
+    }
 #endif
 
     /* Initialize the task monitor */
@@ -617,11 +642,25 @@ void PIOS_Board_Init(void)
         break;
     case HWSETTINGS_RM_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
-        {
-            if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-                PIOS_Assert(0);
-            }
+        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+            PIOS_Assert(0);
         }
+        PIOS_DELAY_WaitmS(50);  // this was after the other PIOS_I2C_Init(), so I copied it here too
+#if defined(PIOS_INCLUDE_HMC5X83)
+        // get auxmag type
+        AuxMagSettingsTypeOptions option;
+        AuxMagSettingsInitialize();
+        AuxMagSettingsTypeGet(&option);
+        // if the aux mag type is FlexiPort then set it up
+        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            // attach the 5x83 mag to the previously inited I2C2
+            external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
+            // add this sensor to the sensor task's list
+            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
 #endif /* PIOS_INCLUDE_I2C */
         break;
     case HWSETTINGS_RM_FLEXIPORT_GPS:
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index b0c9030ec..297cacefc 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -31,6 +31,7 @@
 #include <hwsettings.h>
 #include <manualcontrolsettings.h>
 #include <taskinfo.h>
+#include <auxmagsettings.h>
 
 /*
  * Pull in the board-specific static HW definitions.
@@ -85,7 +86,9 @@ void PIOS_ADC_DMC_irq_handler(void)
 #include "pios_hmc5x83.h"
 
 pios_hmc5x83_dev_t onboard_mag = 0;
+pios_hmc5x83_dev_t external_mag = 0;
 
+#ifdef PIOS_HMC5X83_HAS_GPIOS
 bool pios_board_internal_mag_handler()
 {
     return PIOS_HMC5x83_IRQHandler(onboard_mag);
@@ -120,13 +123,30 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
         },
     },
 };
+#endif /* PIOS_HMC5X83_HAS_GPIOS */
 
-static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
+static const struct pios_hmc5x83_cfg pios_hmc5x83_internal_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
     .exti_cfg    = &pios_exti_hmc5x83_cfg,
+#endif
     .M_ODR       = PIOS_HMC5x83_ODR_75,
     .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
     .Gain        = PIOS_HMC5x83_GAIN_1_9,
     .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
+    .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
+    .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
+};
+
+static const struct pios_hmc5x83_cfg pios_hmc5x83_external_cfg = {
+#ifdef PIOS_HMC5X83_HAS_GPIOS
+    .exti_cfg    = NULL,
+#endif
+    .M_ODR       = PIOS_HMC5x83_ODR_75, // if you change this for auxmag, change AUX_MAG_SKIP in sensors.c
+    .Meas_Conf   = PIOS_HMC5x83_MEASCONF_NORMAL,
+    .Gain        = PIOS_HMC5x83_GAIN_1_9,
+    .Mode        = PIOS_HMC5x83_MODE_CONTINUOUS,
+    .TempCompensation = false,
     .Driver      = &PIOS_HMC5x83_I2C_DRIVER,
     .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
 };
@@ -753,14 +773,27 @@ void PIOS_Board_Init(void)
         break;
     case HWSETTINGS_RV_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
-        {
-            if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
-                PIOS_Assert(0);
-            }
+        if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
+            PIOS_Assert(0);
         }
+        PIOS_DELAY_WaitmS(50);  // this was after the other PIOS_I2C_Init(), so I copied it here too
+#if defined(PIOS_INCLUDE_HMC5X83)
+        // get auxmag type
+        AuxMagSettingsTypeOptions option;
+        AuxMagSettingsInitialize();
+        AuxMagSettingsTypeGet(&option);
+        // if the aux mag type is FlexiPort then set it up
+        if (option == AUXMAGSETTINGS_TYPE_FLEXI) {
+            // attach the 5x83 mag to the previously inited I2C2
+            external_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_external_cfg, pios_i2c_flexiport_adapter_id, 0);
+            // add this sensor to the sensor task's list
+            PIOS_HMC5x83_Register(external_mag, PIOS_SENSORS_TYPE_3AXIS_AUXMAG);
+            // mag alarm is cleared later, so use I2C
+            AlarmsSet(SYSTEMALARMS_ALARM_I2C, (external_mag)?SYSTEMALARMS_ALARM_OK:SYSTEMALARMS_ALARM_WARNING);
+        }
+#endif /* PIOS_INCLUDE_HMC5X83 */
 #endif /* PIOS_INCLUDE_I2C */
         break;
-
     case HWSETTINGS_RV_FLEXIPORT_DSM:
         // TODO: Define the various Channelgroup for Revo dsm inputs and handle here
         PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
@@ -879,10 +912,12 @@ void PIOS_Board_Init(void)
     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 #endif
 
+    // init I2C1 for use with the internal mag
     if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
 
+    // init I2C1 for use with the internal baro
     if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
         PIOS_DEBUG_Assert(0);
     }
@@ -894,8 +929,10 @@ void PIOS_Board_Init(void)
 #endif
 
 #if defined(PIOS_INCLUDE_HMC5X83)
-    onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_adapter_id, 0);
-    PIOS_HMC5x83_Register(onboard_mag);
+    // attach the 5x83 mag to the previously inited I2C1
+    onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_internal_cfg, pios_i2c_mag_adapter_id, 0);
+    // add this sensor to the sensor task's list
+    PIOS_HMC5x83_Register(onboard_mag, PIOS_SENSORS_TYPE_3AXIS_MAG);
 #endif
 
 #if defined(PIOS_INCLUDE_MS5611)