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HI Jeff, i work in UAV project with nrf52, i use a gy+-87 as motion's sensor . i have update your library of mpu 6050 for nrf 51 to nrf52 and it worked well based on the i2cdev library of nrf. i wrote a similar lirary for the hmc5883 inspired from yours for adruino, but i have some problem, the first that when i set a bypass to MPU6050, it seems that didnt work because i don't receve any data from the mag sensor, second when i try a lonely mag sensor hmc5883, i get data but the function of set gain and set mode seems didnt work because the when i receive data , all parameters of the sensor are the default parameters. can u take an eye please in my library and try to fixed the problem because i see that all the code was right mpu6500.c mpu6500.h i2cdev.c i2cdev.h main.c

I have a GY-85 board which has a HMC5883L, ADXL345 and IGT3200 all on the same board. I can get them to work independently just fine, I can get the ADXL345 and IGT3200 to work at the same time, but whenever the HMC588L is involved with either of the others there seem to be some sort of code compatibility issue. I haven't look too deeply yet, want to see if anyone else has had similar issues. I am compiling for a Teensy 3.0 using Arduino interface. /home/jca/Arduino_Build/I2C_test_IMU/I2C_test_IMU.ino.cpp.o: In function `setup': /home/jca/Arduino_Build/I2C_test_IMU/I2C_test_IMU.ino.cpp:47: undefined reference to `HMC5883L::initialize()' /home/jca/Arduino_Build/I2C_test_IMU/I2C_test_IMU.ino.cpp:54: undefined reference to `HMC5883L::testConnection()' I think the problem might depend on the order of the includes in the code. Sometimes I get: /home/jca/Arduino_Build/HMC5883L_raw/HMC5883L_raw.ino.cpp:51: undefined reference to `ITG3200::ITG3200()' /home/jca/Arduino_Build/HMC5883L_raw/HMC5883L_raw.ino.cpp:52: undefined reference to `ADXL345::ADXL345()' Any ideas?