diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt
new file mode 100644
index 00000000000..3c5514e600e
--- /dev/null
+++ b/src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt
@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__df_mpu6050_wrapper
+	MAIN df_mpu6050_wrapper
+	SRCS
+		df_mpu6050_wrapper.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+		df_mpu6050
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
new file mode 100644
index 00000000000..00ffc37b30c
--- /dev/null
+++ b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
@@ -0,0 +1,712 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file df_mpu6050_wrapper.cpp
+ * Lightweight driver to access the MPU6050 of the DriverFramework.
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <unistd.h>
+#include <px4_getopt.h>
+#include <errno.h>
+
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/mavlink_log.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/device/integrator.h>
+
+#include <lib/conversion/rotation.h>
+
+#include <uORB/topics/parameter_update.h>
+
+#include <mpu6050/MPU6050.hpp>
+#include <DevMgr.hpp>
+
+// We don't want to auto publish, therefore set this to 0.
+#define MPU6050_NEVER_AUTOPUBLISH_US 0
+
+
+extern "C" { __EXPORT int df_mpu6050_wrapper_main(int argc, char *argv[]); }
+
+using namespace DriverFramework;
+
+
+class DfMPU6050Wrapper : public MPU6050
+{
+public:
+	DfMPU6050Wrapper(enum Rotation rotation);
+	~DfMPU6050Wrapper();
+
+
+	/**
+	 * Start automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		start();
+
+	/**
+	 * Stop automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		stop();
+
+	/**
+	 * Print some debug info.
+	 */
+	void		info();
+
+private:
+	int _publish(struct imu_sensor_data &data);
+
+	void _update_accel_calibration();
+	void _update_gyro_calibration();
+
+	orb_advert_t		    _accel_topic;
+	orb_advert_t		    _gyro_topic;
+
+	orb_advert_t		    _mavlink_log_pub;
+
+	int			    _param_update_sub;
+
+	struct accel_calibration_s {
+		float x_offset;
+		float x_scale;
+		float y_offset;
+		float y_scale;
+		float z_offset;
+		float z_scale;
+	} _accel_calibration;
+
+	struct gyro_calibration_s {
+		float x_offset;
+		float x_scale;
+		float y_offset;
+		float y_scale;
+		float z_offset;
+		float z_scale;
+	} _gyro_calibration;
+
+	math::Matrix<3, 3>	    _rotation_matrix;
+
+	int			    _accel_orb_class_instance;
+	int			    _gyro_orb_class_instance;
+
+	Integrator		    _accel_int;
+	Integrator		    _gyro_int;
+
+	unsigned		    _publish_count;
+
+	perf_counter_t		    _read_counter;
+	perf_counter_t		    _error_counter;
+	perf_counter_t		    _fifo_overflow_counter;
+	perf_counter_t		    _fifo_corruption_counter;
+	perf_counter_t		    _gyro_range_hit_counter;
+	perf_counter_t		    _accel_range_hit_counter;
+	perf_counter_t		    _publish_perf;
+
+	hrt_abstime		    _last_accel_range_hit_time;
+	uint64_t		    _last_accel_range_hit_count;
+
+};
+
+DfMPU6050Wrapper::DfMPU6050Wrapper(enum Rotation rotation) :
+	MPU6050(IMU_DEVICE_PATH),
+	_accel_topic(nullptr),
+	_gyro_topic(nullptr),
+	_mavlink_log_pub(nullptr),
+	_param_update_sub(-1),
+	_accel_calibration{},
+	_gyro_calibration{},
+	_accel_orb_class_instance(-1),
+	_gyro_orb_class_instance(-1),
+	_accel_int(MPU6050_NEVER_AUTOPUBLISH_US, false),
+	_gyro_int(MPU6050_NEVER_AUTOPUBLISH_US, true),
+	_publish_count(0),
+	_read_counter(perf_alloc(PC_COUNT, "mpu6050_reads")),
+	_error_counter(perf_alloc(PC_COUNT, "mpu6050_errors")),
+	_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_overflows")),
+	_fifo_corruption_counter(perf_alloc(PC_COUNT, "mpu6050_fifo_corruptions")),
+	_gyro_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_gyro_range_hits")),
+	_accel_range_hit_counter(perf_alloc(PC_COUNT, "mpu6050_accel_range_hits")),
+	_publish_perf(perf_alloc(PC_ELAPSED, "mpu6050_publish")),
+	_last_accel_range_hit_time(0),
+	_last_accel_range_hit_count(0)
+{
+	// Set sane default calibration values
+	_accel_calibration.x_scale = 1.0f;
+	_accel_calibration.y_scale = 1.0f;
+	_accel_calibration.z_scale = 1.0f;
+	_accel_calibration.x_offset = 0.0f;
+	_accel_calibration.y_offset = 0.0f;
+	_accel_calibration.z_offset = 0.0f;
+
+	_gyro_calibration.x_scale = 1.0f;
+	_gyro_calibration.y_scale = 1.0f;
+	_gyro_calibration.z_scale = 1.0f;
+	_gyro_calibration.x_offset = 0.0f;
+	_gyro_calibration.y_offset = 0.0f;
+	_gyro_calibration.z_offset = 0.0f;
+
+	// Get sensor rotation matrix
+	get_rot_matrix(rotation, &_rotation_matrix);
+}
+
+DfMPU6050Wrapper::~DfMPU6050Wrapper()
+{
+	perf_free(_read_counter);
+	perf_free(_error_counter);
+	perf_free(_fifo_overflow_counter);
+	perf_free(_fifo_corruption_counter);
+	perf_free(_gyro_range_hit_counter);
+	perf_free(_accel_range_hit_counter);
+
+	perf_free(_publish_perf);
+}
+
+int DfMPU6050Wrapper::start()
+{
+	/* Subscribe to param update topic. */
+	if (_param_update_sub < 0) {
+		_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
+	}
+
+	/* Init device and start sensor. */
+	int ret = init();
+
+	if (ret != 0) {
+		PX4_ERR("MPU6050 init fail: %d", ret);
+		return ret;
+	}
+
+	ret = MPU6050::start();
+
+	if (ret != 0) {
+		PX4_ERR("MPU6050 start fail: %d", ret);
+		return ret;
+	}
+
+	PX4_DEBUG("MPU6050 device id is: %d", m_id.dev_id);
+
+	/* Force getting the calibration values. */
+	_update_accel_calibration();
+	_update_gyro_calibration();
+
+	return 0;
+}
+
+int DfMPU6050Wrapper::stop()
+{
+	/* Stop sensor. */
+	int ret = MPU6050::stop();
+
+	if (ret != 0) {
+		PX4_ERR("MPU6050 stop fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+void DfMPU6050Wrapper::info()
+{
+	perf_print_counter(_read_counter);
+	perf_print_counter(_error_counter);
+	perf_print_counter(_fifo_overflow_counter);
+	perf_print_counter(_fifo_corruption_counter);
+	perf_print_counter(_gyro_range_hit_counter);
+	perf_print_counter(_accel_range_hit_counter);
+
+	perf_print_counter(_publish_perf);
+}
+
+void DfMPU6050Wrapper::_update_gyro_calibration()
+{
+	// TODO: replace magic number
+	for (unsigned i = 0; i < 3; ++i) {
+
+		// TODO: remove printfs and add error counter
+
+		char str[30];
+		(void)sprintf(str, "CAL_GYRO%u_ID", i);
+		int32_t device_id;
+		int res = param_get(param_find(str), &device_id);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+			continue;
+		}
+
+		if ((uint32_t)device_id != m_id.dev_id) {
+			continue;
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_XSCALE", i);
+		res = param_get(param_find(str), &_gyro_calibration.x_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_YSCALE", i);
+		res = param_get(param_find(str), &_gyro_calibration.y_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_ZSCALE", i);
+		res = param_get(param_find(str), &_gyro_calibration.z_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
+		res = param_get(param_find(str), &_gyro_calibration.x_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
+		res = param_get(param_find(str), &_gyro_calibration.y_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_GYRO%u_ZOFF", i);
+		res = param_get(param_find(str), &_gyro_calibration.z_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		// We got calibration values, let's exit.
+		return;
+	}
+
+	_gyro_calibration.x_scale = 1.0f;
+	_gyro_calibration.y_scale = 1.0f;
+	_gyro_calibration.z_scale = 1.0f;
+	_gyro_calibration.x_offset = 0.0f;
+	_gyro_calibration.y_offset = 0.0f;
+	_gyro_calibration.z_offset = 0.0f;
+}
+
+void DfMPU6050Wrapper::_update_accel_calibration()
+{
+	// TODO: replace magic number
+	for (unsigned i = 0; i < 3; ++i) {
+
+		// TODO: remove printfs and add error counter
+
+		char str[30];
+		(void)sprintf(str, "CAL_ACC%u_ID", i);
+		int32_t device_id;
+		int res = param_get(param_find(str), &device_id);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+			continue;
+		}
+
+		if ((uint32_t)device_id != m_id.dev_id) {
+			continue;
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
+		res = param_get(param_find(str), &_accel_calibration.x_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
+		res = param_get(param_find(str), &_accel_calibration.y_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
+		res = param_get(param_find(str), &_accel_calibration.z_scale);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_XOFF", i);
+		res = param_get(param_find(str), &_accel_calibration.x_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_YOFF", i);
+		res = param_get(param_find(str), &_accel_calibration.y_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
+		res = param_get(param_find(str), &_accel_calibration.z_offset);
+
+		if (res != OK) {
+			PX4_ERR("Could not access param %s", str);
+		}
+
+		// We got calibration values, let's exit.
+		return;
+	}
+
+	// Set sane default calibration values
+	_accel_calibration.x_scale = 1.0f;
+	_accel_calibration.y_scale = 1.0f;
+	_accel_calibration.z_scale = 1.0f;
+	_accel_calibration.x_offset = 0.0f;
+	_accel_calibration.y_offset = 0.0f;
+	_accel_calibration.z_offset = 0.0f;
+}
+
+int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
+{
+	/* Check if calibration values are still up-to-date. */
+	bool updated;
+	orb_check(_param_update_sub, &updated);
+
+	if (updated) {
+		parameter_update_s parameter_update;
+		orb_copy(ORB_ID(parameter_update), _param_update_sub, &parameter_update);
+
+		_update_accel_calibration();
+		_update_gyro_calibration();
+	}
+
+	math::Vector<3> vec_integrated_unused;
+	uint64_t integral_dt_unused;
+
+	math::Vector<3> accel_val((data.accel_m_s2_x - _accel_calibration.x_offset) * _accel_calibration.x_scale,
+				  (data.accel_m_s2_y - _accel_calibration.y_offset) * _accel_calibration.y_scale,
+				  (data.accel_m_s2_z - _accel_calibration.z_offset) * _accel_calibration.z_scale);
+
+	// apply sensor rotation on the accel measurement
+	accel_val = _rotation_matrix * accel_val;
+
+	_accel_int.put_with_interval(data.fifo_sample_interval_us,
+				     accel_val,
+				     vec_integrated_unused,
+				     integral_dt_unused);
+
+	math::Vector<3> gyro_val((data.gyro_rad_s_x - _gyro_calibration.x_offset) * _gyro_calibration.x_scale,
+				 (data.gyro_rad_s_y - _gyro_calibration.y_offset) * _gyro_calibration.y_scale,
+				 (data.gyro_rad_s_z - _gyro_calibration.z_offset) * _gyro_calibration.z_scale);
+
+	// apply sensor rotation on the gyro measurement
+	gyro_val = _rotation_matrix * gyro_val;
+
+	_gyro_int.put_with_interval(data.fifo_sample_interval_us,
+				    gyro_val,
+				    vec_integrated_unused,
+				    integral_dt_unused);
+
+	// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
+	// and wait for more packets.
+	if (!data.is_last_fifo_sample) {
+		return 0;
+	}
+
+	// The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
+	// Therefore, only publish every forth time.
+	++_publish_count;
+
+	if (_publish_count < 4) {
+		return 0;
+	}
+
+	_publish_count = 0;
+
+	// Update all the counters.
+	perf_set_count(_read_counter, data.read_counter);
+	perf_set_count(_error_counter, data.error_counter);
+	perf_set_count(_fifo_overflow_counter, data.fifo_overflow_counter);
+	perf_set_count(_fifo_corruption_counter, data.fifo_overflow_counter);
+	perf_set_count(_gyro_range_hit_counter, data.gyro_range_hit_counter);
+	perf_set_count(_accel_range_hit_counter, data.accel_range_hit_counter);
+
+	perf_begin(_publish_perf);
+
+	accel_report accel_report = {};
+	gyro_report gyro_report = {};
+
+	accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
+
+	// TODO: get these right
+	gyro_report.scaling = -1.0f;
+	gyro_report.range_rad_s = -1.0f;
+	gyro_report.device_id = m_id.dev_id;
+
+	accel_report.scaling = -1.0f;
+	accel_report.range_m_s2 = -1.0f;
+	accel_report.device_id = m_id.dev_id;
+
+	// TODO: remove these (or get the values)
+	gyro_report.x_raw = NAN;
+	gyro_report.y_raw = NAN;
+	gyro_report.z_raw = NAN;
+
+	accel_report.x_raw = NAN;
+	accel_report.y_raw = NAN;
+	accel_report.z_raw = NAN;
+
+	math::Vector<3> gyro_val_filt;
+	math::Vector<3> accel_val_filt;
+
+	// Read and reset.
+	math::Vector<3> gyro_val_integ = _gyro_int.get_and_filtered(true, gyro_report.integral_dt, gyro_val_filt);
+	math::Vector<3> accel_val_integ = _accel_int.get_and_filtered(true, accel_report.integral_dt, accel_val_filt);
+
+	// Use the filtered (by integration) values to get smoother / less noisy data.
+	gyro_report.x = gyro_val_filt(0);
+	gyro_report.y = gyro_val_filt(1);
+	gyro_report.z = gyro_val_filt(2);
+
+	accel_report.x = accel_val_filt(0);
+	accel_report.y = accel_val_filt(1);
+	accel_report.z = accel_val_filt(2);
+
+	gyro_report.x_integral = gyro_val_integ(0);
+	gyro_report.y_integral = gyro_val_integ(1);
+	gyro_report.z_integral = gyro_val_integ(2);
+
+	accel_report.x_integral = accel_val_integ(0);
+	accel_report.y_integral = accel_val_integ(1);
+	accel_report.z_integral = accel_val_integ(2);
+
+	// TODO: when is this ever blocked?
+	if (!(m_pub_blocked)) {
+
+		if (_gyro_topic == nullptr) {
+      _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
+                &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
+    }
+    else {
+			orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
+		}
+
+		if (_accel_topic == nullptr) {
+      _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
+                &_accel_orb_class_instance, ORB_PRIO_DEFAULT);
+    }
+    else {
+			orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
+		}
+
+		/* Notify anyone waiting for data. */
+		DevMgr::updateNotify(*this);
+
+		// Report if there are high vibrations, every 10 times it happens.
+		const bool threshold_reached = (data.accel_range_hit_counter - _last_accel_range_hit_count > 10);
+
+		// Report every 5s.
+		const bool due_to_report = (hrt_elapsed_time(&_last_accel_range_hit_time) > 5000000);
+
+		if (threshold_reached && due_to_report) {
+			mavlink_log_critical(&_mavlink_log_pub,
+					     "High accelerations, range exceeded %llu times",
+					     data.accel_range_hit_counter);
+
+			_last_accel_range_hit_time = hrt_absolute_time();
+			_last_accel_range_hit_count = data.accel_range_hit_counter;
+		}
+	}
+
+	perf_end(_publish_perf);
+
+	// TODO: check the return codes of this function
+	return 0;
+};
+
+
+namespace df_mpu6050_wrapper
+{
+
+DfMPU6050Wrapper *g_dev = nullptr;
+
+int start(enum Rotation rotation);
+int stop();
+int info();
+void usage();
+
+int start(enum Rotation rotation)
+{
+	g_dev = new DfMPU6050Wrapper(rotation);
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating DfMPU6050Wrapper object");
+		return -1;
+	}
+
+	int ret = g_dev->start();
+
+	if (ret != 0) {
+		PX4_ERR("DfMPU6050Wrapper start failed");
+		return ret;
+	}
+
+	// Open the IMU sensor
+	DevHandle h;
+	DevMgr::getHandle(IMU_DEVICE_PATH, h);
+
+	if (!h.isValid()) {
+		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
+			    IMU_DEVICE_PATH, h.getError());
+		return -1;
+	}
+
+	DevMgr::releaseHandle(h);
+
+	return 0;
+}
+
+int stop()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	int ret = g_dev->stop();
+
+	if (ret != 0) {
+		PX4_ERR("driver could not be stopped");
+		return ret;
+	}
+
+	delete g_dev;
+	g_dev = nullptr;
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+int
+info()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	PX4_INFO("state @ %p", g_dev);
+	g_dev->info();
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_INFO("Usage: df_mpu6050_wrapper 'start', 'info', 'stop'");
+	PX4_INFO("options:");
+	PX4_INFO("    -R rotation");
+}
+
+} // namespace df_mpu6050_wrapper
+
+
+int
+df_mpu6050_wrapper_main(int argc, char *argv[])
+{
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+	int ret = 0;
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (enum Rotation)atoi(myoptarg);
+			break;
+
+		default:
+			df_mpu6050_wrapper::usage();
+			return 0;
+		}
+	}
+
+	if (argc <= 1) {
+		df_mpu6050_wrapper::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+	if (!strcmp(verb, "start")) {
+		ret = df_mpu6050_wrapper::start(rotation);
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = df_mpu6050_wrapper::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = df_mpu6050_wrapper::info();
+	}
+
+	else {
+		df_mpu6050_wrapper::usage();
+		return 1;
+	}
+
+	return ret;
+}