diff --git a/conf/firmwares/subsystems/shared/imu_mpu60x0_i2c.makefile b/conf/firmwares/subsystems/shared/imu_mpu60x0_i2c.makefile
new file mode 100644
index 0000000000..8fc59d3662
--- /dev/null
+++ b/conf/firmwares/subsystems/shared/imu_mpu60x0_i2c.makefile
@@ -0,0 +1,49 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# MPU60X0 IMU via I2C
+#
+
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_MPU60X0_CFLAGS  = -DUSE_IMU
+endif
+
+IMU_MPU60X0_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu60x0_i2c.h\"
+IMU_MPU60X0_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_MPU60X0_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_mpu60x0_i2c.c
+IMU_MPU60X0_SRCS   += peripherals/mpu60x0.c
+IMU_MPU60X0_SRCS   += peripherals/mpu60x0_i2c.c
+
+
+# set default i2c bus
+ifeq ($(ARCH), lpc21)
+IMU_MPU60X0_I2C_DEV ?= i2c0
+else ifeq ($(ARCH), stm32)
+IMU_MPU60X0_I2C_DEV ?= i2c2
+endif
+
+ifeq ($(TARGET), ap)
+ifndef MPU60X0_I2C_DEV
+$(error Error: MPU60X0_I2C_DEV not configured!)
+endif
+endif
+
+# convert i2cx to upper/lower case
+IMU_MPU60X0_I2C_DEV_UPPER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr a-z A-Z)
+IMU_MPU60X0_I2C_DEV_LOWER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr A-Z a-z)
+
+IMU_MPU60X0_CFLAGS += -DIMU_MPU60X0_I2C_DEV=$(IMU_MPU60X0_I2C_DEV_LOWER)
+IMU_MPU60X0_CFLAGS += -DUSE_$(IMU_MPU60X0_I2C_DEV_UPPER)
+
+
+# add it for all targets except sim, fbw and nps
+ifeq (,$(findstring $(TARGET),sim fbw nps))
+$(TARGET).CFLAGS += $(IMU_MPU60X0_CFLAGS)
+$(TARGET).srcs += $(IMU_MPU60X0_SRCS)
+endif
+
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile
diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
index 1414659c07..84957fe12d 100644
--- a/sw/airborne/subsystems/abi_sender_ids.h
+++ b/sw/airborne/subsystems/abi_sender_ids.h
@@ -222,4 +222,8 @@
 #define IMU_XSENS_ID 15
 #endif
 
+#ifndef IMU_MPU60X0_ID
+#define IMU_MPU60X0_ID 16
+#endif
+
 #endif /* ABI_SENDER_IDS_H */
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
new file mode 100644
index 0000000000..905459c757
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.c
@@ -0,0 +1,102 @@
+/*
+ * Copyright (C) 2013-2015 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/imu/imu_mpu60x0_i2c.c
+ * Driver for IMU with only MPU60X0 via I2C.
+ */
+
+#include <math.h>
+#include "subsystems/imu.h"
+#include "subsystems/abi.h"
+#include "mcu_periph/i2c.h"
+#include "led.h"
+
+/* MPU60x0 gyro/accel internal lowpass frequency */
+#if !defined IMU_MPU60X0_LOWPASS_FILTER && !defined  IMU_MPU60X0_SMPLRT_DIV
+#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
+ * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
+ */
+#define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_42HZ
+#define IMU_MPU60X0_SMPLRT_DIV 9
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#elif PERIODIC_FREQUENCY == 512
+/* Accelerometer: Bandwidth 260Hz, Delay 0ms
+ * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
+ */
+#define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_256HZ
+#define IMU_MPU60X0_SMPLRT_DIV 3
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+#else
+#error Non-default PERIODIC_FREQUENCY: please define MPU60X0_HMC_LOWPASS_FILTER and MPU60X0_HMC_SMPLRT_DIV.
+#endif
+#endif
+PRINT_CONFIG_VAR(IMU_MPU60X0_LOWPASS_FILTER)
+PRINT_CONFIG_VAR(IMU_MPU60X0_SMPLRT_DIV)
+
+#ifndef IMU_MPU60X0_GYRO_RANGE
+#define IMU_MPU60X0_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+PRINT_CONFIG_VAR(IMU_MPU60X0_GYRO_RANGE)
+
+#ifndef IMU_MPU60X0_ACCEL_RANGE
+#define IMU_MPU60X0_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+PRINT_CONFIG_VAR(IMU_MPU60X0_ACCEL_RANGE)
+
+#ifndef IMU_MPU60X0_I2C_ADDR
+#define IMU_MPU60X0_I2C_ADDR MPU60X0_ADDR
+#endif
+
+struct ImuMpu60x0 imu_mpu_i2c;
+
+void imu_impl_init(void)
+{
+  mpu60x0_i2c_init(&imu_mpu_i2c.mpu, &(IMU_MPU60X0_I2C_DEV), IMU_MPU60X0_I2C_ADDR >> 1);
+  // change the default configuration
+  imu_mpu_i2c.mpu.config.smplrt_div = IMU_MPU60X0_SMPLRT_DIV;
+  imu_mpu_i2c.mpu.config.dlpf_cfg = IMU_MPU60X0_LOWPASS_FILTER;
+  imu_mpu_i2c.mpu.config.gyro_range = IMU_MPU60X0_GYRO_RANGE;
+  imu_mpu_i2c.mpu.config.accel_range = IMU_MPU60X0_ACCEL_RANGE;
+}
+
+void imu_periodic(void)
+{
+  mpu60x0_i2c_periodic(&imu_mpu_i2c.mpu);
+}
+
+void imu_mpu_i2c_event(void)
+{
+  uint32_t now_ts = get_sys_time_usec();
+
+  // If the MPU60X0 I2C transaction has succeeded: convert the data
+  mpu60x0_i2c_event(&imu_mpu_i2c.mpu);
+  if (imu_mpu_i2c.mpu.data_available) {
+    RATES_COPY(imu.gyro_unscaled, imu_mpu_i2c.mpu.data_rates.rates);
+    VECT3_COPY(imu.accel_unscaled, imu_mpu_i2c.mpu.data_accel.vect);
+    imu_mpu_i2c.mpu.data_available = FALSE;
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_MPU60X0_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU60X0_ID, now_ts, &imu.accel);
+  }
+}
diff --git a/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
new file mode 100644
index 0000000000..cd519c6e0e
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_mpu60x0_i2c.h
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/imu/imu_mpu60x0_i2c.h
+ * Driver for IMU with only MPU60x0 via I2C.
+ */
+
+#ifndef IMU_MPU60X0_I2C_H
+#define IMU_MPU60X0_I2C_H
+
+#include "std.h"
+#include "generated/airframe.h"
+#include "subsystems/imu.h"
+
+#include "subsystems/imu/imu_mpu60x0_defaults.h"
+#include "peripherals/mpu60x0_i2c.h"
+
+
+struct ImuMpu60x0 {
+  struct Mpu60x0_I2c mpu;
+};
+
+extern struct ImuMpu60x0 imu_mpu_i2c;
+
+extern void imu_mpu_i2c_event(void);
+
+
+#define ImuEvent imu_mpu_i2c_event
+
+#endif /* IMU_MPU60X0_I2C_H */