diff --git a/conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile b/conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
new file mode 100644
index 0000000000..81a4d9c294
--- /dev/null
+++ b/conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
@@ -0,0 +1,59 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# MPU9250 IMU via SPI
+# Should  @ conf/firmwares/subsystems/shared/imu_mpu9250_spi.makefile
+#
+
+include $(CFG_SHARED)/spi_master.makefile
+
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_MPU9250_CFLAGS  = -DUSE_IMU
+endif
+
+IMU_MPU9250_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu9250_spi.h\"
+IMU_MPU9250_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_MPU9250_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_mpu9250_spi.c
+IMU_MPU9250_SRCS   += peripherals/mpu9250.c
+IMU_MPU9250_SRCS   += peripherals/mpu9250_spi.c
+
+
+# set default SPI device and slave index
+ifeq ($(ARCH), lpc21)
+IMU_MPU9250_SPI_DEV ?= spi1
+IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE0
+else ifeq ($(ARCH), stm32)
+IMU_MPU9250_SPI_DEV ?= spi2
+IMU_MPU9250_SPI_SLAVE_IDX ?= SPI_SLAVE2
+endif
+
+
+ifeq ($(TARGET), ap)
+ifndef IMU_MPU9250_SPI_DEV 
+$(error Error: IMU_MPU9250_SPI_DEV not configured!)
+endif
+ifndef IMU_MPU9250_SPI_SLAVE_IDX
+$(error Error: IMU_MPU9250_SPI_SLAVE_IDX not configured!)
+endif
+endif
+
+# convert spix to upper/lower case
+IMU_MPU9250_SPI_DEV_UPPER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr a-z A-Z)
+IMU_MPU9250_SPI_DEV_LOWER=$(shell echo $(IMU_MPU9250_SPI_DEV) | tr A-Z a-z)
+
+IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_DEV=$(IMU_MPU9250_SPI_DEV_LOWER)
+IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_DEV_UPPER)
+IMU_MPU9250_CFLAGS += -DIMU_MPU9250_SPI_SLAVE_IDX=$(IMU_MPU9250_SPI_SLAVE_IDX)
+IMU_MPU9250_CFLAGS += -DUSE_$(IMU_MPU9250_SPI_SLAVE_IDX)
+
+# add it for all targets except sim, fbw and nps
+ifeq (,$(findstring $(TARGET),sim fbw nps))
+$(TARGET).CFLAGS += $(IMU_MPU9250_CFLAGS)
+$(TARGET).srcs += $(IMU_MPU9250_SRCS)
+endif
+
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.c b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
new file mode 100644
index 0000000000..743926e8cf
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.c
@@ -0,0 +1,270 @@
+/*
+ * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file subsystems/imu/imu_mpu9250_spi.c
+ *
+ * IMU driver for the MPU9250 using SPI
+ *
+ */
+
+#include "subsystems/imu.h"
+#include "subsystems/abi.h"
+#include "mcu_periph/sys_time.h"
+#include "mcu_periph/spi.h"
+#include "peripherals/ak8963_regs.h"
+
+/* SPI defaults set in subsystem makefile, can be configured from airframe file */
+PRINT_CONFIG_VAR(IMU_MPU9250_SPI_SLAVE_IDX)
+PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
+
+
+#if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined  IMU_MPU9250_SMPLRT_DIV
+#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+/* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
+ * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
+ * Output rate: 100Hz
+ */
+#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
+#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
+#define IMU_MPU9250_SMPLRT_DIV 9
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#elif PERIODIC_FREQUENCY == 512
+/* Accelerometer: Bandwidth 184Hz, Delay 5.8ms
+ * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
+ * Output rate: 2kHz
+ */
+#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_250HZ
+#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_184HZ
+#define IMU_MPU9250_SMPLRT_DIV 3
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+#else
+/* By default, don't go too fast */
+#define IMU_MPU9250_SMPLRT_DIV 9
+#define IMU_MPU9250_GYRO_LOWPASS_FILTER MPU9250_DLPF_GYRO_41HZ
+#define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#endif
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_SMPLRT_DIV)
+PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_LOWPASS_FILTER)
+PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_LOWPASS_FILTER)
+
+#ifndef IMU_MPU9250_GYRO_RANGE
+#define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_GYRO_RANGE)
+
+#ifndef IMU_MPU9250_ACCEL_RANGE
+#define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_ACCEL_RANGE)
+
+// Default channels order
+#ifndef IMU_MPU9250_CHAN_X
+#define IMU_MPU9250_CHAN_X 0
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_X)
+#ifndef IMU_MPU9250_CHAN_Y
+#define IMU_MPU9250_CHAN_Y 1
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_Y)
+#ifndef IMU_MPU9250_CHAN_Z
+#define IMU_MPU9250_CHAN_Z 2
+#endif
+PRINT_CONFIG_VAR(IMU_MPU9250_CHAN_Z)
+
+#ifndef IMU_MPU9250_READ_MAG
+#define IMU_MPU9250_READ_MAG TRUE
+#endif
+
+#ifndef IMU_MPU9250_MAG_STARTUP_DELAY
+#define IMU_MPU9250_MAG_STARTUP_DELAY 1
+#endif
+
+struct ImuMpu9250 imu_mpu9250;
+
+void mpu_wait_slave4_ready(void);
+void mpu_wait_slave4_ready_cb(struct spi_transaction *t);
+bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu);
+
+void imu_impl_init(void)
+{
+  /* MPU9250 */
+  mpu9250_spi_init(&imu_mpu9250.mpu, &(IMU_MPU9250_SPI_DEV), IMU_MPU9250_SPI_SLAVE_IDX);
+  // change the default configuration
+  imu_mpu9250.mpu.config.smplrt_div = IMU_MPU9250_SMPLRT_DIV;
+  imu_mpu9250.mpu.config.dlpf_gyro_cfg = IMU_MPU9250_GYRO_LOWPASS_FILTER;
+  imu_mpu9250.mpu.config.dlpf_accel_cfg = IMU_MPU9250_ACCEL_LOWPASS_FILTER;
+  imu_mpu9250.mpu.config.gyro_range = IMU_MPU9250_GYRO_RANGE;
+  imu_mpu9250.mpu.config.accel_range = IMU_MPU9250_ACCEL_RANGE;
+
+
+  /* "internal" ak8963 magnetometer as I2C slave */
+#if IMU_MPU9250_READ_MAG
+  /* read 15 bytes for status, accel, gyro + 7 bytes for mag slave */
+  imu_mpu9250.mpu.config.nb_bytes = 22;
+  imu_mpu9250.mpu.config.nb_slaves = 1;
+#endif
+  /* set callback function to configure mag */
+  imu_mpu9250.mpu.config.slaves[0].configure = &imu_mpu9250_configure_mag_slave;
+
+  /* Set MPU I2C master clock */
+  imu_mpu9250.mpu.config.i2c_mst_clk = MPU9250_MST_CLK_400KHZ;
+  /* Enable I2C slave0 delayed sample rate */
+  imu_mpu9250.mpu.config.i2c_mst_delay = 1;
+
+
+  /* configure spi transaction for wait_slave4 */
+  imu_mpu9250.wait_slave4_trans.cpol = SPICpolIdleHigh;
+  imu_mpu9250.wait_slave4_trans.cpha = SPICphaEdge2;
+  imu_mpu9250.wait_slave4_trans.dss = SPIDss8bit;
+  imu_mpu9250.wait_slave4_trans.bitorder = SPIMSBFirst;
+  imu_mpu9250.wait_slave4_trans.cdiv = SPIDiv64;
+
+  imu_mpu9250.wait_slave4_trans.select = SPISelectUnselect;
+  imu_mpu9250.wait_slave4_trans.slave_idx = IMU_MPU9250_SPI_SLAVE_IDX;
+  imu_mpu9250.wait_slave4_trans.output_length = 1;
+  imu_mpu9250.wait_slave4_trans.input_length = 2;
+  imu_mpu9250.wait_slave4_trans.before_cb = NULL;
+  imu_mpu9250.wait_slave4_trans.after_cb = mpu_wait_slave4_ready_cb;
+  imu_mpu9250.wait_slave4_trans.input_buf = &(imu_mpu9250.wait_slave4_rx_buf[0]);
+  imu_mpu9250.wait_slave4_trans.output_buf = &(imu_mpu9250.wait_slave4_tx_buf[0]);
+
+  imu_mpu9250.wait_slave4_trans.status = SPITransDone;
+  imu_mpu9250.slave4_ready = FALSE;
+}
+
+void imu_periodic(void)
+{
+  mpu9250_spi_periodic(&imu_mpu9250.mpu);
+}
+
+#define Int16FromBuf(_buf,_idx) ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))
+void imu_mpu9250_event(void)
+{
+  uint32_t now_ts = get_sys_time_usec();
+
+  // If the MPU9250 SPI transaction has succeeded: convert the data
+  mpu9250_spi_event(&imu_mpu9250.mpu);
+
+  if (imu_mpu9250.mpu.data_available) {
+    // set channel order
+    struct Int32Vect3 accel = {
+      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_X]),
+      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Y]),
+      (int32_t)(imu_mpu9250.mpu.data_accel.value[IMU_MPU9250_CHAN_Z])
+    };
+    struct Int32Rates rates = {
+      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_X]),
+      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Y]),
+      (int32_t)(imu_mpu9250.mpu.data_rates.value[IMU_MPU9250_CHAN_Z])
+    };
+    // unscaled vector
+    VECT3_COPY(imu.accel_unscaled, accel);
+    RATES_COPY(imu.gyro_unscaled, rates);
+
+#if IMU_MPU9250_READ_MAG
+    if (!bit_is_set(imu_mpu9250.mpu.data_ext[6], 3)) { //mag valid just HOFL == 0
+      /** FIXME: assumes that we get new mag data each time instead of reading drdy bit */
+      struct Int32Vect3 mag;
+      mag.x =  Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Y);
+      mag.y =  Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_X);
+      mag.z = -Int16FromBuf(imu_mpu9250.mpu.data_ext, 2 * IMU_MPU9250_CHAN_Z);
+      VECT3_COPY(imu.mag_unscaled, mag);
+      imu_scale_mag(&imu);
+      AbiSendMsgIMU_MAG_INT32(IMU_MPU9250_ID, now_ts, &imu.mag);
+    }
+#endif
+
+    imu_mpu9250.mpu.data_available = FALSE;
+
+    imu_scale_gyro(&imu);
+    imu_scale_accel(&imu);
+    AbiSendMsgIMU_GYRO_INT32(IMU_MPU9250_ID, now_ts, &imu.gyro);
+    AbiSendMsgIMU_ACCEL_INT32(IMU_MPU9250_ID, now_ts, &imu.accel);
+  }
+
+}
+
+// hack with waiting to avoid creating another event loop to check the mag config status
+static inline void mpu_set_and_wait(Mpu9250ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)
+{
+  mpu_set(mpu, _reg, _val);
+  while (imu_mpu9250.mpu.spi_trans.status != SPITransSuccess);
+}
+
+/** function to configure akm8963 mag
+ * @return TRUE if mag configuration finished
+ */
+bool_t imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu)
+{
+  // wait before starting the configuration of the mag
+  // doing to early may void the mode configuration
+  if (get_sys_time_float() < IMU_MPU9250_MAG_STARTUP_DELAY) {
+    return FALSE;
+  }
+
+  //config AK8963 soft reset
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL2);
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, 1);
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
+
+  mpu_wait_slave4_ready();
+
+  // Set it to continious measuring mode 2
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL1);
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, AK8963_CNTL1_CM_2);
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable
+
+  mpu_wait_slave4_ready();
+
+  //Config SLV0 for continus Read
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_ADDR, (MPU9250_MAG_ADDR >> 1) | MPU9250_SPI_READ);
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_REG, AK8963_REG_HXL);
+  // Put the enable command as last.
+  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_CTRL,
+                   (1 << 7) |    // Slave 0 enable
+                   (7 << 0));    // Read 7 bytes (mag x,y,z + status)
+
+  return TRUE;
+}
+
+void mpu_wait_slave4_ready(void)
+{
+  while (!imu_mpu9250.slave4_ready) {
+    if (imu_mpu9250.wait_slave4_trans.status == SPITransDone) {
+      imu_mpu9250.wait_slave4_tx_buf[0] = MPU9250_REG_I2C_MST_STATUS | MPU9250_SPI_READ;
+      spi_submit(imu_mpu9250.mpu.spi_p, &(imu_mpu9250.wait_slave4_trans));
+    }
+  }
+}
+
+void mpu_wait_slave4_ready_cb(struct spi_transaction *t)
+{
+  if (bit_is_set(t->input_buf[1], MPU9250_I2C_SLV4_DONE)) {
+    imu_mpu9250.slave4_ready = TRUE;
+  } else {
+    imu_mpu9250.slave4_ready = FALSE;
+  }
+  t->status = SPITransDone;
+}
diff --git a/sw/airborne/subsystems/imu/imu_mpu9250_spi.h b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
new file mode 100644
index 0000000000..50a25ae94f
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_mpu9250_spi.h
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file subsystems/imu/imu_mpu9250_spi.h
+ *
+ * IMU driver for the MPU9250 using SPI
+ *
+ */
+
+#ifndef IMU_MPU9250_SPI_H
+#define IMU_MPU9250_SPI_H
+
+#include "std.h"
+#include "generated/airframe.h"
+#include "subsystems/imu.h"
+
+#include "peripherals/mpu9250_spi.h"
+
+
+/** default gyro sensitivy and neutral from the datasheet
+ * MPU with 1000 deg/s has 32.8 LSB/(deg/s)
+ * sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC
+ * sens = 1/32.8 * pi/180 * 4096 = 2.17953
+ I*/
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+// FIXME
+#define IMU_GYRO_P_SENS 2.17953
+#define IMU_GYRO_P_SENS_NUM 18271
+#define IMU_GYRO_P_SENS_DEN 8383
+#define IMU_GYRO_Q_SENS 2.17953
+#define IMU_GYRO_Q_SENS_NUM 18271
+#define IMU_GYRO_Q_SENS_DEN 8383
+#define IMU_GYRO_R_SENS 2.17953
+#define IMU_GYRO_R_SENS_NUM 18271
+#define IMU_GYRO_R_SENS_DEN 8383
+#endif
+
+/** default accel sensitivy from the datasheet
+ * MPU with 8g has 4096 LSB/g
+ * sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525
+ */
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+// FIXME
+#define IMU_ACCEL_X_SENS 2.4525
+#define IMU_ACCEL_X_SENS_NUM 981
+#define IMU_ACCEL_X_SENS_DEN 400
+#define IMU_ACCEL_Y_SENS 2.4525
+#define IMU_ACCEL_Y_SENS_NUM 981
+#define IMU_ACCEL_Y_SENS_DEN 400
+#define IMU_ACCEL_Z_SENS 2.4525
+#define IMU_ACCEL_Z_SENS_NUM 981
+#define IMU_ACCEL_Z_SENS_DEN 400
+#endif
+
+
+struct ImuMpu9250 {
+  struct Mpu9250_Spi mpu;
+
+  struct spi_transaction wait_slave4_trans;
+  volatile uint8_t wait_slave4_tx_buf[1];
+  volatile uint8_t wait_slave4_rx_buf[2];
+  volatile bool_t slave4_ready;
+};
+
+extern struct ImuMpu9250 imu_mpu9250;
+
+extern void imu_mpu9250_event(void);
+
+#define ImuEvent imu_mpu9250_event
+
+#endif /* IMU_MPU9250_SPI_H */