diff --git a/conf/modules/mag_hmc5843.xml b/conf/modules/mag_hmc5843.xml
new file mode 100644
index 0000000000..c8439d8e3e
--- /dev/null
+++ b/conf/modules/mag_hmc5843.xml
@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sensors">
+  <!-- <depend conflict="ins" -->
+  <header>
+    <file name="mag_hmc5843.h"/>
+  </header>
+  <init fun="hmc5843_module_init()"/>
+  <periodic fun="hmc5843_module_periodic()" freq="60"/>
+  <event fun="hmc5843_module_event()"/>
+  <makefile>
+    <define name="USE_I2C" />
+    <file name="mag_hmc5843.c"/>
+    <file name="../../peripherals/hmc5843.c"/>
+    <define name="HMC5843_I2C_DEVICE" value="i2c0" />
+    <define name="USE_I2C0" />
+    <define name="HMC5843_NO_IRQ" />
+  </makefile>
+</module>
diff --git a/sw/airborne/modules/sensors/mag_hmc5843.c b/sw/airborne/modules/sensors/mag_hmc5843.c
new file mode 100644
index 0000000000..dfffde6094
--- /dev/null
+++ b/sw/airborne/modules/sensors/mag_hmc5843.c
@@ -0,0 +1,55 @@
+/*
+ * 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.
+ *
+ */
+#include "estimator.h"
+#include "mcu_periph/i2c.h"
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "downlink.h"
+#include <math.h>
+
+#include "../../peripherals/hmc5843.h"
+
+
+int32_t mag_x, mag_y, mag_z;
+bool_t mag_valid;
+
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+
+
+void hmc5843_module_init( void ) {
+  hmc5843_init();
+}
+
+void hmc5843_module_periodic ( void )
+{
+  hmc5843_periodic();
+  mag_x = hmc5843.data.value[0];
+  mag_y = hmc5843.data.value[1];
+  mag_z = hmc5843.data.value[2];
+  RunOnceEvery(1,DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,&mag_x,&mag_y,&mag_z));
+}
+
+void hmc5843_module_event( void )
+{
+  hmc5843_idle_task();
+}
diff --git a/sw/airborne/modules/sensors/mag_hmc5843.h b/sw/airborne/modules/sensors/mag_hmc5843.h
new file mode 100644
index 0000000000..d21dbb5037
--- /dev/null
+++ b/sw/airborne/modules/sensors/mag_hmc5843.h
@@ -0,0 +1,33 @@
+/*
+ * 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.
+ *
+ */
+
+#ifndef HMC5843__H
+#define HMC5843__H
+
+#include "std.h"
+#include "mcu_periph/i2c.h"
+
+extern int32_t mag_x, mag_y, mag_z;
+
+extern void hmc5843_module_init( void );
+extern void hmc5843_module_periodic( void );
+extern void hmc5843_module_event( void );
+
+#endif // HMC5843__H
diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
index f02c148312..9ba12d90e2 100644
--- a/sw/airborne/peripherals/hmc5843.c
+++ b/sw/airborne/peripherals/hmc5843.c
@@ -1,4 +1,6 @@
 #include "peripherals/hmc5843.h"
+#include "mcu_periph/i2c.h"
+#include "led.h"
 
 #define HMC5843_TIMEOUT 100
 
@@ -7,12 +9,18 @@
 struct Hmc5843 hmc5843;
 void exti9_5_irq_handler(void);
 
+#ifndef HMC5843_I2C_DEVICE
+#define HMC5843_I2C_DEVICE i2c2
+#endif
+
 void hmc5843_init(void)
 {
     hmc5843.i2c_trans.status = I2CTransSuccess;
     hmc5843.i2c_trans.slave_addr = HMC5843_ADDR;
 
+#ifndef HMC5843_NO_IRQ
     hmc5843_arch_init();
+#endif
 }
 
 // blocking, only intended to be called for initialization
@@ -22,37 +30,27 @@ static void send_config(void)
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGA;  // set to rate to 50Hz
   hmc5843.i2c_trans.buf[1] = 0x00 | (0x06 << 2);
   hmc5843.i2c_trans.len_w = 2;
-  i2c_submit(&i2c2,&hmc5843.i2c_trans);
+  i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
     while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGB;  // set to gain to 1 Gauss
   hmc5843.i2c_trans.buf[1] = 0x01<<5;
   hmc5843.i2c_trans.len_w = 2;
-  i2c_submit(&i2c2,&hmc5843.i2c_trans);
+  i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
     while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_MODE;  // set to continuous mode
   hmc5843.i2c_trans.buf[1] = 0x00;
   hmc5843.i2c_trans.len_w = 2;
-  i2c_submit(&i2c2,&hmc5843.i2c_trans);
+  i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
     while(hmc5843.i2c_trans.status == I2CTransPending);
 
 }
 
 void hmc5843_idle_task(void)
 {
-    if (hmc5843.initialized && hmc5843.ready_for_read && (hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status == I2CTransFailed)) {
-      if (i2c2.status == I2CIdle && i2c_idle(&i2c2)) {
-        hmc5843.ready_for_read = FALSE;
-        hmc5843.i2c_trans.type = I2CTransRx;
-        hmc5843.i2c_trans.len_r = 7;
-        i2c_submit(&i2c2, &hmc5843.i2c_trans);
-        hmc5843.reading = TRUE;
-      }
-    }
-
     if (hmc5843.reading && hmc5843.i2c_trans.status == I2CTransSuccess) {
         hmc5843.timeout = 0;
         hmc5843.data_available = TRUE;
@@ -61,6 +59,17 @@ void hmc5843_idle_task(void)
         for (int i = 0; i < 3; i++) {
             hmc5843.data.value[i] = bswap_16(hmc5843.data.value[i]);
         }
+        LED_TOGGLE(3);
+    }
+
+    if (hmc5843.initialized && hmc5843.ready_for_read && (hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status == I2CTransFailed)) {
+      if (HMC5843_I2C_DEVICE.status == I2CIdle && i2c_idle(&HMC5843_I2C_DEVICE)) {
+        hmc5843.ready_for_read = FALSE;
+        hmc5843.i2c_trans.type = I2CTransRx;
+        hmc5843.i2c_trans.len_r = 7;
+        i2c_submit(&HMC5843_I2C_DEVICE, &hmc5843.i2c_trans);
+        hmc5843.reading = TRUE;
+      }
     }
 }
 
@@ -69,15 +78,22 @@ void hmc5843_periodic(void)
     if (!hmc5843.initialized) {
         send_config();
         hmc5843.initialized = TRUE;
-    } else if (hmc5843.timeout++ > HMC5843_TIMEOUT && i2c2.status == I2CIdle && i2c_idle(&i2c2)){
+    }
+    else if (hmc5843.timeout++ > HMC5843_TIMEOUT && HMC5843_I2C_DEVICE.status == I2CIdle && i2c_idle(&HMC5843_I2C_DEVICE)){
 #ifdef USE_HMC59843_ARCH_RESET
         hmc5843_arch_reset();
 #endif
         hmc5843.i2c_trans.type = I2CTransRx;
         hmc5843.i2c_trans.len_r = 7;
-        i2c_submit(&i2c2, &hmc5843.i2c_trans);
+        i2c_submit(&HMC5843_I2C_DEVICE, &hmc5843.i2c_trans);
         hmc5843.reading = TRUE;
         hmc5843.ready_for_read = FALSE;
         hmc5843.timeout = 0;
     }
+
+#ifdef HMC5843_NO_IRQ
+    // < 50Hz
+    hmc5843.ready_for_read = TRUE;
+#endif
+
 }
diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h
index ed31ebeed3..119d001256 100644
--- a/sw/airborne/peripherals/hmc5843.h
+++ b/sw/airborne/peripherals/hmc5843.h
@@ -27,8 +27,6 @@
 #include "std.h"
 #include "mcu_periph/i2c.h"
 
-#include "peripherals/hmc5843_arch.h"
-
 struct Hmc5843 {
     struct i2c_transaction i2c_trans;
   union {
@@ -44,8 +42,12 @@ struct Hmc5843 {
 
 extern struct Hmc5843 hmc5843;
 
+#ifndef HMC5843_NO_IRQ
+#include "peripherals/hmc5843_arch.h"
+
 extern void hmc5843_arch_init( void );
 extern void hmc5843_arch_reset( void );
+#endif
 
 extern void hmc5843_init(void);
 extern void hmc5843_periodic(void);