in config.h: #define HK_MultiWii_328P // HobbyKing MultiWii ITG3205 + BMA180 + BMP085 + HMC5883L port http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=27033 in def.h: #if defined(HK_MultiWii_328P ) #define I2C_SPEED 400000L #define ITG3200 #define HMC5883 #define BMA180 #define BMP085 #define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;} #define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;} #define MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = Z;} #undef INTERNAL_I2C_PULLUPS #endif