diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 6a53ee9c9159..d15365afd339 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -100,6 +100,9 @@ then
 	teraranger start -a
 fi
 
+# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
+mpu9250 -X -M -R 6 start
+
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
diff --git a/src/drivers/imu/mpu9250/CMakeLists.txt b/src/drivers/imu/mpu9250/CMakeLists.txt
index 05cb193c7d34..bd40db5da786 100644
--- a/src/drivers/imu/mpu9250/CMakeLists.txt
+++ b/src/drivers/imu/mpu9250/CMakeLists.txt
@@ -40,6 +40,7 @@ px4_add_module(
 		mpu9250_i2c.cpp
 		mpu9250_spi.cpp
 		main.cpp
+		accel.cpp
 		gyro.cpp
 		mag.cpp
 		mag_i2c.cpp
diff --git a/src/drivers/imu/mpu9250/accel.cpp b/src/drivers/imu/mpu9250/accel.cpp
new file mode 100644
index 000000000000..230c5f006b30
--- /dev/null
+++ b/src/drivers/imu/mpu9250/accel.cpp
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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 gyro.cpp
+ *
+ * Driver for the Invensense mpu9250 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ *
+ * based on the mpu6000 driver
+ */
+
+#include <px4_config.h>
+#include <ecl/geo/geo.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <perf/perf_counter.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "mag.h"
+#include "gyro.h"
+#include "mpu9250.h"
+
+MPU9250_accel::MPU9250_accel(MPU9250 *parent, const char *path) :
+	CDev("MPU9250_accel", path),
+	_parent(parent)
+{
+}
+
+MPU9250_accel::~MPU9250_accel()
+{
+	if (_accel_class_instance != -1) {
+		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+	}
+}
+
+int
+MPU9250_accel::init()
+{
+	// do base class init
+	int ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("accel init failed");
+		return ret;
+	}
+
+	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+MPU9250_accel::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+int
+MPU9250_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	/*
+	 * Repeated in MPU9250_mag::ioctl
+	 * Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
+	 */
+
+	switch (cmd) {
+	case SENSORIOCRESET: {
+			return _parent->reset();
+		}
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			case SENSOR_POLLRATE_DEFAULT:
+				return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
+
+			/* adjust to a legal polling interval in Hz */
+			default:
+				return _parent->_set_pollrate(arg);
+			}
+		}
+
+	case ACCELIOCSSCALE: {
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			memcpy(&_parent->_accel_scale, s, sizeof(_parent->_accel_scale));
+			return OK;
+		}
+
+	default:
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
diff --git a/src/drivers/imu/mpu9250/accel.h b/src/drivers/imu/mpu9250/accel.h
new file mode 100644
index 000000000000..fd9cc63eda62
--- /dev/null
+++ b/src/drivers/imu/mpu9250/accel.h
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+class MPU9250;
+
+/**
+ * Helper class implementing the accel driver node.
+ */
+class MPU9250_accel : public device::CDev
+{
+public:
+	MPU9250_accel(MPU9250 *parent, const char *path);
+	~MPU9250_accel();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class MPU9250;
+
+	void			parent_poll_notify();
+
+private:
+	MPU9250			*_parent;
+
+	orb_advert_t		_accel_topic{nullptr};
+	int			_accel_orb_class_instance{-1};
+	int			_accel_class_instance{-1};
+
+};
diff --git a/src/drivers/imu/mpu9250/gyro.cpp b/src/drivers/imu/mpu9250/gyro.cpp
index bb06a30de4fe..465bbae5aee6 100644
--- a/src/drivers/imu/mpu9250/gyro.cpp
+++ b/src/drivers/imu/mpu9250/gyro.cpp
@@ -42,27 +42,14 @@
  */
 
 #include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-
-#include <perf/perf_counter.h>
-
-#include <board_config.h>
-#include <drivers/drv_hrt.h>
-
+#include <lib/perf/perf_counter.h>
 #include <drivers/device/spi.h>
 #include <drivers/device/ringbuffer.h>
 #include <drivers/device/integrator.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
 #include "mag.h"
@@ -71,10 +58,7 @@
 
 MPU9250_gyro::MPU9250_gyro(MPU9250 *parent, const char *path) :
 	CDev("MPU9250_gyro", path),
-	_parent(parent),
-	_gyro_topic(nullptr),
-	_gyro_orb_class_instance(-1),
-	_gyro_class_instance(-1)
+	_parent(parent)
 {
 }
 
@@ -88,10 +72,8 @@ MPU9250_gyro::~MPU9250_gyro()
 int
 MPU9250_gyro::init()
 {
-	int ret;
-
 	// do base class init
-	ret = CDev::init();
+	int ret = CDev::init();
 
 	/* if probe/setup failed, bail now */
 	if (ret != OK) {
@@ -110,22 +92,22 @@ MPU9250_gyro::parent_poll_notify()
 	poll_notify(POLLIN);
 }
 
-ssize_t
-MPU9250_gyro::read(struct file *filp, char *buffer, size_t buflen)
-{
-	return _parent->gyro_read(filp, buffer, buflen);
-}
-
 int
 MPU9250_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
-
 	switch (cmd) {
-	case DEVIOCGDEVICEID:
-		return (int)CDev::ioctl(filp, cmd, arg);
-		break;
+
+	/* these are shared with the accel side */
+	case SENSORIOCSPOLLRATE:
+	case SENSORIOCRESET:
+		return _parent->_accel->ioctl(filp, cmd, arg);
+
+	case GYROIOCSSCALE:
+		/* copy scale in */
+		memcpy(&_parent->_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_parent->_gyro_scale));
+		return OK;
 
 	default:
-		return _parent->gyro_ioctl(filp, cmd, arg);
+		return CDev::ioctl(filp, cmd, arg);
 	}
 }
diff --git a/src/drivers/imu/mpu9250/gyro.h b/src/drivers/imu/mpu9250/gyro.h
index d13304a3ed75..d24088d23f60 100644
--- a/src/drivers/imu/mpu9250/gyro.h
+++ b/src/drivers/imu/mpu9250/gyro.h
@@ -44,7 +44,6 @@ class MPU9250_gyro : public device::CDev
 	MPU9250_gyro(MPU9250 *parent, const char *path);
 	~MPU9250_gyro();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
 	virtual int		init();
@@ -56,11 +55,8 @@ class MPU9250_gyro : public device::CDev
 
 private:
 	MPU9250			*_parent;
-	orb_advert_t		_gyro_topic;
-	int			_gyro_orb_class_instance;
-	int			_gyro_class_instance;
 
-	/* do not allow to copy this class due to pointer data members */
-	MPU9250_gyro(const MPU9250_gyro &);
-	MPU9250_gyro operator=(const MPU9250_gyro &);
+	orb_advert_t		_gyro_topic{nullptr};
+	int			_gyro_orb_class_instance{-1};
+	int			_gyro_class_instance{-1};
 };
diff --git a/src/drivers/imu/mpu9250/mag.cpp b/src/drivers/imu/mpu9250/mag.cpp
index 8e08c9dcaeb1..cdbc35f3dadb 100644
--- a/src/drivers/imu/mpu9250/mag.cpp
+++ b/src/drivers/imu/mpu9250/mag.cpp
@@ -42,27 +42,15 @@
 
 #include <px4_config.h>
 #include <px4_log.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-
-#include <perf/perf_counter.h>
-
-#include <board_config.h>
+#include <lib/perf/perf_counter.h>
 #include <drivers/drv_hrt.h>
-
 #include <drivers/device/spi.h>
 #include <drivers/device/ringbuffer.h>
 #include <drivers/device/integrator.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
 #include "mag.h"
@@ -129,14 +117,17 @@ MPU9250_mag::init()
 
 	/* if cdev init failed, bail now */
 	if (ret != OK) {
-		DEVICE_DEBUG("MPU9250 mag init failed");
+		if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) { DEVICE_DEBUG("MPU9250 mag init failed"); }
+
+		else { DEVICE_DEBUG("ICM20948 mag init failed"); }
+
 		return ret;
 	}
 
 	_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
 
 	if (_mag_reports == nullptr) {
-		return -ENOMEM;;
+		return -ENOMEM;
 	}
 
 	_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
@@ -147,8 +138,8 @@ MPU9250_mag::init()
 	_mag_reports->get(&mrp);
 
 	_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
-					 &_mag_orb_class_instance, ORB_PRIO_LOW);
-	//			   &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+					 &_mag_orb_class_instance, (_parent->is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
+//    &_mag_orb_class_instance, ORB_PRIO_LOW);
 
 	if (_mag_topic == nullptr) {
 		PX4_ERR("ADVERT FAIL");
@@ -173,10 +164,23 @@ bool MPU9250_mag::check_duplicate(uint8_t *mag_data)
 void
 MPU9250_mag::measure()
 {
-	struct ak8963_regs data;
+	uint8_t ret;
+	union raw_data_t {
+		struct ak8963_regs ak8963_data;
+		struct ak09916_regs ak09916_data;
+	} raw_data;
+
+	if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+		ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
 
-	if (OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))) {
-		_measure(data);
+	} else { // ICM20948 --> AK09916
+		ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
+	}
+
+	if (ret == OK) {
+		if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) { raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2; }
+
+		_measure(raw_data.ak8963_data);
 	}
 }
 
@@ -205,23 +209,53 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 
 	mag_report	mrb;
 	mrb.timestamp = hrt_absolute_time();
-	mrb.is_external = false;
+//	mrb.is_external = false;
+
+	// need a better check here. Using _parent->is_external() for mpu9250 also sets the
+	// internal magnetometers connected to the "external" spi bus as external, at least
+	// on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
+	if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		mrb.is_external = _parent->is_external();
+
+	} else {
+		mrb.is_external = false;
+	}
 
 	/*
 	 * Align axes - note the accel & gryo are also re-aligned so this
 	 *              doesn't look obvious with the datasheet
 	 */
-	mrb.x_raw =  data.x;
-	mrb.y_raw = -data.y;
-	mrb.z_raw = -data.z;
+	float xraw_f, yraw_f, zraw_f;
 
-	float xraw_f =  data.x;
-	float yraw_f = -data.y;
-	float zraw_f = -data.z;
+	if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		/*
+		 * Keeping consistent with the accel and gyro axes of the ICM20948 here, just aligning the magnetometer to them.
+		 */
+		mrb.x_raw = data.y;
+		mrb.y_raw = data.x;
+		mrb.z_raw = -data.z;
+
+		xraw_f = data.y;
+		yraw_f = data.x;
+		zraw_f = -data.z;
+
+	} else {
+		mrb.x_raw =  data.x;
+		mrb.y_raw = -data.y;
+		mrb.z_raw = -data.z;
+
+		xraw_f =  data.x;
+		yraw_f = -data.y;
+		zraw_f = -data.z;
+	}
 
 	/* apply user specified rotation */
 	rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
 
+	if (_parent->_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		rotate_3f(ROTATION_YAW_270, xraw_f, yraw_f, zraw_f); //offset between accel/gyro and mag on icm20948
+	}
+
 	mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
 	mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
@@ -244,52 +278,14 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 	}
 }
 
-ssize_t
-MPU9250_mag::read(struct file *filp, char *buffer, size_t buflen)
-{
-	unsigned count = buflen / sizeof(mag_report);
-
-	/* buffer must be large enough */
-	if (count < 1) {
-		return -ENOSPC;
-	}
-
-	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
-	if (_parent->_call_interval == 0) {
-		_mag_reports->flush();
-		/* TODO: this won't work as getting valid magnetometer
-		 *       data requires more than one measure cycle
-		 */
-		_parent->measure();
-	}
-
-	/* if no data, error (we could block here) */
-	if (_mag_reports->empty()) {
-		return -EAGAIN;
-	}
-
-	perf_count(_mag_reads);
-
-	/* copy reports out of our buffer to the caller */
-	mag_report *mrp = reinterpret_cast<mag_report *>(buffer);
-	int transferred = 0;
-
-	while (count--) {
-		if (!_mag_reports->get(mrp)) {
-			break;
-		}
-
-		transferred++;
-		mrp++;
-	}
-
-	/* return the number of bytes transferred */
-	return (transferred * sizeof(mag_report));
-}
-
 int
 MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
+	/*
+	 * Repeated in MPU9250_accel::ioctl
+	 * Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
+	 */
+
 	switch (cmd) {
 
 	case SENSORIOCRESET:
@@ -302,18 +298,12 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 			case 0:
 				return -EINVAL;
 
-			/* set default polling rate */
 			case SENSOR_POLLRATE_DEFAULT:
-				return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_AK8963_SAMPLE_RATE);
+				return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
 
 			/* adjust to a legal polling interval in Hz */
-			default: {
-					if (MPU9250_AK8963_SAMPLE_RATE != arg) {
-						return -EINVAL;
-					}
-
-					return OK;
-				}
+			default:
+				return _parent->_set_pollrate(arg);
 			}
 		}
 
@@ -337,19 +327,20 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
 {
 	uint8_t addr;
 
-	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL),
+			   0); // ensure slave r/w is disabled before changing the registers
 
 	if (out) {
-		_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
+		_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_D0, ICMREG_20948_I2C_SLV0_DO), *out);
 		addr = AK8963_I2C_ADDR;
 
 	} else {
 		addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
 	}
 
-	_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
-	_parent->write_reg(MPUREG_I2C_SLV0_REG,  reg);
-	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_ADDR, ICMREG_20948_I2C_SLV0_ADDR), addr);
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_REG, ICMREG_20948_I2C_SLV0_REG),  reg);
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), size | BIT_I2C_SLV0_EN);
 }
 
 void
@@ -363,8 +354,8 @@ MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
 {
 	set_passthrough(reg, size);
 	usleep(25 + 25 * size); // wait for the value to be read from slave
-	read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
-	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
+	read_block(AK_MPU_OR_ICM(MPUREG_EXT_SENS_DATA_00, ICMREG_20948_EXT_SLV_SENS_DATA_00), buf, size);
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new reads
 }
 
 uint8_t
@@ -382,7 +373,6 @@ MPU9250_mag::read_reg(unsigned int reg)
 	return buf;
 }
 
-
 bool
 MPU9250_mag::ak8963_check_id(uint8_t &deviceid)
 {
@@ -399,11 +389,9 @@ MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
 {
 	set_passthrough(reg, 1, &val);
 	usleep(50); // wait for the value to be written to slave
-	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
+	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
 }
 
-
-
 void
 MPU9250_mag::write_reg(unsigned reg, uint8_t value)
 {
@@ -416,26 +404,21 @@ MPU9250_mag::write_reg(unsigned reg, uint8_t value)
 	}
 }
 
-
-
-
 int
 MPU9250_mag::ak8963_reset(void)
 {
 	// First initialize it to use the bus
-
 	int rv = ak8963_setup();
 
 	if (rv == OK) {
 
 		// Now reset the mag
-		write_reg(AK8963REG_CNTL2, AK8963_RESET);
+		write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
 		// Then re-initialize the bus/mag
 		rv = ak8963_setup();
 	}
 
 	return rv;
-
 }
 
 bool
@@ -480,11 +463,18 @@ MPU9250_mag::ak8963_setup_master_i2c(void)
 	 * in master mode (SPI to I2C bridge)
 	 */
 	if (_interface == nullptr) {
-		_parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
-		_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
+		if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+			_parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
+			_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
+
+		} else { // ICM20948 -> AK09916
+			_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_EN);
+			// WAIT_FOR_ES does not exist for ICM20948. Not sure how to replace this (or if that is needed)
+			_parent->write_reg(ICMREG_20948_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | ICM_BITS_I2C_MST_CLOCK_400HZ);
+		}
 
 	} else {
-		_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
+		_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
 	}
 
 	return OK;
@@ -497,7 +487,7 @@ MPU9250_mag::ak8963_setup(void)
 	do {
 
 		ak8963_setup_master_i2c();
-		write_reg(AK8963REG_CNTL2, AK8963_RESET);
+		write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
 
 		uint8_t id = 0;
 
@@ -506,33 +496,41 @@ MPU9250_mag::ak8963_setup(void)
 		}
 
 		retries--;
-		PX4_ERR("AK8963: bad id %d retries %d", id, retries);
-		_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
+		PX4_WARN("AK8963: bad id %d retries %d", id, retries);
+		_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
 		up_udelay(100);
 	} while (retries > 0);
 
-	if (retries > 0) {
-		retries = 10;
+	/* No sensitivity adjustments available for AK09916/ICM20948 */
+	if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+		if (retries > 0) {
+			retries = 10;
 
-		while (!ak8963_read_adjustments() && retries) {
-			retries--;
-			PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
+			while (!ak8963_read_adjustments() && retries) {
+				retries--;
+				PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
 
-			_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
-			up_udelay(100);
-			ak8963_setup_master_i2c();
-			write_reg(AK8963REG_CNTL2, AK8963_RESET);
+				_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
+				up_udelay(100);
+				ak8963_setup_master_i2c();
+				write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
+			}
 		}
 	}
 
 	if (retries == 0) {
 		PX4_ERR("AK8963: failed to initialize, disabled!");
-		_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
-		_parent->write_reg(MPUREG_I2C_MST_CTRL, 0);
+		_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
+		_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_MST_CTRL, ICMREG_20948_I2C_MST_CTRL), 0);
 		return -EIO;
 	}
 
-	write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
+	if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+		write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
+
+	} else { // ICM20948 -> AK09916
+		write_reg(AK09916REG_CNTL2, AK09916_CNTL2_CONTINOUS_MODE_100HZ);
+	}
 
 
 	if (_interface == NULL) {
@@ -540,7 +538,13 @@ MPU9250_mag::ak8963_setup(void)
 		/* Configure mpu' I2c Master interface to read ak8963 data
 		 * Into to fifo
 		 */
-		set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
+		if (_parent->_device_type == MPU_DEVICE_TYPE_MPU9250) {
+			set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
+
+		} else { // ICM20948 -> AK09916
+			set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
+		}
+
 	}
 
 	return OK;
diff --git a/src/drivers/imu/mpu9250/mag.h b/src/drivers/imu/mpu9250/mag.h
index d734fa2efe29..2bc1d0283255 100644
--- a/src/drivers/imu/mpu9250/mag.h
+++ b/src/drivers/imu/mpu9250/mag.h
@@ -66,6 +66,38 @@
 #define AK8963_16BIT_ADC        0x10
 #define AK8963_14BIT_ADC        0x00
 #define AK8963_RESET            0x01
+#define AK8963_HOFL             0x08
+
+/* ak09916 deviating register addresses and bit definitions */
+
+#define AK09916_DEVICE_ID_A		0x48	// same as AK8963
+#define AK09916_DEVICE_ID_B		0x09	// additional ID byte ("INFO" on AK9063 without content specification.)
+
+#define AK09916REG_HXL        0x11
+#define AK09916REG_HXH        0x12
+#define AK09916REG_HYL        0x13
+#define AK09916REG_HYH        0x14
+#define AK09916REG_HZL        0x15
+#define AK09916REG_HZH        0x16
+#define AK09916REG_ST1        0x10
+#define AK09916REG_ST2        0x18
+#define AK09916REG_CNTL2          0x31
+#define AK09916REG_CNTL3          0x32
+
+
+#define AK09916_CNTL2_POWERDOWN_MODE            0x00
+#define AK09916_CNTL2_SINGLE_MODE               0x01 /* default */
+#define AK09916_CNTL2_CONTINOUS_MODE_10HZ       0x02
+#define AK09916_CNTL2_CONTINOUS_MODE_20HZ       0x04
+#define AK09916_CNTL2_CONTINOUS_MODE_50HZ       0x06
+#define AK09916_CNTL2_CONTINOUS_MODE_100HZ      0x08
+#define AK09916_CNTL2_SELFTEST_MODE             0x10
+#define AK09916_CNTL3_SRST                      0x01
+#define AK09916_ST1_DRDY                        0x01
+#define AK09916_ST1_DOR                         0x02
+
+
+#define AK_MPU_OR_ICM(m,i)					((_parent->_device_type==MPU_DEVICE_TYPE_MPU9250) ? (m) : (i))
 
 
 
@@ -81,6 +113,18 @@ struct ak8963_regs {
 };
 #pragma pack(pop)
 
+#pragma pack(push, 1)
+struct ak09916_regs {
+	uint8_t st1;
+	int16_t x;
+	int16_t y;
+	int16_t z;
+	uint8_t tmps;
+	uint8_t st2;
+};
+#pragma pack(pop)
+
+
 extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);
 
 typedef device::Device *(*MPU9250_mag_constructor)(int, bool);
@@ -95,7 +139,6 @@ class MPU9250_mag : public device::CDev
 	MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path);
 	~MPU9250_mag();
 
-	virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
 	virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
 	virtual int init();
 
@@ -121,15 +164,11 @@ class MPU9250_mag : public device::CDev
 	/* Update the state with prefetched data (internally called by the regular measure() )*/
 	void _measure(struct ak8963_regs data);
 
-
 	uint8_t read_reg(unsigned reg);
 	void write_reg(unsigned reg, uint8_t value);
 
-
 	bool is_passthrough() { return _interface == nullptr; }
 
-	int self_test(void);
-
 private:
 	MPU9250 *_parent;
 	orb_advert_t _mag_topic;
diff --git a/src/drivers/imu/mpu9250/mag_i2c.cpp b/src/drivers/imu/mpu9250/mag_i2c.cpp
index 23a4ba8b74e0..91e74bf0a833 100644
--- a/src/drivers/imu/mpu9250/mag_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mag_i2c.cpp
@@ -102,7 +102,7 @@ AK8963_I2C::probe()
 	uint8_t whoami = 0;
 	uint8_t expected = AK8963_DEVICE_ID;
 
-	if (read(AK8963REG_WIA, &whoami, 1)) {
+	if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
 		return -EIO;
 	}
 
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 294082966180..d5e05f2612f4 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -91,10 +91,33 @@
 #define MPU_DEVICE_PATH_GYRO_EXT2	"/dev/mpu9250_gyro_ext2"
 #define MPU_DEVICE_PATH_MAG_EXT2	"/dev/mpu9250_mag_ext2"
 
+#define MPU_DEVICE_PATH_MPU6500_ACCEL       "/dev/mpu6500_accel"
+#define MPU_DEVICE_PATH_MPU6500_GYRO        "/dev/mpu6500_gyro"
+#define MPU_DEVICE_PATH_MPU6500_MAG         "/dev/mpu6500_mag"
+
+#define MPU_DEVICE_PATH_MPU6500_ACCEL_1     "/dev/mpu6500_accel1"
+#define MPU_DEVICE_PATH_MPU6500_GYRO_1      "/dev/mpu6500_gyro1"
+#define MPU_DEVICE_PATH_MPU6500_MAG_1       "/dev/mpu6500_mag1"
+
+#define MPU_DEVICE_PATH_MPU6500_ACCEL_EXT   "/dev/mpu6500_accel_ext"
+#define MPU_DEVICE_PATH_MPU6500_GYRO_EXT    "/dev/mpu6500_gyro_ext"
+#define MPU_DEVICE_PATH_MPU6500_MAG_EXT     "/dev/mpu6500_mag_ext"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT  "/dev/mpu9250_icm_accel_ext"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT   "/dev/mpu9250_icm_gyro_ext"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT    "/dev/mpu9250_icm_mag_ext"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT1	"/dev/mpu9250_icm_accel_ext1"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT1	"/dev/mpu9250_icm_gyro_ext1"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT1 	"/dev/mpu9250_icm_mag_ext1"
+
+#define MPU_DEVICE_PATH_ICM_ACCEL_EXT2	"/dev/mpu9250_icm_accel_ext2"
+#define MPU_DEVICE_PATH_ICM_GYRO_EXT2	"/dev/mpu9250_icm_gyro_ext2"
+#define MPU_DEVICE_PATH_ICM_MAG_EXT2	"/dev/mpu9250_icm_mag_ext2"
+
 /** driver 'main' command */
 extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
 
-
 enum MPU9250_BUS {
 	MPU9250_BUS_ALL = 0,
 	MPU9250_BUS_I2C_INTERNAL,
@@ -104,7 +127,6 @@ enum MPU9250_BUS {
 	MPU9250_BUS_SPI_EXTERNAL
 };
 
-
 /**
  * Local functions in support of the shell command.
  */
@@ -117,6 +139,7 @@ namespace mpu9250
 
 struct mpu9250_bus_option {
 	enum MPU9250_BUS busid;
+	MPU_DEVICE_TYPE device_type;
 	const char *accelpath;
 	const char *gyropath;
 	const char *magpath;
@@ -127,42 +150,47 @@ struct mpu9250_bus_option {
 	MPU9250	*dev;
 } bus_options[] = {
 #if defined (USE_I2C)
-#  if defined(PX4_I2C_BUS_ONBOARD)
-	{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG,  &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
+#  if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
+	{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG,  &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
+	{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG,  &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
 #  if defined(PX4_I2C_BUS_EXPANSION)
-	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
+#  if defined(PX4_I2C_OBDEV_MPU9250)
+	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
+	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
-#  if defined(PX4_I2C_BUS_EXPANSION1)
+	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_ICM20948, MPU_DEVICE_PATH_ICM_ACCEL_EXT, MPU_DEVICE_PATH_ICM_GYRO_EXT, MPU_DEVICE_PATH_ICM_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, NULL },
+#endif
+#  if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
 	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
-#  if defined(PX4_I2C_BUS_EXPANSION2)
+#  if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
 	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
 #endif
 #ifdef PX4_SPIDEV_MPU
-	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
+	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
+	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL, MPU_DEVICE_PATH_MPU6500_GYRO, MPU_DEVICE_PATH_MPU6500_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
 #endif
 #ifdef PX4_SPIDEV_MPU2
-	{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
+	{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
+	{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_1, MPU_DEVICE_PATH_MPU6500_GYRO_1, MPU_DEVICE_PATH_MPU6500_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
 #endif
 #if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
-	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
+	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU9250, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
+	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_TYPE_MPU6500, MPU_DEVICE_PATH_MPU6500_ACCEL_EXT, MPU_DEVICE_PATH_MPU6500_GYRO_EXT, MPU_DEVICE_PATH_MPU6500_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
 #endif
 };
 
 #define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
 
 
-void	start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus);
-bool	start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus);
+void	start(enum MPU9250_BUS busid, enum Rotation rotation, bool external_bus, bool magnetometer_only);
+bool	start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external_bus, bool magnetometer_only);
 struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid);
 void	stop(enum MPU9250_BUS busid);
-void	test(enum MPU9250_BUS busid);
 void	reset(enum MPU9250_BUS busid);
 void	info(enum MPU9250_BUS busid);
-void	regdump(enum MPU9250_BUS busid);
-void	testerror(enum MPU9250_BUS busid);
 void	usage();
 
 /**
@@ -184,16 +212,18 @@ struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
  * start driver for a specific bus option
  */
 bool
-start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
+start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external, bool magnetometer_only)
 {
 	int fd = -1;
 
+	PX4_INFO("Bus probed: %d", bus.busid);
+
 	if (bus.dev != nullptr) {
 		warnx("%s SPI not available", external ? "External" : "Internal");
 		return false;
 	}
 
-	device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);
+	device::Device *interface = bus.interface_constructor(bus.busnum, bus.device_type, bus.address, external);
 
 	if (interface == nullptr) {
 		warnx("no device on bus %u", (unsigned)bus.busid);
@@ -218,10 +248,16 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
 
 #endif
 
-	bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
+	bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation, bus.device_type,
+			      magnetometer_only);
 
 	if (bus.dev == nullptr) {
 		delete interface;
+
+		if (mag_interface != nullptr) {
+			delete mag_interface;
+		}
+
 		return false;
 	}
 
@@ -229,8 +265,17 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
 		goto fail;
 	}
 
-	/* set the poll rate to default, starts automatic data collection */
-	fd = open(bus.accelpath, O_RDONLY);
+	/*
+	 * Set the poll rate to default, starts automatic data collection.
+	 * Doing this through the mag device for the time being - it's always there, even in magnetometer only mode.
+	 * Using accel device for MPU6500.
+	 */
+	if (bus.device_type == MPU_DEVICE_TYPE_MPU6500) {
+		fd = open(bus.accelpath, O_RDONLY);
+
+	} else {
+		fd = open(bus.magpath, O_RDONLY);
+	}
 
 	if (fd < 0) {
 		goto fail;
@@ -266,7 +311,7 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
  * or failed to detect the sensor.
  */
 void
-start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
+start(enum MPU9250_BUS busid, enum Rotation rotation, bool external, bool magnetometer_only)
 {
 
 	bool started = false;
@@ -282,7 +327,14 @@ start(enum MPU9250_BUS busid, enum Rotation rotation, bool external)
 			continue;
 		}
 
-		started |= start_bus(bus_options[i], rotation, external);
+		if (bus_options[i].device_type == MPU_DEVICE_TYPE_MPU6500 && magnetometer_only) {
+			// prevent starting MPU6500 in magnetometer only mode
+			continue;
+		}
+
+		started |= start_bus(bus_options[i], rotation, external, magnetometer_only);
+
+		if (started) { break; }
 	}
 
 	exit(started ? 0 : 1);
@@ -307,86 +359,6 @@ stop(enum MPU9250_BUS busid)
 	exit(0);
 }
 
-/**
- * Perform some basic functional tests on the driver;
- * make sure we can collect data from the sensor in polled
- * and automatic modes.
- */
-void
-test(enum MPU9250_BUS busid)
-{
-	struct mpu9250_bus_option &bus = find_bus(busid);
-	sensor_accel_s a_report{};
-	sensor_gyro_s g_report{};
-	mag_report m_report;
-	ssize_t sz;
-
-	/* get the driver */
-	int fd = open(bus.accelpath, O_RDONLY);
-
-	if (fd < 0) {
-		err(1, "%s open failed (try 'm start')", bus.accelpath);
-	}
-
-	/* get the driver */
-	int fd_gyro = open(bus.gyropath, O_RDONLY);
-
-	if (fd_gyro < 0) {
-		err(1, "%s open failed", bus.gyropath);
-	}
-
-	/* get the driver */
-	int fd_mag = open(bus.magpath, O_RDONLY);
-
-	if (fd_mag < 0) {
-		err(1, "%s open failed", bus.magpath);
-	}
-
-	/* do a simple demand read */
-	sz = read(fd, &a_report, sizeof(a_report));
-
-	if (sz != sizeof(a_report)) {
-		warnx("ret: %d, expected: %d", sz, sizeof(a_report));
-		err(1, "immediate acc read failed");
-	}
-
-	print_message(a_report);
-
-	/* do a simple demand read */
-	sz = read(fd_gyro, &g_report, sizeof(g_report));
-
-	if (sz != sizeof(g_report)) {
-		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
-		err(1, "immediate gyro read failed");
-	}
-
-	print_message(g_report);
-
-	/* do a simple demand read */
-	sz = read(fd_mag, &m_report, sizeof(m_report));
-
-	if (sz != sizeof(m_report)) {
-		warnx("ret: %d, expected: %d", sz, sizeof(m_report));
-		err(1, "immediate mag read failed");
-	}
-
-	print_message(m_report);
-
-	/* reset to default polling */
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
-		err(1, "reset to default polling");
-	}
-
-	close(fd);
-	close(fd_gyro);
-	close(fd_mag);
-
-	/* XXX add poll-rate tests here too */
-
-	reset(busid);
-	errx(0, "PASS");
-}
-
 /**
  * Reset the driver.
  */
@@ -432,43 +404,6 @@ info(enum MPU9250_BUS busid)
 	exit(0);
 }
 
-/**
- * Dump the register information
- */
-void
-regdump(enum MPU9250_BUS busid)
-{
-	struct mpu9250_bus_option &bus = find_bus(busid);
-
-
-	if (bus.dev == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	printf("regdump @ %p\n", bus.dev);
-	bus.dev->print_registers();
-
-	exit(0);
-}
-
-/**
- * deliberately produce an error to test recovery
- */
-void
-testerror(enum MPU9250_BUS busid)
-{
-	struct mpu9250_bus_option &bus = find_bus(busid);
-
-
-	if (bus.dev == nullptr) {
-		errx(1, "driver not running");
-	}
-
-	bus.dev->test_error();
-
-	exit(0);
-}
-
 void
 usage()
 {
@@ -480,7 +415,7 @@ usage()
 	PX4_INFO("    -S    (spi external bus)");
 	PX4_INFO("    -t    (spi internal bus, 2nd instance)");
 	PX4_INFO("    -R rotation");
-
+	PX4_INFO("    -M only enable magnetometer, accel/gyro disabled - not av. on MPU6500");
 }
 
 } // namespace
@@ -494,8 +429,9 @@ mpu9250_main(int argc, char *argv[])
 
 	enum MPU9250_BUS busid = MPU9250_BUS_ALL;
 	enum Rotation rotation = ROTATION_NONE;
+	bool magnetometer_only = false;
 
-	while ((ch = px4_getopt(argc, argv, "XISstR:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'X':
 			busid = MPU9250_BUS_I2C_EXTERNAL;
@@ -521,6 +457,10 @@ mpu9250_main(int argc, char *argv[])
 			rotation = (enum Rotation)atoi(myoptarg);
 			break;
 
+		case 'M':
+			magnetometer_only = true;
+			break;
+
 		default:
 			mpu9250::usage();
 			return 0;
@@ -539,20 +479,13 @@ mpu9250_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(verb, "start")) {
-		mpu9250::start(busid, rotation, external);
+		mpu9250::start(busid, rotation, external, magnetometer_only);
 	}
 
 	if (!strcmp(verb, "stop")) {
 		mpu9250::stop(busid);
 	}
 
-	/*
-	 * Test the driver/device.
-	 */
-	if (!strcmp(verb, "test")) {
-		mpu9250::test(busid);
-	}
-
 	/*
 	 * Reset the driver.
 	 */
@@ -567,17 +500,6 @@ mpu9250_main(int argc, char *argv[])
 		mpu9250::info(busid);
 	}
 
-	/*
-	 * Print register information.
-	 */
-	if (!strcmp(verb, "regdump")) {
-		mpu9250::regdump(busid);
-	}
-
-	if (!strcmp(verb, "testerror")) {
-		mpu9250::testerror(busid);
-	}
-
 	mpu9250::usage();
 	return 0;
 }
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index bd48a61b18c5..1c5792371e9b 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -42,43 +42,22 @@
  */
 
 #include <px4_config.h>
-#include <ecl/geo/geo.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <math.h>
-#include <unistd.h>
-
-#include <perf/perf_counter.h>
-#include <systemlib/err.h>
+#include <lib/ecl/geo/geo.h>
+#include <lib/perf/perf_counter.h>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/clock.h>
-
-#include <board_config.h>
 #include <drivers/drv_hrt.h>
-
 #include <drivers/device/spi.h>
 #include <drivers/device/ringbuffer.h>
 #include <drivers/device/integrator.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_mag.h>
-#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
 #include "mag.h"
+#include "accel.h"
 #include "gyro.h"
 #include "mpu9250.h"
 
@@ -96,28 +75,52 @@
   list of registers that will be checked in check_registers(). Note
   that MPUREG_PRODUCT_ID must be first in the list.
  */
-const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPUREG_WHOAMI,
-									     MPUREG_PWR_MGMT_1,
-									     MPUREG_PWR_MGMT_2,
-									     MPUREG_USER_CTRL,
-									     MPUREG_SMPLRT_DIV,
-									     MPUREG_CONFIG,
-									     MPUREG_GYRO_CONFIG,
-									     MPUREG_ACCEL_CONFIG,
-									     MPUREG_ACCEL_CONFIG2,
-									     MPUREG_INT_ENABLE,
-									     MPUREG_INT_PIN_CFG
-									   };
+const uint16_t MPU9250::_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPUREG_WHOAMI,
+										      MPUREG_PWR_MGMT_1,
+										      MPUREG_PWR_MGMT_2,
+										      MPUREG_USER_CTRL,
+										      MPUREG_SMPLRT_DIV,
+										      MPUREG_CONFIG,
+										      MPUREG_GYRO_CONFIG,
+										      MPUREG_ACCEL_CONFIG,
+										      MPUREG_ACCEL_CONFIG2,
+										      MPUREG_INT_ENABLE,
+										      MPUREG_INT_PIN_CFG
+										    };
+
+
+const uint16_t MPU9250::_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS] = {
+	ICMREG_20948_USER_CTRL,
+	ICMREG_20948_PWR_MGMT_1,
+	ICMREG_20948_PWR_MGMT_2,
+	ICMREG_20948_INT_PIN_CFG,
+	ICMREG_20948_INT_ENABLE,
+	ICMREG_20948_INT_ENABLE_1,
+	ICMREG_20948_INT_ENABLE_2,
+	ICMREG_20948_INT_ENABLE_3,
+	ICMREG_20948_GYRO_SMPLRT_DIV,
+	ICMREG_20948_GYRO_CONFIG_1,
+	ICMREG_20948_GYRO_CONFIG_2,
+	ICMREG_20948_ACCEL_SMPLRT_DIV_1,
+	ICMREG_20948_ACCEL_SMPLRT_DIV_2,
+	ICMREG_20948_ACCEL_CONFIG,
+	ICMREG_20948_ACCEL_CONFIG_2
+};
 
 
 MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel,
 		 const char *path_gyro, const char *path_mag,
-		 enum Rotation rotation) :
-	CDev("MPU9250", path_accel),
+		 enum Rotation rotation,
+		 int device_type,
+		 bool magnetometer_only) :
 	_interface(interface),
-	_gyro(new MPU9250_gyro(this, path_gyro)),
+	_accel(magnetometer_only ? nullptr : new MPU9250_accel(this, path_accel)),
+	_gyro(magnetometer_only ? nullptr : new MPU9250_gyro(this, path_gyro)),
 	_mag(new MPU9250_mag(this, mag_interface, path_mag)),
 	_whoami(0),
+	_device_type(device_type),
+	_selected_bank(0xFF),	// invalid/improbable bank value, will be set on first read/write
+	_magnetometer_only(magnetometer_only),
 #if defined(USE_I2C)
 	_work {},
 	_use_hrt(false),
@@ -131,13 +134,13 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(nullptr),
-	_accel_orb_class_instance(-1),
-	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
 	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
+	_dlpf_freq_icm_gyro(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
+	_dlpf_freq_icm_accel(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
 	_sample_rate(1000),
 	_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
@@ -158,37 +161,40 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE),
 	_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE, true),
 	_rotation(rotation),
+	_checked_registers(nullptr),
 	_checked_next(0),
+	_num_checked_registers(0),
 	_last_temperature(0),
 	_last_accel_data{},
 	_got_duplicate(false)
 {
-	// disable debug() calls
-	_debug_enabled = false;
-
-	/* Set device parameters and make sure parameters of the bus device are adopted */
-	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
-	_device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
-	_device_id.devid_s.bus = _interface->get_device_bus();
-	_device_id.devid_s.address = _interface->get_device_address();
-
-	/* Prime _gyro with parents devid. */
-	/* Set device parameters and make sure parameters of the bus device are adopted */
-	_gyro->_device_id.devid = _device_id.devid;
-	_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU9250;
-	_gyro->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
-	_gyro->_device_id.devid_s.bus = _interface->get_device_bus();
-	_gyro->_device_id.devid_s.address = _interface->get_device_address();
-
-	/* Prime _mag with parents devid. */
-	_mag->_device_id.devid = _device_id.devid;
+	if (_accel != nullptr) {
+		/* Set device parameters and make sure parameters of the bus device are adopted */
+		_accel->_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
+		_accel->_device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
+		_accel->_device_id.devid_s.bus = _interface->get_device_bus();
+		_accel->_device_id.devid_s.address = _interface->get_device_address();
+	}
+
+	if (_gyro != nullptr) {
+		/* Prime _gyro with common devid. */
+		/* Set device parameters and make sure parameters of the bus device are adopted */
+		_gyro->_device_id.devid = 0;
+		_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_MPU9250;
+		_gyro->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
+		_gyro->_device_id.devid_s.bus = _interface->get_device_bus();
+		_gyro->_device_id.devid_s.address = _interface->get_device_address();
+	}
+
+	/* Prime _mag with common devid. */
+	_mag->_device_id.devid = 0;
 	_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
 	_mag->_device_id.devid_s.bus_type = _interface->get_device_bus_type();
 	_mag->_device_id.devid_s.bus = _interface->get_device_bus();
 	_mag->_device_id.devid_s.address = _interface->get_device_address();
 
 	/* For an independent mag, ensure that it is connected to the i2c bus */
-	_interface->set_device_type(_device_id.devid_s.devtype);
+	_interface->set_device_type(DRV_ACC_DEVTYPE_MPU9250);
 
 	// default accel scale factors
 	_accel_scale.x_offset = 0;
@@ -205,20 +211,21 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_gyro_scale.y_scale  = 1.0f;
 	_gyro_scale.z_offset = 0;
 	_gyro_scale.z_scale  = 1.0f;
-
-	memset(&_call, 0, sizeof(_call));
-#if defined(USE_I2C)
-	memset(&_work, 0, sizeof(_work));
-#endif
 }
 
 MPU9250::~MPU9250()
 {
 	/* make sure we are truly inactive */
 	stop();
+	_call_interval = 0;
 
-	orb_unadvertise(_accel_topic);
-	orb_unadvertise(_gyro->_gyro_topic);
+	if (!_magnetometer_only) {
+		orb_unadvertise(_accel_topic);
+		orb_unadvertise(_gyro->_gyro_topic);
+	}
+
+	/* delete the accel subdriver */
+	delete _accel;
 
 	/* delete the gyro subdriver */
 	delete _gyro;
@@ -235,10 +242,6 @@ MPU9250::~MPU9250()
 		delete _gyro_reports;
 	}
 
-	if (_accel_class_instance != -1) {
-		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
-	}
-
 	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_accel_reads);
@@ -253,9 +256,10 @@ MPU9250::~MPU9250()
 int
 MPU9250::init()
 {
+	irqstate_t state;
 
 #if defined(USE_I2C)
-	use_i2c(_interface->get_device_bus_type() == Device::DeviceBusType_I2C);
+	use_i2c(_interface->get_device_bus_type() == device::Device::DeviceBusType_I2C);
 #endif
 
 	/*
@@ -263,7 +267,7 @@ MPU9250::init()
 	 * make the integration autoreset faster so that we integrate just one
 	 * sample since the sampling rate is already low.
 	*/
-	if (is_i2c()) {
+	if (is_i2c() && !_magnetometer_only) {
 		_sample_rate = 200;
 		_accel_int.set_autoreset_interval(1000000 / 1000);
 		_gyro_int.set_autoreset_interval(1000000 / 1000);
@@ -272,145 +276,150 @@ MPU9250::init()
 	int ret = probe();
 
 	if (ret != OK) {
-		DEVICE_DEBUG("MPU9250 probe failed");
+		PX4_DEBUG("MPU9250 probe failed");
 		return ret;
 	}
 
-	/* do init */
-
-	ret = CDev::init();
+	state = px4_enter_critical_section();
+	_reset_wait = hrt_absolute_time() + 100000;
+	px4_leave_critical_section(state);
 
-	/* if init failed, bail now */
-	if (ret != OK) {
-		DEVICE_DEBUG("CDev init failed");
+	if (reset_mpu() != OK) {
+		PX4_ERR("Exiting! Device failed to take initialization");
 		return ret;
 	}
 
-	/* allocate basic report buffers */
-	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
-	ret = -ENOMEM;
+	if (!_magnetometer_only) {
+		/* allocate basic report buffers */
+		_accel_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_accel_s));
+		ret = -ENOMEM;
 
-	if (_accel_reports == nullptr) {
-		return ret;
-	}
+		if (_accel_reports == nullptr) {
+			return ret;
+		}
 
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
+		_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
-	if (_gyro_reports == nullptr) {
-		return ret;
-	}
+		if (_gyro_reports == nullptr) {
+			return ret;
+		}
 
-	if (reset_mpu() != OK) {
-		PX4_ERR("Exiting! Device failed to take initialization");
-		return ret;
-	}
+		/* Initialize offsets and scales */
+		_accel_scale.x_offset = 0;
+		_accel_scale.x_scale  = 1.0f;
+		_accel_scale.y_offset = 0;
+		_accel_scale.y_scale  = 1.0f;
+		_accel_scale.z_offset = 0;
+		_accel_scale.z_scale  = 1.0f;
 
-	/* Initialize offsets and scales */
-	_accel_scale.x_offset = 0;
-	_accel_scale.x_scale  = 1.0f;
-	_accel_scale.y_offset = 0;
-	_accel_scale.y_scale  = 1.0f;
-	_accel_scale.z_offset = 0;
-	_accel_scale.z_scale  = 1.0f;
+		_gyro_scale.x_offset = 0;
+		_gyro_scale.x_scale  = 1.0f;
+		_gyro_scale.y_offset = 0;
+		_gyro_scale.y_scale  = 1.0f;
+		_gyro_scale.z_offset = 0;
+		_gyro_scale.z_scale  = 1.0f;
 
-	_gyro_scale.x_offset = 0;
-	_gyro_scale.x_scale  = 1.0f;
-	_gyro_scale.y_offset = 0;
-	_gyro_scale.y_scale  = 1.0f;
-	_gyro_scale.z_offset = 0;
-	_gyro_scale.z_scale  = 1.0f;
+		// set software low pass filter for controllers
+		param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
+		float accel_cut = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
 
-	// set software low pass filter for controllers
-	param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
-	float accel_cut = MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
+		if (accel_cut_ph != PARAM_INVALID && (param_get(accel_cut_ph, &accel_cut) == PX4_OK)) {
+			PX4_INFO("accel cutoff set to %.2f Hz", double(accel_cut));
 
-	if (accel_cut_ph != PARAM_INVALID && (param_get(accel_cut_ph, &accel_cut) == PX4_OK)) {
-		_accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
-		_accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
-		_accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+			_accel_filter_x.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+			_accel_filter_y.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
+			_accel_filter_z.set_cutoff_frequency(MPU9250_ACCEL_DEFAULT_RATE, accel_cut);
 
-	} else {
-		PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
-	}
+		}
 
-	param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
-	float gyro_cut = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
+		param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
+		float gyro_cut = MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
 
-	if (gyro_cut_ph != PARAM_INVALID && (param_get(gyro_cut_ph, &gyro_cut) == PX4_OK)) {
-		_gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
-		_gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
-		_gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+		if (gyro_cut_ph != PARAM_INVALID && (param_get(gyro_cut_ph, &gyro_cut) == PX4_OK)) {
+			PX4_INFO("gyro cutoff set to %.2f Hz", double(gyro_cut));
 
-	} else {
-		PX4_ERR("IMU_GYRO_CUTOFF param invalid");
-	}
+			_gyro_filter_x.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+			_gyro_filter_y.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
+			_gyro_filter_z.set_cutoff_frequency(MPU9250_GYRO_DEFAULT_RATE, gyro_cut);
 
-	/* do CDev init for the gyro device node, keep it optional */
-	ret = _gyro->init();
+		}
 
-	/* if probe/setup failed, bail now */
-	if (ret != OK) {
-		DEVICE_DEBUG("gyro init failed");
-		return ret;
+		/* do CDev init for the accel device node */
+		ret = _accel->init();
+
+		/* if probe/setup failed, bail now */
+		if (ret != OK) {
+			PX4_DEBUG("accel init failed");
+			return ret;
+		}
+
+		/* do CDev init for the gyro device node */
+		ret = _gyro->init();
+
+		/* if probe/setup failed, bail now */
+		if (ret != OK) {
+			PX4_DEBUG("gyro init failed");
+			return ret;
+		}
 	}
 
+	/* Magnetometer setup */
+	if (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_ICM20948) {
+
 #ifdef USE_I2C
 
-	if (!_mag->is_passthrough() && _mag->_interface->init() != PX4_OK) {
-		PX4_ERR("failed to setup ak8963 interface");
-	}
+		up_udelay(100);
+
+		if (!_mag->is_passthrough() && _mag->_interface->init() != PX4_OK) {
+			PX4_ERR("failed to setup ak8963 interface");
+		}
 
 #endif /* USE_I2C */
 
-	/* do CDev init for the mag device node, keep it optional */
-	if (_whoami == MPU_WHOAMI_9250) {
+		/* do CDev init for the mag device node */
 		ret = _mag->init();
-	}
-
-	/* if probe/setup failed, bail now */
-	if (ret != OK) {
-		DEVICE_DEBUG("mag init failed");
-		return ret;
-	}
 
+		/* if probe/setup failed, bail now */
+		if (ret != OK) {
+			PX4_DEBUG("mag init failed");
+			return ret;
+		}
 
-	if (_whoami == MPU_WHOAMI_9250) {
 		ret = _mag->ak8963_reset();
-	}
 
-	if (ret != OK) {
-		DEVICE_DEBUG("mag reset failed");
-		return ret;
+		if (ret != OK) {
+			PX4_DEBUG("mag reset failed");
+			return ret;
+		}
 	}
 
-
-	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
-
 	measure();
 
-	/* advertise sensor topic, measure manually to initialize valid report */
-	sensor_accel_s arp;
-	_accel_reports->get(&arp);
+	if (!_magnetometer_only) {
+		/* advertise sensor topic, measure manually to initialize valid report */
+		sensor_accel_s arp;
+		_accel_reports->get(&arp);
 
-	/* measurement will have generated a report, publish */
-	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-					   &_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+		/* measurement will have generated a report, publish */
+		_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
+						   &_accel->_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
-	if (_accel_topic == nullptr) {
-		PX4_ERR("ADVERT FAIL");
-		return ret;
-	}
+		if (_accel_topic == nullptr) {
+			PX4_ERR("ADVERT FAIL");
+			return ret;
+		}
 
-	/* advertise sensor topic, measure manually to initialize valid report */
-	sensor_gyro_s grp;
-	_gyro_reports->get(&grp);
+		/* advertise sensor topic, measure manually to initialize valid report */
+		sensor_gyro_s grp;
+		_gyro_reports->get(&grp);
 
-	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
-			     &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
+		_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
+				     &_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
 
-	if (_gyro->_gyro_topic == nullptr) {
-		PX4_ERR("ADVERT FAIL");
-		return ret;
+		if (_gyro->_gyro_topic == nullptr) {
+			PX4_ERR("ADVERT FAIL");
+			return ret;
+		}
 	}
 
 	return ret;
@@ -438,7 +447,7 @@ int MPU9250::reset()
 
 	ret = reset_mpu();
 
-	if (ret == OK && _whoami == MPU_WHOAMI_9250) {
+	if (ret == OK && (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_ICM20948)) {
 		ret = _mag->ak8963_reset();
 	}
 
@@ -452,16 +461,32 @@ int MPU9250::reset()
 
 int MPU9250::reset_mpu()
 {
-	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
-	write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
-	write_checked_reg(MPUREG_PWR_MGMT_2, 0);
+	uint8_t retries;
+
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
+		write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+		write_checked_reg(MPUREG_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
+		write_checked_reg(MPUREG_PWR_MGMT_2, 0);
+		usleep(1000);
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		write_reg(ICMREG_20948_PWR_MGMT_1, BIT_H_RESET);
+		usleep(1000);
+
+		write_checked_reg(ICMREG_20948_PWR_MGMT_1, MPU_CLK_SEL_AUTO);
+		usleep(200);
+		write_checked_reg(ICMREG_20948_PWR_MGMT_2, 0);
+		break;
+	}
 
+	// Enable I2C bus or Disable I2C bus (recommended on data sheet)
 
-	usleep(1000);
 
-	// Enable I2C bus or Disable I2C bus (recommended on data sheet)
+	write_checked_reg(MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), is_i2c() ? 0 : BIT_I2C_IF_DIS);
 
-	write_checked_reg(MPUREG_USER_CTRL, is_i2c() ? 0 : BIT_I2C_IF_DIS);
 
 	// SAMPLE RATE
 	_set_sample_rate(_sample_rate);
@@ -469,7 +494,17 @@ int MPU9250::reset_mpu()
 	_set_dlpf_filter(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ);
 
 	// Gyro scale 2000 deg/s ()
-	write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
+		write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		modify_checked_reg(ICMREG_20948_GYRO_CONFIG_1, ICM_BITS_GYRO_FS_SEL_MASK, ICM_BITS_GYRO_FS_SEL_2000DPS);
+		break;
+	}
+
 
 	// correct gyro scale factors
 	// scale to rad/s in SI units
@@ -482,7 +517,8 @@ int MPU9250::reset_mpu()
 	set_accel_range(ACCEL_RANGE_G);
 
 	// INT CFG => Interrupt on Data Ready
-	write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);        // INT: Raw data ready
+	write_checked_reg(MPU_OR_ICM(MPUREG_INT_ENABLE, ICMREG_20948_INT_ENABLE_1),
+			  BIT_RAW_RDY_EN);        // INT: Raw data ready
 
 #ifdef USE_I2C
 	bool bypass = !_mag->is_passthrough();
@@ -499,11 +535,13 @@ int MPU9250::reset_mpu()
 	 * so bypass is true if the mag has an i2c non null interfaces.
 	 */
 
-	write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
+	write_checked_reg(MPU_OR_ICM(MPUREG_INT_PIN_CFG, ICMREG_20948_INT_PIN_CFG),
+			  BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN : 0));
 
-	write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
+	write_checked_reg(MPU_OR_ICM(MPUREG_ACCEL_CONFIG2, ICMREG_20948_ACCEL_CONFIG_2),
+			  MPU_OR_ICM(BITS_ACCEL_CONFIG2_41HZ, ICM_BITS_DEC3_CFG_32));
 
-	uint8_t retries = 3;
+	retries = 3;
 	bool all_ok = false;
 
 	while (!all_ok && retries--) {
@@ -511,11 +549,17 @@ int MPU9250::reset_mpu()
 		// Assume all checked values are as expected
 		all_ok = true;
 		uint8_t reg;
+		uint8_t bankcheck = 0;
 
-		for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
+		for (uint8_t i = 0; i < _num_checked_registers; i++) {
 			if ((reg = read_reg(_checked_registers[i])) != _checked_values[i]) {
+				if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+					_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bankcheck, 1);
+				}
+
 				write_reg(_checked_registers[i], _checked_values[i]);
-				PX4_ERR("Reg %d is:%d s/b:%d Tries:%d", _checked_registers[i], reg, _checked_values[i], retries);
+				PX4_ERR("Reg %d is:%d s/b:%d Tries:%d - bank s/b %d, is %d", _checked_registers[i], reg, _checked_values[i], retries,
+					REG_BANK(_checked_registers[i]), bankcheck);
 				all_ok = false;
 			}
 		}
@@ -527,42 +571,160 @@ int MPU9250::reset_mpu()
 int
 MPU9250::probe()
 {
+	int ret = -EIO;
+
 	/* look for device ID */
-	_whoami = read_reg(MPUREG_WHOAMI);
-
-	// verify product revision
-	switch (_whoami) {
-	case MPU_WHOAMI_9250:
-	case MPU_WHOAMI_6500:
-		memset(_checked_values, 0, sizeof(_checked_values));
-		memset(_checked_bad, 0, sizeof(_checked_bad));
-		_checked_values[0] = _whoami;
-		_checked_bad[0] = _whoami;
-		return OK;
+	switch (_device_type) {
+
+	case MPU_DEVICE_TYPE_MPU9250:
+		_whoami = read_reg(MPUREG_WHOAMI);
+
+		if (_whoami == MPU_WHOAMI_9250) {
+			_num_checked_registers = MPU9250_NUM_CHECKED_REGISTERS;
+			_checked_registers = _mpu9250_checked_registers;
+			memset(_checked_values, 0, MPU9250_NUM_CHECKED_REGISTERS);
+			memset(_checked_bad, 0, MPU9250_NUM_CHECKED_REGISTERS);
+			ret = OK;
+		}
+
+		break;
+
+	case MPU_DEVICE_TYPE_MPU6500:
+		_whoami = read_reg(MPUREG_WHOAMI);
+
+		if (_whoami == MPU_WHOAMI_6500) {
+			_num_checked_registers = MPU9250_NUM_CHECKED_REGISTERS;
+			_checked_registers = _mpu9250_checked_registers;
+			memset(_checked_values, 0, MPU9250_NUM_CHECKED_REGISTERS);
+			memset(_checked_bad, 0, MPU9250_NUM_CHECKED_REGISTERS);
+			ret = OK;
+		}
+
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		_whoami = read_reg(ICMREG_20948_WHOAMI);
+
+		if (_whoami == ICM_WHOAMI_20948) {
+			_num_checked_registers = ICM20948_NUM_CHECKED_REGISTERS;
+			_checked_registers = _icm20948_checked_registers;
+			memset(_checked_values, 0, ICM20948_NUM_CHECKED_REGISTERS);
+			memset(_checked_bad, 0, ICM20948_NUM_CHECKED_REGISTERS);
+			ret = OK;
+		}
+
+		break;
+	}
+
+	_checked_values[0] = _whoami;
+	_checked_bad[0] = _whoami;
+
+	if (ret != OK) {
+		PX4_DEBUG("unexpected whoami 0x%02x", _whoami);
 	}
 
-	DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
-	return -EIO;
+	return ret;
 }
 
 /*
   set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
+  For ICM20948 accel and gyro samplerates are both set to the same value.
 */
 void
 MPU9250::_set_sample_rate(unsigned desired_sample_rate_hz)
 {
+	uint8_t div = 1;
+
 	if (desired_sample_rate_hz == 0) {
 		desired_sample_rate_hz = MPU9250_GYRO_DEFAULT_RATE;
 	}
 
-	uint8_t div = 1000 / desired_sample_rate_hz;
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
+		div = 1000 / desired_sample_rate_hz;
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		div = 1100 / desired_sample_rate_hz;
+		break;
+	}
 
 	if (div > 200) { div = 200; }
 
 	if (div < 1) { div = 1; }
 
-	write_checked_reg(MPUREG_SMPLRT_DIV, div - 1);
-	_sample_rate = 1000 / div;
+
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
+		write_checked_reg(MPUREG_SMPLRT_DIV, div - 1);
+		_sample_rate = 1000 / div;
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		write_checked_reg(ICMREG_20948_GYRO_SMPLRT_DIV, div - 1);
+		// There's also an MSB for this allowing much higher dividers for the accelerometer.
+		// For 1 < div < 200 the LSB is sufficient.
+		write_checked_reg(ICMREG_20948_ACCEL_SMPLRT_DIV_2, div - 1);
+		_sample_rate = 1100 / div;
+		break;
+	}
+}
+
+/*
+ * Set poll rate
+ */
+int
+MPU9250::_set_pollrate(unsigned long rate)
+{
+	if (rate == 0) {
+		return -EINVAL;
+
+	} else {
+		/* do we need to start internal polling? */
+		bool want_start = (_call_interval == 0);
+
+		/* convert hz to hrt interval via microseconds */
+		unsigned ticks = 1000000 / rate;
+
+		/* check against maximum sane rate */
+		if (ticks < 1000) {
+			return -EINVAL;
+		}
+
+		// adjust filters
+		float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
+		float sample_rate = 1.0e6f / ticks;
+		_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+		_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+		_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
+
+
+		float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
+		_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+		_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+		_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
+
+		/* update interval for next measurement */
+		/* XXX this is a bit shady, but no other way to adjust... */
+		_call_interval = ticks;
+
+		/*
+		  set call interval faster than the sample time. We
+		  then detect when we have duplicate samples and reject
+		  them. This prevents aliasing due to a beat between the
+		  stm32 clock and the mpu9250 clock
+		 */
+		_call.period = _call_interval - MPU9250_TIMER_REDUCTION;
+
+		/* if we need to start the poll state machine, do it */
+		if (want_start) {
+			start();
+		}
+
+		return OK;
+	}
 }
 
 /*
@@ -573,261 +735,182 @@ MPU9250::_set_dlpf_filter(uint16_t frequency_hz)
 {
 	uint8_t filter;
 
-	/*
-	   choose next highest filter frequency available
-	 */
-	if (frequency_hz == 0) {
-		_dlpf_freq = 0;
-		filter = BITS_DLPF_CFG_3600HZ;
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
 
-	} else if (frequency_hz <= 5) {
-		_dlpf_freq = 5;
-		filter = BITS_DLPF_CFG_5HZ;
+		/*
+		   choose next highest filter frequency available
+		 */
+		if (frequency_hz == 0) {
+			_dlpf_freq = 0;
+			filter = BITS_DLPF_CFG_3600HZ;
 
-	} else if (frequency_hz <= 10) {
-		_dlpf_freq = 10;
-		filter = BITS_DLPF_CFG_10HZ;
+		} else if (frequency_hz <= 5) {
+			_dlpf_freq = 5;
+			filter = BITS_DLPF_CFG_5HZ;
 
-	} else if (frequency_hz <= 20) {
-		_dlpf_freq = 20;
-		filter = BITS_DLPF_CFG_20HZ;
+		} else if (frequency_hz <= 10) {
+			_dlpf_freq = 10;
+			filter = BITS_DLPF_CFG_10HZ;
 
-	} else if (frequency_hz <= 41) {
-		_dlpf_freq = 41;
-		filter = BITS_DLPF_CFG_41HZ;
+		} else if (frequency_hz <= 20) {
+			_dlpf_freq = 20;
+			filter = BITS_DLPF_CFG_20HZ;
 
-	} else if (frequency_hz <= 92) {
-		_dlpf_freq = 92;
-		filter = BITS_DLPF_CFG_92HZ;
+		} else if (frequency_hz <= 41) {
+			_dlpf_freq = 41;
+			filter = BITS_DLPF_CFG_41HZ;
 
-	} else if (frequency_hz <= 184) {
-		_dlpf_freq = 184;
-		filter = BITS_DLPF_CFG_184HZ;
+		} else if (frequency_hz <= 92) {
+			_dlpf_freq = 92;
+			filter = BITS_DLPF_CFG_92HZ;
 
-	} else if (frequency_hz <= 250) {
-		_dlpf_freq = 250;
-		filter = BITS_DLPF_CFG_250HZ;
+		} else if (frequency_hz <= 184) {
+			_dlpf_freq = 184;
+			filter = BITS_DLPF_CFG_184HZ;
 
-	} else {
-		_dlpf_freq = 0;
-		filter = BITS_DLPF_CFG_3600HZ;
-	}
+		} else if (frequency_hz <= 250) {
+			_dlpf_freq = 250;
+			filter = BITS_DLPF_CFG_250HZ;
 
-	write_checked_reg(MPUREG_CONFIG, filter);
-}
+		} else {
+			_dlpf_freq = 0;
+			filter = BITS_DLPF_CFG_3600HZ;
+		}
 
-ssize_t
-MPU9250::read(struct file *filp, char *buffer, size_t buflen)
-{
-	unsigned count = buflen / sizeof(sensor_accel_s);
+		write_checked_reg(MPUREG_CONFIG, filter);
+		break;
 
-	/* buffer must be large enough */
-	if (count < 1) {
-		return -ENOSPC;
-	}
+	case MPU_DEVICE_TYPE_ICM20948:
 
-	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
-	if (_call_interval == 0) {
-		_accel_reports->flush();
-		measure();
-	}
+		/*
+		   choose next highest filter frequency available for gyroscope
+		 */
+		if (frequency_hz == 0) {
+			_dlpf_freq_icm_gyro = 0;
+			filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
 
-	/* if no data, error (we could block here) */
-	if (_accel_reports->empty()) {
-		return -EAGAIN;
-	}
+		} else if (frequency_hz <= 5) {
+			_dlpf_freq_icm_gyro = 5;
+			filter = ICM_BITS_GYRO_DLPF_CFG_5HZ;
 
-	perf_count(_accel_reads);
+		} else if (frequency_hz <= 11) {
+			_dlpf_freq_icm_gyro = 11;
+			filter = ICM_BITS_GYRO_DLPF_CFG_11HZ;
 
-	/* copy reports out of our buffer to the caller */
-	sensor_accel_s *arp = reinterpret_cast<sensor_accel_s *>(buffer);
-	int transferred = 0;
+		} else if (frequency_hz <= 23) {
+			_dlpf_freq_icm_gyro = 23;
+			filter = ICM_BITS_GYRO_DLPF_CFG_23HZ;
 
-	while (count--) {
-		if (!_accel_reports->get(arp)) {
-			break;
-		}
+		} else if (frequency_hz <= 51) {
+			_dlpf_freq_icm_gyro = 51;
+			filter = ICM_BITS_GYRO_DLPF_CFG_51HZ;
 
-		transferred++;
-		arp++;
-	}
+		} else if (frequency_hz <= 119) {
+			_dlpf_freq_icm_gyro = 119;
+			filter = ICM_BITS_GYRO_DLPF_CFG_119HZ;
 
-	/* return the number of bytes transferred */
-	return (transferred * sizeof(sensor_accel_s));
-}
+		} else if (frequency_hz <= 151) {
+			_dlpf_freq_icm_gyro = 151;
+			filter = ICM_BITS_GYRO_DLPF_CFG_151HZ;
 
-int
-MPU9250::self_test()
-{
-	if (perf_event_count(_sample_perf) == 0) {
-		measure();
-	}
+		} else if (frequency_hz <= 197) {
+			_dlpf_freq_icm_gyro = 197;
+			filter = ICM_BITS_GYRO_DLPF_CFG_197HZ;
 
-	/* return 0 on success, 1 else */
-	return (perf_event_count(_sample_perf) > 0) ? 0 : 1;
-}
+		} else {
+			_dlpf_freq_icm_gyro = 0;
+			filter = ICM_BITS_GYRO_DLPF_CFG_361HZ;
+		}
 
-/*
-  deliberately trigger an error in the sensor to trigger recovery
- */
-void
-MPU9250::test_error()
-{
-	// deliberately trigger an error. This was noticed during
-	// development as a handy way to test the reset logic
-	uint8_t data[16];
-	memset(data, 0, sizeof(data));
-	_interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_LOW_BUS_SPEED), data, sizeof(data));
-	::printf("error triggered\n");
-	print_registers();
-}
+		write_checked_reg(ICMREG_20948_GYRO_CONFIG_1, filter);
 
-ssize_t
-MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
-{
-	unsigned count = buflen / sizeof(sensor_gyro_s);
+		/*
+		   choose next highest filter frequency available for accelerometer
+		 */
+		if (frequency_hz == 0) {
+			_dlpf_freq_icm_accel = 0;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
 
-	/* buffer must be large enough */
-	if (count < 1) {
-		return -ENOSPC;
-	}
+		} else if (frequency_hz <= 5) {
+			_dlpf_freq_icm_accel = 5;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_5HZ;
 
-	/* if automatic measurement is not enabled, get a fresh measurement into the buffer */
-	if (_call_interval == 0) {
-		_gyro_reports->flush();
-		measure();
-	}
+		} else if (frequency_hz <= 11) {
+			_dlpf_freq_icm_accel = 11;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_11HZ;
 
-	/* if no data, error (we could block here) */
-	if (_gyro_reports->empty()) {
-		return -EAGAIN;
-	}
+		} else if (frequency_hz <= 23) {
+			_dlpf_freq_icm_accel = 23;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_23HZ;
 
-	perf_count(_gyro_reads);
+		} else if (frequency_hz <= 50) {
+			_dlpf_freq_icm_accel = 50;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_50HZ;
 
-	/* copy reports out of our buffer to the caller */
-	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
-	int transferred = 0;
+		} else if (frequency_hz <= 111) {
+			_dlpf_freq_icm_accel = 111;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_111HZ;
 
-	while (count--) {
-		if (!_gyro_reports->get(grp)) {
-			break;
+		} else if (frequency_hz <= 246) {
+			_dlpf_freq_icm_accel = 246;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_246HZ;
+
+		} else {
+			_dlpf_freq_icm_accel = 0;
+			filter = ICM_BITS_ACCEL_DLPF_CFG_473HZ;
 		}
 
-		transferred++;
-		grp++;
+		write_checked_reg(ICMREG_20948_ACCEL_CONFIG, filter);
+		break;
 	}
-
-	/* return the number of bytes transferred */
-	return (transferred * sizeof(sensor_gyro_s));
 }
 
 int
-MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
+MPU9250::select_register_bank(uint8_t bank)
 {
-	switch (cmd) {
+	uint8_t ret;
+	uint8_t buf;
+	uint8_t retries = 3;
 
-	case SENSORIOCRESET: {
-			return reset();
-		}
+	if (_selected_bank != bank) {
+		ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
 
-	case SENSORIOCSPOLLRATE: {
-			switch (arg) {
-
-			/* zero would be bad */
-			case 0:
-				return -EINVAL;
-
-			/* set default polling rate */
-			case SENSOR_POLLRATE_DEFAULT:
-				return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
-
-			/* adjust to a legal polling interval in Hz */
-			default: {
-					/* do we need to start internal polling? */
-					bool want_start = (_call_interval == 0);
-
-					/* convert hz to hrt interval via microseconds */
-					unsigned ticks = 1000000 / arg;
-
-					/* check against maximum sane rate */
-					if (ticks < 1000) {
-						return -EINVAL;
-					}
-
-					// adjust filters
-					float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
-					float sample_rate = 1.0e6f / ticks;
-					_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
-					_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
-					_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
-
-
-					float cutoff_freq_hz_gyro = _gyro_filter_x.get_cutoff_freq();
-					_gyro_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
-					_gyro_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
-					_gyro_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz_gyro);
-
-					/* update interval for next measurement */
-					/* XXX this is a bit shady, but no other way to adjust... */
-					_call_interval = ticks;
-
-					/*
-					  set call interval faster than the sample time. We
-					  then detect when we have duplicate samples and reject
-					  them. This prevents aliasing due to a beat between the
-					  stm32 clock and the mpu9250 clock
-					 */
-					_call.period = _call_interval - MPU9250_TIMER_REDUCTION;
-
-					/* if we need to start the poll state machine, do it */
-					if (want_start) {
-						start();
-					}
-
-					return OK;
-				}
-			}
+		if (ret != OK) {
+			return ret;
 		}
+	}
 
-	case ACCELIOCSSCALE: {
-			/* copy scale, but only if off by a few percent */
-			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
-			float sum = s->x_scale + s->y_scale + s->z_scale;
+	/*
+	 * Making sure the right register bank is selected (even if it should be). Observed some
+	 * unexpected changes to this, don't risk writing to the wrong register bank.
+	 */
+	_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
 
-			if (sum > 2.0f && sum < 4.0f) {
-				memcpy(&_accel_scale, s, sizeof(_accel_scale));
-				return OK;
+	while (bank != buf && retries > 0) {
+		//PX4_WARN("user bank: expected %d got %d",bank,buf);
+		ret = _interface->write(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &bank, 1);
 
-			} else {
-				return -EINVAL;
-			}
+		if (ret != OK) {
+			return ret;
 		}
 
-	default:
-		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
+		retries--;
+		//PX4_WARN("BANK retries: %d", 4-retries);
+
+		_interface->read(MPU9250_LOW_SPEED_OP(ICMREG_20948_BANK_SEL), &buf, 1);
 	}
-}
 
-int
-MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
 
-	/* these are shared with the accel side */
-	case SENSORIOCSPOLLRATE:
-	case SENSORIOCRESET:
-		return ioctl(filp, cmd, arg);
+	_selected_bank = bank;
 
-	case GYROIOCSSCALE:
-		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
-		return OK;
+	if (bank != buf) {
+		PX4_DEBUG("SELECT FAILED %d %d %d %d", retries, _selected_bank, bank, buf);
+		return PX4_ERROR;
 
-	default:
-		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
+	} else {
+		return PX4_OK;
 	}
 }
 
@@ -835,10 +918,36 @@ uint8_t
 MPU9250::read_reg(unsigned reg, uint32_t speed)
 {
 	uint8_t buf;
-	_interface->read(MPU9250_SET_SPEED(reg, speed), &buf, 1);
+
+	if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		select_register_bank(REG_BANK(reg));
+		_interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
+
+	} else {
+		_interface->read(MPU9250_SET_SPEED(REG_ADDRESS(reg), speed), &buf, 1);
+	}
+
 	return buf;
 }
 
+uint8_t
+MPU9250::read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count)
+{
+	uint8_t ret;
+
+	if (buf == NULL) { return PX4_ERROR; }
+
+	if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		select_register_bank(REG_BANK(start_reg));
+		ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
+
+	} else {
+		ret = _interface->read(MPU9250_SET_SPEED(REG_ADDRESS(start_reg), speed), buf, count);
+	}
+
+	return ret;
+}
+
 uint16_t
 MPU9250::read_reg16(unsigned reg)
 {
@@ -846,7 +955,14 @@ MPU9250::read_reg16(unsigned reg)
 
 	// general register transfer at low clock speed
 
-	_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
+	if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		select_register_bank(REG_BANK(reg));
+		_interface->read(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &buf, arraySize(buf));
+
+	} else {
+		_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
+	}
+
 	return (uint16_t)(buf[0] << 8) | buf[1];
 }
 
@@ -855,7 +971,13 @@ MPU9250::write_reg(unsigned reg, uint8_t value)
 {
 	// general register transfer at low clock speed
 
-	_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
+	if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+		select_register_bank(REG_BANK(reg));
+		_interface->write(MPU9250_LOW_SPEED_OP(REG_ADDRESS(reg)), &value, 1);
+
+	} else {
+		_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
+	}
 }
 
 void
@@ -885,7 +1007,7 @@ MPU9250::write_checked_reg(unsigned reg, uint8_t value)
 {
 	write_reg(reg, value);
 
-	for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
+	for (uint8_t i = 0; i < _num_checked_registers; i++) {
 		if (reg == _checked_registers[i]) {
 			_checked_values[i] = value;
 			_checked_bad[i] = value;
@@ -922,7 +1044,17 @@ MPU9250::set_accel_range(unsigned max_g_in)
 		max_accel_g = 2;
 	}
 
-	write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+	case MPU_DEVICE_TYPE_MPU6500:
+		write_checked_reg(MPUREG_ACCEL_CONFIG, afs_sel << 3);
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		modify_checked_reg(ICMREG_20948_ACCEL_CONFIG, ICM_BITS_ACCEL_FS_SEL_MASK, afs_sel << 1);
+		break;
+	}
+
 	_accel_range_scale = (CONSTANTS_ONE_G / lsb_per_g);
 	_accel_range_m_s2 = max_accel_g * CONSTANTS_ONE_G;
 
@@ -936,8 +1068,11 @@ MPU9250::start()
 	stop();
 
 	/* discard any stale data in the buffers */
-	_accel_reports->flush();
-	_gyro_reports->flush();
+	if (!_magnetometer_only) {
+		_accel_reports->flush();
+		_gyro_reports->flush();
+	}
+
 	_mag->_mag_reports->flush();
 
 	if (_use_hrt) {
@@ -1048,8 +1183,14 @@ MPU9250::check_registers(void)
 		if (_register_wait == 0 || _checked_next == 0) {
 			// if the product_id is wrong then reset the
 			// sensor completely
-			write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
-			write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
+
+			if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+				// reset_mpu();
+			} else {
+				write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);
+				write_reg(MPUREG_PWR_MGMT_2, MPU_CLK_SEL_AUTO);
+			}
+
 			// after doing a reset we need to wait a long
 			// time before we do any other register writes
 			// or we will end up with the mpu9250 in a
@@ -1070,10 +1211,10 @@ MPU9250::check_registers(void)
 		_register_wait = 20;
 	}
 
-	_checked_next = (_checked_next + 1) % MPU9250_NUM_CHECKED_REGISTERS;
+	_checked_next = (_checked_next + 1) % _num_checked_registers;
 }
 
-bool MPU9250::check_null_data(uint32_t *data, uint8_t size)
+bool MPU9250::check_null_data(uint16_t *data, uint8_t size)
 {
 	while (size--) {
 		if (*data++) {
@@ -1119,6 +1260,7 @@ bool MPU9250::check_duplicate(uint8_t *accel_data)
 void
 MPU9250::measure()
 {
+
 	if (hrt_absolute_time() < _reset_wait) {
 		// we're waiting for a reset to complete
 		return;
@@ -1126,6 +1268,8 @@ MPU9250::measure()
 
 	struct MPUReport mpu_report;
 
+	struct ICMReport icm_report;
+
 	struct Report {
 		int16_t		accel_x;
 		int16_t		accel_y;
@@ -1140,197 +1284,253 @@ MPU9250::measure()
 	perf_begin(_sample_perf);
 
 	/*
-	 * Fetch the full set of measurements from the MPU9250 in one pass.
+	 * Fetch the full set of measurements from the MPU9250 in one pass
 	 */
-	if (OK != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
-				   (uint8_t *)&mpu_report,
-				   sizeof(mpu_report))) {
-		perf_end(_sample_perf);
-		return;
-	}
 
-	check_registers();
+	if ((!_magnetometer_only || _mag->is_passthrough()) && _register_wait == 0) {
+		if (_device_type == MPU_DEVICE_TYPE_MPU9250 || _device_type == MPU_DEVICE_TYPE_MPU6500) {
+			if (OK != read_reg_range(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED, (uint8_t *)&mpu_report, sizeof(mpu_report))) {
+				perf_end(_sample_perf);
+				return;
+			}
 
-	if (check_duplicate(&mpu_report.accel_x[0])) {
-		return;
+		} else {    // ICM20948
+			select_register_bank(REG_BANK(ICMREG_20948_ACCEL_XOUT_H));
+
+			if (OK != read_reg_range(ICMREG_20948_ACCEL_XOUT_H, MPU9250_HIGH_BUS_SPEED, (uint8_t *)&icm_report,
+						 sizeof(icm_report))) {
+				perf_end(_sample_perf);
+				return;
+			}
+		}
+
+		check_registers();
+
+		if (check_duplicate(MPU_OR_ICM(&mpu_report.accel_x[0], &icm_report.accel_x[0]))) {
+			return;
+		}
 	}
 
-#ifdef USE_I2C
+	/*
+	 * In case of a mag passthrough read, hand the magnetometer data over to _mag. Else,
+	 * try to read a magnetometer report.
+	 */
+
+#   ifdef USE_I2C
 
 	if (_mag->is_passthrough()) {
-#endif
+#   endif
+
 		_mag->_measure(mpu_report.mag);
-#ifdef USE_I2C
+
+#   ifdef USE_I2C
 
 	} else {
 		_mag->measure();
 	}
 
-#endif
+#   endif
 
 	/*
-	 * Convert from big to little endian
+	 * Continue evaluating gyro and accelerometer results
 	 */
-	report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
-	report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
-	report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
-	report.temp    = int16_t_from_bytes(mpu_report.temp);
-	report.gyro_x  = int16_t_from_bytes(mpu_report.gyro_x);
-	report.gyro_y  = int16_t_from_bytes(mpu_report.gyro_y);
-	report.gyro_z  = int16_t_from_bytes(mpu_report.gyro_z);
-
-	if (check_null_data((uint32_t *)&report, sizeof(report) / 4)) {
-		return;
+	if (!_magnetometer_only && _register_wait == 0) {
+
+		/*
+		 * Convert from big to little endian
+		 */
+		if (_device_type == MPU_DEVICE_TYPE_ICM20948) {
+			report.accel_x = int16_t_from_bytes(icm_report.accel_x);
+			report.accel_y = int16_t_from_bytes(icm_report.accel_y);
+			report.accel_z = int16_t_from_bytes(icm_report.accel_z);
+			report.temp    = int16_t_from_bytes(icm_report.temp);
+			report.gyro_x  = int16_t_from_bytes(icm_report.gyro_x);
+			report.gyro_y  = int16_t_from_bytes(icm_report.gyro_y);
+			report.gyro_z  = int16_t_from_bytes(icm_report.gyro_z);
+
+		} else { // MPU9250/MPU6500
+			report.accel_x = int16_t_from_bytes(mpu_report.accel_x);
+			report.accel_y = int16_t_from_bytes(mpu_report.accel_y);
+			report.accel_z = int16_t_from_bytes(mpu_report.accel_z);
+			report.temp    = int16_t_from_bytes(mpu_report.temp);
+			report.gyro_x  = int16_t_from_bytes(mpu_report.gyro_x);
+			report.gyro_y  = int16_t_from_bytes(mpu_report.gyro_y);
+			report.gyro_z  = int16_t_from_bytes(mpu_report.gyro_z);
+		}
+
+		if (check_null_data((uint16_t *)&report, sizeof(report) / 2)) {
+			return;
+		}
 	}
 
 	if (_register_wait != 0) {
-		// we are waiting for some good transfers before using the sensor again
-		// We still increment _good_transfers, but don't return any data yet
+		/*
+		 * We are waiting for some good transfers before using the sensor again.
+		 * We still increment _good_transfers, but don't return any data yet.
+		 *
+		*/
 		_register_wait--;
 		return;
 	}
 
 	/*
-	 * Swap axes and negate y
+	 * Get sensor temperature
 	 */
-	int16_t accel_xt = report.accel_y;
-	int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
+	_last_temperature = (report.temp) / 333.87f + 21.0f;
 
-	int16_t gyro_xt = report.gyro_y;
-	int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
 
 	/*
-	 * Apply the swap
+	 * Convert and publish accelerometer and gyrometer data.
 	 */
-	report.accel_x = accel_xt;
-	report.accel_y = accel_yt;
-	report.gyro_x = gyro_xt;
-	report.gyro_y = gyro_yt;
 
-	/*
-	 * Report buffers.
-	 */
-	sensor_accel_s arb{};
-	sensor_gyro_s grb{};
+	if (!_magnetometer_only) {
 
-	/*
-	 * Adjust and scale results to m/s^2.
-	 */
-	grb.timestamp = arb.timestamp = hrt_absolute_time();
+		/*
+		 * Keeping the axes as they are for ICM20948 so orientation will match the actual chip orientation
+		 */
+		if (_device_type != MPU_DEVICE_TYPE_ICM20948) {
+			/*
+			 * Swap axes and negate y
+			 */
+
+			int16_t accel_xt = report.accel_y;
+			int16_t accel_yt = ((report.accel_x == -32768) ? 32767 : -report.accel_x);
+
+			int16_t gyro_xt = report.gyro_y;
+			int16_t gyro_yt = ((report.gyro_x == -32768) ? 32767 : -report.gyro_x);
+
+			/*
+			 * Apply the swap
+			 */
+			report.accel_x = accel_xt;
+			report.accel_y = accel_yt;
+			report.gyro_x = gyro_xt;
+			report.gyro_y = gyro_yt;
+		}
 
-	// report the error count as the sum of the number of bad
-	// transfers and bad register reads. This allows the higher
-	// level code to decide if it should use this sensor based on
-	// whether it has had failures
-	grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
+		/*
+		 * Report buffers.
+		 */
+		sensor_accel_s		arb;
+		sensor_gyro_s			grb;
 
-	/*
-	 * 1) Scale raw value to SI units using scaling from datasheet.
-	 * 2) Subtract static offset (in SI units)
-	 * 3) Scale the statically calibrated values with a linear
-	 *    dynamically obtained factor
-	 *
-	 * Note: the static sensor offset is the number the sensor outputs
-	 * 	 at a nominally 'zero' input. Therefore the offset has to
-	 * 	 be subtracted.
-	 *
-	 *	 Example: A gyro outputs a value of 74 at zero angular rate
-	 *	 	  the offset is 74 from the origin and subtracting
-	 *		  74 from all measurements centers them around zero.
-	 */
+		/*
+		 * Adjust and scale results to m/s^2.
+		 */
+		grb.timestamp = arb.timestamp = hrt_absolute_time();
 
-	/* NOTE: Axes have been swapped to match the board a few lines above. */
+		// report the error count as the sum of the number of bad
+		// transfers and bad register reads. This allows the higher
+		// level code to decide if it should use this sensor based on
+		// whether it has had failures
+		grb.error_count = arb.error_count = perf_event_count(_bad_transfers) + perf_event_count(_bad_registers);
 
-	arb.x_raw = report.accel_x;
-	arb.y_raw = report.accel_y;
-	arb.z_raw = report.accel_z;
+		/*
+		 * 1) Scale raw value to SI units using scaling from datasheet.
+		 * 2) Subtract static offset (in SI units)
+		 * 3) Scale the statically calibrated values with a linear
+		 *    dynamically obtained factor
+		 *
+		 * Note: the static sensor offset is the number the sensor outputs
+		 * 	 at a nominally 'zero' input. Therefore the offset has to
+		 * 	 be subtracted.
+		 *
+		 *	 Example: A gyro outputs a value of 74 at zero angular rate
+		 *	 	  the offset is 74 from the origin and subtracting
+		 *		  74 from all measurements centers them around zero.
+		 */
 
-	float xraw_f = report.accel_x;
-	float yraw_f = report.accel_y;
-	float zraw_f = report.accel_z;
+		/* NOTE: Axes have been swapped to match the board a few lines above. */
 
-	// apply user specified rotation
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+		arb.x_raw = report.accel_x;
+		arb.y_raw = report.accel_y;
+		arb.z_raw = report.accel_z;
 
-	float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
-	float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
-	float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+		float xraw_f = report.accel_x;
+		float yraw_f = report.accel_y;
+		float zraw_f = report.accel_z;
 
-	arb.x = _accel_filter_x.apply(x_in_new);
-	arb.y = _accel_filter_y.apply(y_in_new);
-	arb.z = _accel_filter_z.apply(z_in_new);
+		// apply user specified rotation
+		rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
-	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
-	matrix::Vector3f aval_integrated;
+		float x_in_new = ((xraw_f * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+		float y_in_new = ((yraw_f * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+		float z_in_new = ((zraw_f * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
 
-	bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
-	arb.x_integral = aval_integrated(0);
-	arb.y_integral = aval_integrated(1);
-	arb.z_integral = aval_integrated(2);
+		arb.x = _accel_filter_x.apply(x_in_new);
+		arb.y = _accel_filter_y.apply(y_in_new);
+		arb.z = _accel_filter_z.apply(z_in_new);
 
-	arb.scaling = _accel_range_scale;
+		matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
+		matrix::Vector3f aval_integrated;
 
-	_last_temperature = (report.temp) / 361.0f + 35.0f;
+		bool accel_notify = _accel_int.put(arb.timestamp, aval, aval_integrated, arb.integral_dt);
+		arb.x_integral = aval_integrated(0);
+		arb.y_integral = aval_integrated(1);
+		arb.z_integral = aval_integrated(2);
 
-	arb.temperature = _last_temperature;
+		arb.scaling = _accel_range_scale;
 
-	/* return device ID */
-	arb.device_id = _device_id.devid;
+		arb.temperature = _last_temperature;
 
-	grb.x_raw = report.gyro_x;
-	grb.y_raw = report.gyro_y;
-	grb.z_raw = report.gyro_z;
+		/* return device ID */
+		arb.device_id = _accel->_device_id.devid;
 
-	xraw_f = report.gyro_x;
-	yraw_f = report.gyro_y;
-	zraw_f = report.gyro_z;
+		grb.x_raw = report.gyro_x;
+		grb.y_raw = report.gyro_y;
+		grb.z_raw = report.gyro_z;
 
-	// apply user specified rotation
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+		xraw_f = report.gyro_x;
+		yraw_f = report.gyro_y;
+		zraw_f = report.gyro_z;
 
-	float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
-	float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
-	float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
+		// apply user specified rotation
+		rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
 
-	grb.x = _gyro_filter_x.apply(x_gyro_in_new);
-	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
-	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
+		float x_gyro_in_new = ((xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
+		float y_gyro_in_new = ((yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
+		float z_gyro_in_new = ((zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
 
-	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-	matrix::Vector3f gval_integrated;
+		grb.x = _gyro_filter_x.apply(x_gyro_in_new);
+		grb.y = _gyro_filter_y.apply(y_gyro_in_new);
+		grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
-	bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
-	grb.x_integral = gval_integrated(0);
-	grb.y_integral = gval_integrated(1);
-	grb.z_integral = gval_integrated(2);
+		matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
+		matrix::Vector3f gval_integrated;
 
-	grb.scaling = _gyro_range_scale;
+		bool gyro_notify = _gyro_int.put(arb.timestamp, gval, gval_integrated, grb.integral_dt);
+		grb.x_integral = gval_integrated(0);
+		grb.y_integral = gval_integrated(1);
+		grb.z_integral = gval_integrated(2);
 
-	grb.temperature = _last_temperature;
+		grb.scaling = _gyro_range_scale;
 
-	/* return device ID */
-	grb.device_id = _gyro->_device_id.devid;
+		grb.temperature = _last_temperature;
 
-	_accel_reports->force(&arb);
-	_gyro_reports->force(&grb);
+		/* return device ID */
+		grb.device_id = _gyro->_device_id.devid;
 
-	/* notify anyone waiting for data */
-	if (accel_notify) {
-		poll_notify(POLLIN);
-	}
+		_accel_reports->force(&arb);
+		_gyro_reports->force(&grb);
 
-	if (gyro_notify) {
-		_gyro->parent_poll_notify();
-	}
+		/* notify anyone waiting for data */
+		if (accel_notify) {
+			_accel->poll_notify(POLLIN);
+		}
 
-	if (accel_notify && !(_pub_blocked)) {
-		/* publish it */
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
-	}
+		if (gyro_notify) {
+			_gyro->parent_poll_notify();
+		}
+
+		if (accel_notify && !(_accel->_pub_blocked)) {
+			/* publish it */
+			orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+		}
 
-	if (gyro_notify && !(_pub_blocked)) {
-		/* publish it */
-		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+		if (gyro_notify && !(_gyro->_pub_blocked)) {
+			/* publish it */
+			orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+		}
 	}
 
 	/* stop measuring */
@@ -1340,6 +1540,7 @@ MPU9250::measure()
 void
 MPU9250::print_info()
 {
+	::printf("Device type:%d\n", _device_type);
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_accel_reads);
 	perf_print_counter(_gyro_reads);
@@ -1348,44 +1549,11 @@ MPU9250::print_info()
 	perf_print_counter(_good_transfers);
 	perf_print_counter(_reset_retries);
 	perf_print_counter(_duplicates);
-	_accel_reports->print_info("accel queue");
-	_gyro_reports->print_info("gyro queue");
-	_mag->_mag_reports->print_info("mag queue");
-	::printf("checked_next: %u\n", _checked_next);
-
-	for (uint8_t i = 0; i < MPU9250_NUM_CHECKED_REGISTERS; i++) {
-		uint8_t v = read_reg(_checked_registers[i], MPU9250_HIGH_BUS_SPEED);
-
-		if (v != _checked_values[i]) {
-			::printf("reg %02x:%02x should be %02x\n",
-				 (unsigned)_checked_registers[i],
-				 (unsigned)v,
-				 (unsigned)_checked_values[i]);
-		}
-
-		if (v != _checked_bad[i]) {
-			::printf("reg %02x:%02x was bad %02x\n",
-				 (unsigned)_checked_registers[i],
-				 (unsigned)v,
-				 (unsigned)_checked_bad[i]);
-		}
-	}
-
-}
+	::printf("temperature: %.1f\n", (double)_last_temperature);
 
-void
-MPU9250::print_registers()
-{
-	printf("MPU9250 registers\n");
-
-	for (uint8_t reg = 0; reg <= 126; reg++) {
-		uint8_t v = read_reg(reg);
-		printf("%02x:%02x ", (unsigned)reg, (unsigned)v);
-
-		if (reg % 13 == 0) {
-			printf("\n");
-		}
+	if (!_magnetometer_only) {
+		_accel_reports->print_info("accel queue");
+		_gyro_reports->print_info("gyro queue");
+		_mag->_mag_reports->print_info("mag queue");
 	}
-
-	printf("\n");
 }
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 3939e9527013..81c6f50f0731 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -49,12 +49,23 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
+#include <uORB/uORB.h>
+#include <uORB/topics/debug_key_value.h>
+
 #include "mag.h"
+#include "accel.h"
 #include "gyro.h"
 
 
+/* List of supported device types */
+enum MPU_DEVICE_TYPE {
+	MPU_DEVICE_TYPE_MPU9250	= 9250,
+	MPU_DEVICE_TYPE_MPU6500 = 6500,
+	MPU_DEVICE_TYPE_ICM20948 = 20948
+};
+
 
-#if defined(PX4_I2C_OBDEV_MPU9250)
+#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
 #  define USE_I2C
 #endif
 
@@ -177,8 +188,9 @@
 #define BIT_I2C_SLV2_DLY_EN         0x04
 #define BIT_I2C_SLV3_DLY_EN         0x08
 
-#define MPU_WHOAMI_9250			0x71
-#define MPU_WHOAMI_6500			0x70
+#define MPU_WHOAMI_9250             0x71
+#define MPU_WHOAMI_6500             0x70
+#define ICM_WHOAMI_20948            0xEA
 
 #define MPU9250_ACCEL_DEFAULT_RATE	1000
 #define MPU9250_ACCEL_MAX_OUTPUT_RATE			280
@@ -193,6 +205,135 @@
 #define MPUIOCGIS_I2C	(unsigned)(DEVIOCGDEVICEID+100)
 
 
+
+// ICM20948 registers and data
+
+/*
+ * ICM20948 I2C address LSB can be switched by the chip's AD0 pin, thus is device dependent.
+ * Noting this down for now. Here GPS uses 0x69. To support a device implementing the second
+ * address, probably an additional MPU_DEVICE_TYPE is the way to go.
+ */
+#define PX4_I2C_EXT_ICM20948_0			0x68
+#define PX4_I2C_EXT_ICM20948_1			0x69
+
+/*
+ * ICM20948 uses register banks. Register 127 (0x7F) is used to switch between 4 banks.
+ * There's room in the upper address byte below the port speed setting to code in the
+ * used bank. This is a bit more efficient, already in use for the speed setting and more
+ * in one place than a solution with a lookup table for address/bank pairs.
+ */
+
+#define BANK0	0x0000
+#define BANK1	0x0100
+#define BANK2	0x0200
+#define BANK3	0x0300
+
+#define BANK_REG_MASK	0x0300
+#define REG_BANK(r) 			(((r) & BANK_REG_MASK)>>4)
+#define REG_ADDRESS(r)			((r) & ~BANK_REG_MASK)
+
+#define ICMREG_20948_BANK_SEL 0x7F
+
+#define	ICMREG_20948_WHOAMI					(0x00 | BANK0)
+#define ICMREG_20948_USER_CTRL				(0x03 | BANK0)
+#define ICMREG_20948_PWR_MGMT_1				(0x06 | BANK0)
+#define ICMREG_20948_PWR_MGMT_2				(0x07 | BANK0)
+#define ICMREG_20948_INT_PIN_CFG			(0x0F | BANK0)
+#define ICMREG_20948_INT_ENABLE				(0x10 | BANK0)
+#define ICMREG_20948_INT_ENABLE_1			(0x11 | BANK0)
+#define ICMREG_20948_ACCEL_XOUT_H			(0x2D | BANK0)
+#define ICMREG_20948_INT_ENABLE_2			(0x12 | BANK0)
+#define ICMREG_20948_INT_ENABLE_3			(0x13 | BANK0)
+#define ICMREG_20948_EXT_SLV_SENS_DATA_00	(0x3B | BANK0)
+#define ICMREG_20948_GYRO_SMPLRT_DIV		(0x00 | BANK2)
+#define ICMREG_20948_GYRO_CONFIG_1			(0x01 | BANK2)
+#define ICMREG_20948_GYRO_CONFIG_2			(0x02 | BANK2)
+#define ICMREG_20948_ACCEL_SMPLRT_DIV_1		(0x10 | BANK2)
+#define ICMREG_20948_ACCEL_SMPLRT_DIV_2		(0x11 | BANK2)
+#define ICMREG_20948_ACCEL_CONFIG			(0x14 | BANK2)
+#define ICMREG_20948_ACCEL_CONFIG_2			(0x15 | BANK2)
+#define ICMREG_20948_I2C_MST_CTRL			(0x01 | BANK3)
+#define ICMREG_20948_I2C_SLV0_ADDR			(0x03 | BANK3)
+#define ICMREG_20948_I2C_SLV0_REG			(0x04 | BANK3)
+#define ICMREG_20948_I2C_SLV0_CTRL			(0x05 | BANK3)
+#define ICMREG_20948_I2C_SLV0_DO			(0x06 | BANK3)
+
+
+
+/*
+* ICM20948 register bits
+* Most of the regiser set values from MPU9250 have the same
+* meaning on ICM20948. The exceptions and values not already
+* defined for MPU9250 are defined below
+*/
+#define ICM_BIT_PWR_MGMT_1_ENABLE       	0x00
+#define ICM_BIT_USER_CTRL_I2C_MST_DISABLE   0x00
+
+#define ICM_BITS_GYRO_DLPF_CFG_197HZ		0x01
+#define ICM_BITS_GYRO_DLPF_CFG_151HZ		0x09
+#define ICM_BITS_GYRO_DLPF_CFG_119HZ		0x11
+#define ICM_BITS_GYRO_DLPF_CFG_51HZ			0x19
+#define ICM_BITS_GYRO_DLPF_CFG_23HZ			0x21
+#define ICM_BITS_GYRO_DLPF_CFG_11HZ			0x29
+#define ICM_BITS_GYRO_DLPF_CFG_5HZ			0x31
+#define ICM_BITS_GYRO_DLPF_CFG_361HZ		0x39
+#define ICM_BITS_GYRO_DLPF_CFG_MASK			0x39
+
+#define ICM_BITS_GYRO_FS_SEL_250DPS			0x00
+#define ICM_BITS_GYRO_FS_SEL_500DPS			0x02
+#define ICM_BITS_GYRO_FS_SEL_1000DPS		0x04
+#define ICM_BITS_GYRO_FS_SEL_2000DPS		0x06
+#define ICM_BITS_GYRO_FS_SEL_MASK			0x06
+
+#define ICM_BITS_ACCEL_DLPF_CFG_246HZ		0x09
+#define ICM_BITS_ACCEL_DLPF_CFG_111HZ		0x11
+#define ICM_BITS_ACCEL_DLPF_CFG_50HZ		0x19
+#define ICM_BITS_ACCEL_DLPF_CFG_23HZ		0x21
+#define ICM_BITS_ACCEL_DLPF_CFG_11HZ		0x29
+#define ICM_BITS_ACCEL_DLPF_CFG_5HZ			0x31
+#define ICM_BITS_ACCEL_DLPF_CFG_473HZ		0x39
+#define ICM_BITS_ACCEL_DLPF_CFG_MASK		0x39
+
+#define ICM_BITS_ACCEL_FS_SEL_250DPS		0x00
+#define ICM_BITS_ACCEL_FS_SEL_500DPS		0x02
+#define ICM_BITS_ACCEL_FS_SEL_1000DPS		0x04
+#define ICM_BITS_ACCEL_FS_SEL_2000DPS		0x06
+#define ICM_BITS_ACCEL_FS_SEL_MASK			0x06
+
+#define ICM_BITS_DEC3_CFG_4					0x00
+#define ICM_BITS_DEC3_CFG_8					0x01
+#define ICM_BITS_DEC3_CFG_16				0x10
+#define ICM_BITS_DEC3_CFG_32				0x11
+#define ICM_BITS_DEC3_CFG_MASK				0x11
+
+#define ICM_BITS_I2C_MST_CLOCK_370KHZ    	0x00
+#define ICM_BITS_I2C_MST_CLOCK_400HZ    	0x07	// recommended by datasheet for 400kHz target clock
+
+
+
+#define MPU_OR_ICM(m,i)					((_device_type==MPU_DEVICE_TYPE_ICM20948) ? i : m)
+
+
+#pragma pack(push, 1)
+/**
+ * Report conversation within the mpu, including command byte and
+ * interrupt status.
+ */
+struct ICMReport {
+	uint8_t		accel_x[2];
+	uint8_t		accel_y[2];
+	uint8_t		accel_z[2];
+	uint8_t		gyro_x[2];
+	uint8_t		gyro_y[2];
+	uint8_t		gyro_z[2];
+	uint8_t		temp[2];
+	struct ak8963_regs mag;
+};
+#pragma pack(pop)
+
+
+
+
 #pragma pack(push, 1)
 /**
  * Report conversation within the mpu, including command byte and
@@ -224,71 +365,71 @@ struct MPUReport {
  */
 #define MPU9250_LOW_BUS_SPEED				0
 #define MPU9250_HIGH_BUS_SPEED				0x8000
+#define MPU9250_REG_MASK					0x00FF
 #  define MPU9250_IS_HIGH_SPEED(r) 			((r) & MPU9250_HIGH_BUS_SPEED)
-#  define MPU9250_REG(r) 					((r) &~MPU9250_HIGH_BUS_SPEED)
+#  define MPU9250_REG(r) 					((r) & MPU9250_REG_MASK)
 #  define MPU9250_SET_SPEED(r, s) 			((r)|(s))
 #  define MPU9250_HIGH_SPEED_OP(r) 			MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)
-#  define MPU9250_LOW_SPEED_OP(r)			MPU9250_REG((r))
+#  define MPU9250_LOW_SPEED_OP(r)			((r) &~MPU9250_HIGH_BUS_SPEED)
 
 /* interface factories */
-extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
-extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
+extern device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
+extern device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
 extern int MPU9250_probe(device::Device *dev, int device_type);
 
-typedef device::Device *(*MPU9250_constructor)(int, uint32_t, bool);
+typedef device::Device *(*MPU9250_constructor)(int, int, uint32_t, bool);
 
 class MPU9250_mag;
+class MPU9250_accel;
 class MPU9250_gyro;
 
-class MPU9250 : public device::CDev
+class MPU9250
 {
 public:
 	MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
 		const char *path_mag,
-		enum Rotation rotation);
+		enum Rotation rotation,
+		int device_type,
+		bool magnetometer_only);
+
 	virtual ~MPU9250();
 
 	virtual int		init();
 
-	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
 	void			print_info();
 
-	void			print_registers();
-
-	// deliberately cause a sensor error
-	void 			test_error();
-
 protected:
-	Device			*_interface;
+	device::Device *_interface;
 
 	virtual int		probe();
 
+	friend class MPU9250_accel;
 	friend class MPU9250_mag;
 	friend class MPU9250_gyro;
 
-	virtual ssize_t		gyro_read(struct file *filp, char *buffer, size_t buflen);
-	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
-
 private:
+	MPU9250_accel   *_accel;
 	MPU9250_gyro	*_gyro;
 	MPU9250_mag     *_mag;
 	uint8_t			_whoami;	/** whoami result */
+	int 			_device_type;
+	uint8_t 		_selected_bank;			/* Remember selected memory bank to avoid polling / setting on each read/write */
+	bool
+	_magnetometer_only;     /* To disable accel and gyro reporting if only magnetometer is used (e.g. as external magnetometer) */
 
 #if defined(USE_I2C)
 	/*
 	 * SPI bus based device use hrt
 	 * I2C bus needs to use work queue
 	 */
-	work_s			_work;
+	work_s			_work{};
 #endif
 	bool 			_use_hrt;
 
-	struct hrt_call		_call;
+	struct hrt_call		_call {};
 	unsigned		_call_interval;
 
 	ringbuffer::RingBuffer	*_accel_reports;
@@ -297,8 +438,6 @@ class MPU9250 : public device::CDev
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
-	int			_accel_orb_class_instance;
-	int			_accel_class_instance;
 
 	ringbuffer::RingBuffer	*_gyro_reports;
 
@@ -307,6 +446,8 @@ class MPU9250 : public device::CDev
 	float			_gyro_range_rad_s;
 
 	unsigned		_dlpf_freq;
+	unsigned		_dlpf_freq_icm_gyro;
+	unsigned		_dlpf_freq_icm_accel;
 
 	unsigned		_sample_rate;
 	perf_counter_t		_accel_reads;
@@ -336,16 +477,28 @@ class MPU9250 : public device::CDev
 	// this is used to support runtime checking of key
 	// configuration registers to detect SPI bus errors and sensor
 	// reset
+
+#ifndef MAX
+#define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
+#endif
+
 #define MPU9250_NUM_CHECKED_REGISTERS 11
-	static const uint8_t	_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_values[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t			_checked_next;
+	static const uint16_t	_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
+#define ICM20948_NUM_CHECKED_REGISTERS 15
+	static const uint16_t	_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS];
+
+	const uint16_t			*_checked_registers;
+
+	uint8_t					_checked_values[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+	uint8_t					_checked_bad[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+	unsigned				_checked_next;
+	unsigned				_num_checked_registers;
+
 
 	// last temperature reading for print_info()
 	float			_last_temperature;
 
-	bool check_null_data(uint32_t *data, uint8_t size);
+	bool check_null_data(uint16_t *data, uint8_t size);
 	bool check_duplicate(uint8_t *accel_data);
 	// keep last accel reading for duplicate detection
 	uint8_t			_last_accel_data[6];
@@ -425,15 +578,40 @@ class MPU9250 : public device::CDev
 	 */
 	void			measure();
 
+	/**
+	 * Select a register bank in ICM20948
+	 *
+	 * Only actually switches if the remembered bank is different from the
+	 * requested one
+	 *
+	 * @param		The index of the register bank to switch to (0-3)
+	 * @return		Error code
+	 */
+	int				select_register_bank(uint8_t bank);
+
+
 	/**
 	 * Read a register from the mpu
 	 *
 	 * @param		The register to read.
+	* @param       The bus speed to read with.
 	 * @return		The value that was read.
 	 */
 	uint8_t			read_reg(unsigned reg, uint32_t speed = MPU9250_LOW_BUS_SPEED);
 	uint16_t		read_reg16(unsigned reg);
 
+
+	/**
+	 * Read a register range from the mpu
+	 *
+	 * @param       The start address to read from.
+	 * @param       The bus speed to read with.
+	 * @param       The address of the target data buffer.
+	 * @param       The count of bytes to be read.
+	 * @return      The value that was read.
+	 */
+	uint8_t read_reg_range(unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count);
+
 	/**
 	 * Write a register in the mpu
 	 *
@@ -492,13 +670,6 @@ class MPU9250 : public device::CDev
 	 */
 	bool			is_external() { return _interface->external(); }
 
-	/**
-	 * Measurement self test
-	 *
-	 * @return 0 on success, 1 on failure
-	 */
-	int 			self_test();
-
 	/*
 	  set low pass filter frequency
 	 */
@@ -509,6 +680,11 @@ class MPU9250 : public device::CDev
 	*/
 	void _set_sample_rate(unsigned desired_sample_rate_hz);
 
+	/*
+	  set poll rate
+	 */
+	int _set_pollrate(unsigned long rate);
+
 	/*
 	  check that key registers still have the right value
 	 */
diff --git a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
index 3893d74621af..f9ded07ddcad 100644
--- a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
@@ -46,30 +46,34 @@
 
 #ifdef USE_I2C
 
-device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
+device::Device *MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus);
 
 class MPU9250_I2C : public device::I2C
 {
 public:
-	MPU9250_I2C(int bus, uint32_t address);
+	MPU9250_I2C(int bus, int device_type, uint32_t address);
 	~MPU9250_I2C() override = default;
 
 	int	read(unsigned address, void *data, unsigned count) override;
 	int	write(unsigned address, void *data, unsigned count) override;
 
 protected:
-	int	probe() override;
+	virtual int	probe();
+
+private:
+	int 		_device_type;
 
 };
 
 device::Device *
-MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
+MPU9250_I2C_interface(int bus, int device_type, uint32_t address, bool external_bus)
 {
-	return new MPU9250_I2C(bus, address);
+	return new MPU9250_I2C(bus, device_type, address);
 }
 
-MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
-	I2C("MPU9250_I2C", nullptr, bus, address, 400000)
+MPU9250_I2C::MPU9250_I2C(int bus, int device_type, uint32_t address) :
+	I2C("MPU9250_I2C", nullptr, bus, address, 400000),
+	_device_type(device_type)
 {
 	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
 }
@@ -106,8 +110,34 @@ int
 MPU9250_I2C::probe()
 {
 	uint8_t whoami = 0;
-	uint8_t expected = MPU_WHOAMI_9250;
-	return (read(MPUREG_WHOAMI, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
+	uint8_t reg_whoami = 0;
+	uint8_t expected = 0;
+	uint8_t register_select = REG_BANK(BANK0);  // register bank containing WHOAMI for ICM20948
+
+	switch (_device_type) {
+	case MPU_DEVICE_TYPE_MPU9250:
+		reg_whoami = MPUREG_WHOAMI;
+		expected = MPU_WHOAMI_9250;
+		break;
+
+	case MPU_DEVICE_TYPE_MPU6500:
+		reg_whoami = MPUREG_WHOAMI;
+		expected = MPU_WHOAMI_6500;
+		break;
+
+	case MPU_DEVICE_TYPE_ICM20948:
+		reg_whoami = ICMREG_20948_WHOAMI;
+		expected = ICM_WHOAMI_20948;
+		/*
+		 * make sure register bank 0 is selected - whoami is only present on bank 0, and that is
+		 * not sure e.g. if the device has rebooted without repowering the sensor
+		 */
+		write(ICMREG_20948_BANK_SEL, &register_select, 1);
+
+		break;
+	}
+
+	return (read(reg_whoami, &whoami, 1) == OK && (whoami == expected)) ? 0 : -EIO;
 }
 
 #endif /* USE_I2C */
diff --git a/src/drivers/imu/mpu9250/mpu9250_spi.cpp b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
index c02d6f2dc4c6..8a30fff910ef 100644
--- a/src/drivers/imu/mpu9250/mpu9250_spi.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
@@ -63,7 +63,7 @@
 #define MPU9250_LOW_SPI_BUS_SPEED	1000*1000
 #define MPU9250_HIGH_SPI_BUS_SPEED	20*1000*1000
 
-device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
+device::Device *MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus);
 
 class MPU9250_SPI : public device::SPI
 {
@@ -84,7 +84,7 @@ class MPU9250_SPI : public device::SPI
 };
 
 device::Device *
-MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
+MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus)
 {
 	device::Device *interface = nullptr;