diff --git a/libraries/APM_Compass/APM_Compass.h b/libraries/APM_Compass/APM_Compass.h
index 525abe3a51..da91e388aa 100644
--- a/libraries/APM_Compass/APM_Compass.h
+++ b/libraries/APM_Compass/APM_Compass.h
@@ -21,22 +21,41 @@
 #define ROTATION_ROLL_180_YAW_270	Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
 #define ROTATION_ROLL_180_YAW_315	Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
 
+// orientations for DIYDrones magnetometer
 #define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
-#define APM_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
+#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
 #define APM_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
-#define APM_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
+#define APM_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
 #define APM_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
-#define APM_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
+#define APM_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
 #define APM_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
-#define APM_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
+#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
 #define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
-#define APM_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
+#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
 #define APM_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
-#define APM_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
+#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
 #define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
-#define APM_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
+#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
 #define APM_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
-#define APM_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
+#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
+
+// orientations for Sparkfun magnetometer
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
+#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
+#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
 
 class APM_Compass_Class
 {