diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APM b/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APM
index 0d367022c6..9dbbfbde82 100644
--- a/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APM
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APM
@@ -66,43 +66,48 @@ else
 fi
 
 echo "[APM] Starting APM sensors"
-if ms5611 start
+
+echo "[APM] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APM] MS5611 started OK"
+    echo "[APM] MS5611 onboard started OK"
 else
-    echo "[APM] MS5611 start failed"
+    echo "[APM] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-if hmc5883i start
+echo "[APM] Starting HMC5883 Internal"
+if hmc5883 -I start
 then
     echo "[APM] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 onboard calibrate failed"
-#    fi
+    if hmc5883 calibrate
+    then
+      echo "[APM] HMC5883 onboard calibrate OK"
+    else 
+      echo "[APM] HMC5883 onboard calibrate failed"
+    fi
 else
     echo "[APM] HMC5883 onboard start failed"
-    sh /etc/init.d/rc.error
-fi
-
-if hmc5883e start
-then
-    echo "[APM] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 external calibrate failed"
-#    fi
-else
-    echo "[APM] HMC5883 external start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-if mpu6000i start
+echo "[APM] Starting HMC5883 External GPS"
+if hmc5883 -X start
+then
+    echo "[APM] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APM] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APM] HMC5883 External GPS calibrate failed"
+    fi
+else
+    echo "[APM] HMC5883 External GPS start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APM] MPU6000 onboard started OK"
 else
@@ -110,7 +115,8 @@ else
     sh /etc/init.d/rc.error
 fi
 
-if mpu6000e start
+echo "[APM] Starting MPU6000 External"
+if mpu6000 -X start
 then
     echo "[APM] MPU6000 external started OK"
 else
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APMNS b/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APMNS
index 0209e8a9a4..9989eeac76 100644
--- a/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APMNS
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN45_APM/init.d/rc.APMNS
@@ -39,43 +39,48 @@ else
 fi
 
 echo "[APMNS] Starting APM sensors"
-if ms5611 start
+
+echo "[APMNS] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APMNS] MS5611 started OK"
+    echo "[APMNS] MS5611 onboard started OK"
 else
-    echo "[APMNS] MS5611 start failed"
+    echo "[APMNS] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-if hmc5883i start
+echo "[APMNS] Starting HMC5883 Internal"
+if hmc5883 -I start
 then
     echo "[APMNS] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 onboard calibrate failed"
-#    fi
+    if hmc5883 calibrate
+    then
+      echo "[APMNS] HMC5883 onboard calibrate OK"
+    else 
+      echo "[APMNS] HMC5883 onboard calibrate failed"
+    fi
 else
     echo "[APMNS] HMC5883 onboard start failed"
-    sh /etc/init.d/rc.error
-fi
-
-if hmc5883e start
-then
-    echo "[APMNS] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 external calibrate failed"
-#    fi
-else
-    echo "[APMNS] HMC5883 external start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-if mpu6000i start
+echo "[APMNS] Starting HMC5883 External GPS"
+if hmc5883 -X start
+then
+    echo "[APMNS] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APMNS] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APMNS] HMC5883 External GPS calibrate failed"
+    fi
+else
+    echo "[APMNS] HMC5883 External GPS start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APMNS] MPU6000 onboard started OK"
 else
@@ -83,7 +88,8 @@ else
     sh /etc/init.d/rc.error
 fi
 
-if mpu6000e start
+echo "[APMNS] Starting MPU6000 External"
+if mpu6000 -X start
 then
     echo "[APMNS] MPU6000 external started OK"
 else
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM
index 6613233514..a3d7f5cfe6 100644
--- a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM
@@ -66,43 +66,81 @@ else
 fi
 
 echo "[APM] Starting APM sensors"
-if ms5611 start
+
+echo "[APM] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APM] MS5611 started OK"
+    echo "[APM] MS5611 onboard started OK"
 else
-    echo "[APM] MS5611 start failed"
+    echo "[APM] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-if hmc5883i start
+echo "[APM] Starting MS5611 External EXP"
+if ms5611 -X start
 then
-    echo "[APM] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 onboard calibrate failed"
-#    fi
+    echo "[APM] MS5611 external EXP started OK"
 else
-    echo "[APM] HMC5883 onboard start failed"
+    echo "[APM] MS5611 external EXP start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-#if hmc5883e start
-#then
-#    echo "[APM] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 external calibrate failed"
-#    fi
-#else
-#    echo "[APM] HMC5883 external start failed"
+echo "[APM] Starting MS5611 External IMU"
+if ms5611 -U start
+then
+    echo "[APM] MS5611 external IMU started OK"
+else
+    echo "[APM] MS5611 external IMU start failed"
 #    sh /etc/init.d/rc.error
-#fi
+fi
 
-if mpu6000i start
+echo "[APM] Starting HMC5883 External GPS"
+if hmc5883 -X start
+then
+    echo "[APM] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APM] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APM] HMC5883 External GPS calibrate failed"
+    fi
+else
+    echo "[APM] HMC5883 External GPS start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting HMC5983 External EXP"
+if hmc5983 -X start
+then
+    echo "[APM] HMC5983 external EXP started OK"
+    if hmc5983 -X calibrate
+    then
+      echo "[APM] HMC5983 external EXP calibrate OK"
+    else 
+      echo "[APM] HMC5983 external EXP calibrate failed"
+    fi
+else
+    echo "[APM] HMC5983 external EXP start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting HMC5983 External IMU"
+if hmc5983 -U start
+then
+    echo "[APM] HMC5983 external IMU started OK"
+    if hmc5983 -U calibrate
+    then
+      echo "[APM] HMC5983 external IMU calibrate OK"
+    else 
+      echo "[APM] HMC5983 external IMU calibrate failed"
+    fi
+else
+    echo "[APM] HMC5983 external IMU start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APM] MPU6000 onboard started OK"
 else
@@ -110,13 +148,23 @@ else
     sh /etc/init.d/rc.error
 fi
 
-#if mpu6000e start
-#then
-#    echo "[APM] MPU6000 external started OK"
-#else
-#    echo "[APM] MPU6000 external start failed"
+echo "[APM] Starting MPU6000 External EXP"
+if mpu6000 -X start
+then
+    echo "[APM] MPU6000 external EXP started OK"
+else
+    echo "[APM] MPU6000 external EXP start failed"
 #    sh /etc/init.d/rc.error
-#fi
+fi
+
+echo "[APM] Starting MPU6000 External IMU"
+if mpu6000 -U start
+then
+    echo "[APM] MPU6000 external IMU started OK"
+else
+    echo "[APM] MPU6000 external IMU start failed"
+#    sh /etc/init.d/rc.error
+fi
 
 echo "[APM] Starting MTD driver"
 if mtd start /fs/mtd
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS
index 0209e8a9a4..141877a08b 100644
--- a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS
@@ -39,43 +39,81 @@ else
 fi
 
 echo "[APMNS] Starting APM sensors"
-if ms5611 start
+
+echo "[APMNS] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APMNS] MS5611 started OK"
+    echo "[APMNS] MS5611 onboard started OK"
 else
-    echo "[APMNS] MS5611 start failed"
+    echo "[APMNS] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-if hmc5883i start
+echo "[APMNS] Starting MS5611 External EXP"
+if ms5611 -X start
 then
-    echo "[APMNS] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 onboard calibrate failed"
-#    fi
+    echo "[APMNS] MS5611 external EXP started OK"
 else
-    echo "[APMNS] HMC5883 onboard start failed"
-    sh /etc/init.d/rc.error
-fi
-
-if hmc5883e start
-then
-    echo "[APMNS] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 external calibrate failed"
-#    fi
-else
-    echo "[APMNS] HMC5883 external start failed"
+    echo "[APMNS] MS5611 external EXP start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-if mpu6000i start
+echo "[APMNS] Starting MS5611 External IMU"
+if ms5611 -U start
+then
+    echo "[APMNS] MS5611 external IMU started OK"
+else
+    echo "[APMNS] MS5611 external IMU start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting HMC5883 External GPS"
+if hmc5883 -X start
+then
+    echo "[APMNS] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APMNS] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APMNS] HMC5883 External GPS calibrate failed"
+    fi
+else
+    echo "[APMNS] HMC5883 External GPS start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting HMC5983 External EXP"
+if hmc5983 -X start
+then
+    echo "[APMNS] HMC5983 external EXP started OK"
+    if hmc5983 -X calibrate
+    then
+      echo "[APMNS] HMC5983 external EXP calibrate OK"
+    else 
+      echo "[APMNS] HMC5983 external EXP calibrate failed"
+    fi
+else
+    echo "[APMNS] HMC5983 external EXP start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting HMC5983 External IMU"
+if hmc5983 -U start
+then
+    echo "[APMNS] HMC5983 external IMU started OK"
+    if hmc5983 -U calibrate
+    then
+      echo "[APMNS] HMC5983 external IMU calibrate OK"
+    else 
+      echo "[APMNS] HMC5983 external IMU calibrate failed"
+    fi
+else
+    echo "[APMNS] HMC5983 external IMU start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APMNS] MPU6000 onboard started OK"
 else
@@ -83,11 +121,21 @@ else
     sh /etc/init.d/rc.error
 fi
 
-if mpu6000e start
+echo "[APMNS] Starting MPU6000 External EXP"
+if mpu6000 -X start
 then
-    echo "[APMNS] MPU6000 external started OK"
+    echo "[APMNS] MPU6000 external EXP started OK"
 else
-    echo "[APMNS] MPU6000 external start failed"
+    echo "[APMNS] MPU6000 external EXP start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting MPU6000 External IMU"
+if mpu6000 -U start
+then
+    echo "[APMNS] MPU6000 external IMU started OK"
+else
+    echo "[APMNS] MPU6000 external IMU start failed"
 #    sh /etc/init.d/rc.error
 fi
 
diff --git a/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APM b/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APM
index 05303d6b19..cae8272d36 100644
--- a/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APM
+++ b/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APM
@@ -66,43 +66,33 @@ else
 fi
 
 echo "[APM] Starting APM sensors"
-if ms5611 start
+
+echo "[APM] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APM] MS5611 started OK"
+    echo "[APM] MS5611 onboard started OK"
 else
-    echo "[APM] MS5611 start failed"
+    echo "[APM] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-#if hmc5883i start
-#then
-#    echo "[APM] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 onboard calibrate failed"
-#    fi
-#else
-#    echo "[APM] HMC5883 onboard start failed"
-#    sh /etc/init.d/rc.error
-#fi
-
-if hmc5883e start
+echo "[APM] Starting HMC5883 External GPS"
+if hmc5883 -X start
 then
-    echo "[APM] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APM] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APM] HMC5883 external calibrate failed"
-#    fi
+    echo "[APM] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APM] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APM] HMC5883 External GPS calibrate failed"
+    fi
 else
-    echo "[APM] HMC5883 external start failed"
+    echo "[APM] HMC5883 External GPS start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-if mpu6000i start
+echo "[APM] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APM] MPU6000 onboard started OK"
 else
@@ -110,14 +100,6 @@ else
     sh /etc/init.d/rc.error
 fi
 
-#if mpu6000e start
-#then
-#    echo "[APM] MPU6000 external started OK"
-#else
-#    echo "[APM] MPU6000 external start failed"
-#    sh /etc/init.d/rc.error
-#fi
-
 echo "[APM] Starting MTD driver"
 if mtd start /fs/mtd
 then
diff --git a/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APMNS b/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APMNS
index 885a96b4d4..9ef6e3d2e8 100644
--- a/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APMNS
+++ b/mk/VRBRAIN/ROMFS_VRUBRAIN51_APM/init.d/rc.APMNS
@@ -39,43 +39,33 @@ else
 fi
 
 echo "[APMNS] Starting APM sensors"
-if ms5611 start
+
+echo "[APMNS] Starting MS5611 Internal"
+if ms5611 -I start
 then
-    echo "[APMNS] MS5611 started OK"
+    echo "[APMNS] MS5611 onboard started OK"
 else
-    echo "[APMNS] MS5611 start failed"
+    echo "[APMNS] MS5611 onboard start failed"
     sh /etc/init.d/rc.error
 fi
 
-#if hmc5883i start
-#then
-#    echo "[APMNS] HMC5883 onboard started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 onboard calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 onboard calibrate failed"
-#    fi
-#else
-#    echo "[APMNS] HMC5883 onboard start failed"
-#    sh /etc/init.d/rc.error
-#fi
-
-if hmc5883e start
+echo "[APMNS] Starting HMC5883 External GPS"
+if hmc5883 -X start
 then
-    echo "[APMNS] HMC5883 external started OK"
-#    if hmc5883 calibrate
-#    then
-#      echo "[APMNS] HMC5883 external calibrate OK"
-#    else 
-#      echo "[APMNS] HMC5883 external calibrate failed"
-#    fi
+    echo "[APMNS] HMC5883 External GPS started OK"
+    if hmc5883 -X calibrate
+    then
+      echo "[APMNS] HMC5883 External GPS calibrate OK"
+    else 
+      echo "[APMNS] HMC5883 External GPS calibrate failed"
+    fi
 else
-    echo "[APMNS] HMC5883 external start failed"
+    echo "[APMNS] HMC5883 External GPS start failed"
 #    sh /etc/init.d/rc.error
 fi
 
-if mpu6000i start
+echo "[APMNS] Starting MPU6000 Internal"
+if mpu6000 -I start
 then
     echo "[APMNS] MPU6000 onboard started OK"
 else
@@ -83,14 +73,6 @@ else
     sh /etc/init.d/rc.error
 fi
 
-#if mpu6000e start
-#then
-#    echo "[APMNS] MPU6000 external started OK"
-#else
-#    echo "[APMNS] MPU6000 external start failed"
-#    sh /etc/init.d/rc.error
-#fi
-
 echo "[APMNS] Starting MTD driver"
 if mtd start /fs/mtd
 then