diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 99655c9475..07144631a0 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -31,6 +31,22 @@
 #define ContinuousConversion 0x00
 #define SingleConversion     0x01
 
+// ConfigRegA valid sample averaging for 5883L
+#define SampleAveraging_1    0x00
+#define SampleAveraging_2    0x01
+#define SampleAveraging_4    0x02
+#define SampleAveraging_8    0x03
+
+// ConfigRegA valid data output rates for 5883L
+#define DataOutputRate_0_75HZ 0x00
+#define DataOutputRate_1_5HZ  0x01
+#define DataOutputRate_3HZ    0x02
+#define DataOutputRate_7_5HZ  0x03
+#define DataOutputRate_15HZ   0x04
+#define DataOutputRate_30HZ   0x05
+#define DataOutputRate_75HZ   0x06
+
+
 // Public Methods //////////////////////////////////////////////////////////////
 bool 
 AP_Compass_HMC5843::init()
@@ -59,7 +75,11 @@ AP_Compass_HMC5843::init()
 	  // force positiveBias (compass should return 715 for all channels)
 	  Wire.beginTransmission(COMPASS_ADDRESS);
 	  Wire.send(ConfigRegA);
-	  Wire.send(PositiveBiasConfig);
+	  if (product_id == AP_COMPASS_TYPE_HMC5843) {
+		 Wire.send(PositiveBiasConfig);
+	  } else {
+		 Wire.send(SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | PositiveBiasConfig);
+	  }
 	  if (0 != Wire.endTransmission())
 		 continue;			// compass not responding on the bus
 	  delay(50);