diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 4cbe266320..aeb6ee1d7f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -288,6 +288,67 @@ bool AP_MPU9250_BusDriver_SPI::has_auxiliary_bus()
     return true;
 }
 
+/* I2C bus driver implementation */
+AP_MPU9250_BusDriver_I2C::AP_MPU9250_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr)
+    : _addr(addr)
+    , _i2c(i2c)
+{
+}
+
+void AP_MPU9250_BusDriver_I2C::read8(uint8_t reg, uint8_t *val)
+{
+    _i2c->readRegister(_addr, reg, val);
+}
+
+void AP_MPU9250_BusDriver_I2C::read_block(uint8_t reg, uint8_t *val, uint8_t count)
+{
+    _i2c->readRegisters(_addr, reg, count, val);
+}
+
+void AP_MPU9250_BusDriver_I2C::write8(uint8_t reg, uint8_t val)
+{
+    _i2c->writeRegister(_addr, reg, val);
+}
+
+bool AP_MPU9250_BusDriver_I2C::read_data_transaction(uint8_t *samples,
+                                                     uint8_t &n_samples)
+{
+    uint8_t ret = 0;
+    struct PACKED {
+        uint8_t int_status;
+        uint8_t v[MPU9250_SAMPLE_SIZE];
+    } buffer;
+
+    ret = _i2c->readRegisters(_addr, MPUREG_INT_STATUS, sizeof(buffer), (uint8_t *)&buffer);
+    if (ret != 0) {
+        hal.console->printf("MPU9250: error in I2C read\n");
+        n_samples = 0;
+        return false;
+    }
+
+    if (!(buffer.int_status & BIT_RAW_RDY_INT)) {
+#if MPU9250_DEBUG
+        hal.console->printf("MPU9250: No sample available.\n");
+#endif
+        n_samples = 0;
+        return false;
+    }
+
+    memcpy(samples, buffer.v, MPU9250_SAMPLE_SIZE);
+    n_samples = 1;
+    return true;
+}
+
+AP_HAL::Semaphore* AP_MPU9250_BusDriver_I2C::get_semaphore()
+{
+    return _i2c->get_semaphore();
+}
+
+bool AP_MPU9250_BusDriver_I2C::has_auxiliary_bus()
+{
+    return false;
+}
+
 AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu, AP_MPU9250_BusDriver *bus) :
 	AP_InertialSensor_Backend(imu),
     _last_accel_filter_hz(-1),
@@ -323,6 +384,16 @@ AP_InertialSensor_Backend *AP_InertialSensor_MPU9250::detect(AP_InertialSensor &
     return _detect(_imu, bus, HAL_INS_MPU9250);
 }
 
+AP_InertialSensor_Backend *AP_InertialSensor_MPU9250::detect_i2c(AP_InertialSensor &_imu,
+                                                                 AP_HAL::I2CDriver *i2c,
+                                                                 uint8_t addr)
+{
+    AP_MPU9250_BusDriver *bus = new AP_MPU9250_BusDriver_I2C(i2c, addr);
+    if (!bus)
+        return nullptr;
+    return _detect(_imu, bus, HAL_INS_MPU9250);
+}
+
 /* Common detection method - it takes ownership of the bus, freeing it if it's
  * not possible to return an AP_InertialSensor_Backend */
 AP_InertialSensor_Backend *AP_InertialSensor_MPU9250::_detect(AP_InertialSensor &_imu,
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
index be4115d282..8fd834ccc9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
@@ -55,6 +55,9 @@ public:
 
     // detect the sensor
     static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, AP_HAL::SPIDeviceDriver *spi);
+    static AP_InertialSensor_Backend *detect_i2c(AP_InertialSensor &imu,
+                                                 AP_HAL::I2CDriver *i2c,
+                                                 uint8_t addr);
 
 private:
     static AP_InertialSensor_Backend *_detect(AP_InertialSensor &_imu,
@@ -129,6 +132,24 @@ private:
     AP_HAL::SPIDeviceDriver *_spi;
 };
 
+class AP_MPU9250_BusDriver_I2C : public AP_MPU9250_BusDriver
+{
+public:
+    AP_MPU9250_BusDriver_I2C(AP_HAL::I2CDriver *i2c, uint8_t addr);
+    void init() {};
+    void read8(uint8_t reg, uint8_t *val);
+    void write8(uint8_t reg, uint8_t val);
+    void read_block(uint8_t reg, uint8_t *val, uint8_t count);
+    void set_bus_speed(AP_HAL::SPIDeviceDriver::bus_speed speed) {};
+    bool read_data_transaction(uint8_t* samples, uint8_t &n_samples);
+    AP_HAL::Semaphore* get_semaphore();
+    bool has_auxiliary_bus();
+
+private:
+    uint8_t _addr;
+    AP_HAL::I2CDriver *_i2c;
+};
+
 class AP_MPU9250_AuxiliaryBus : public AuxiliaryBus
 {
     friend class AP_InertialSensor_MPU9250;