diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 2694eb3c64..3931af6ebd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -191,7 +191,10 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	lis3mdl -X -q start
+	if ! lis3mdl -X -q start
+	then
+		lis3mdl -X -q -a 0x1c start
+	fi
 	qmc5883l -X -q start
 	rm3100 -X -q start
 
diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl.h b/src/drivers/magnetometer/lis2mdl/lis2mdl.h
index 197739b2ca..1296ddfa4d 100644
--- a/src/drivers/magnetometer/lis2mdl/lis2mdl.h
+++ b/src/drivers/magnetometer/lis2mdl/lis2mdl.h
@@ -80,8 +80,8 @@
 #define CFG_REG_C_BDU                   (1 << 4) /* avoids reading of incorrect data due to async reads */
 
 /* interface factories */
-extern device::Device *LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
-extern device::Device *LIS2MDL_I2C_interface(int bus, int bus_frequency);
+extern device::Device *LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config);
+extern device::Device *LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config);
 
 #define LIS2MDLL_ADDRESS        0x1e
 
diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp b/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
index 6bbfe0dede..3dcc472e60 100644
--- a/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
+++ b/src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp
@@ -56,7 +56,7 @@
 class LIS2MDL_I2C : public device::I2C
 {
 public:
-	LIS2MDL_I2C(int bus, int bus_frequency);
+	LIS2MDL_I2C(const I2CSPIDriverConfig &config);
 	virtual ~LIS2MDL_I2C() = default;
 
 	virtual int     read(unsigned address, void *data, unsigned count);
@@ -68,16 +68,16 @@ protected:
 };
 
 device::Device *
-LIS2MDL_I2C_interface(int bus, int bus_frequency);
+LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config);
 
 device::Device *
-LIS2MDL_I2C_interface(int bus, int bus_frequency)
+LIS2MDL_I2C_interface(const I2CSPIDriverConfig &config)
 {
-	return new LIS2MDL_I2C(bus, bus_frequency);
+	return new LIS2MDL_I2C(config);
 }
 
-LIS2MDL_I2C::LIS2MDL_I2C(int bus, int bus_frequency) :
-	I2C(DRV_MAG_DEVTYPE_LIS2MDL, "LIS2MDL_I2C", bus, LIS2MDLL_ADDRESS, bus_frequency)
+LIS2MDL_I2C::LIS2MDL_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config)
 {
 }
 
diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp b/src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp
index 11f8c8f3d4..d04435b50f 100644
--- a/src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp
+++ b/src/drivers/magnetometer/lis2mdl/lis2mdl_main.cpp
@@ -46,10 +46,10 @@ I2CSPIDriverBase *LIS2MDL::instantiate(const I2CSPIDriverConfig &config, int run
 	device::Device *interface = nullptr;
 
 	if (config.bus_type == BOARD_I2C_BUS) {
-		interface = LIS2MDL_I2C_interface(config.bus, config.bus_frequency);
+		interface = LIS2MDL_I2C_interface(config);
 
 	} else if (config.bus_type == BOARD_SPI_BUS) {
-		interface = LIS2MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
+		interface = LIS2MDL_SPI_interface(config);
 	}
 
 	if (interface == nullptr) {
@@ -94,6 +94,7 @@ extern "C" int lis2mdl_main(int argc, char *argv[])
 	using ThisDriver = LIS2MDL;
 	int ch;
 	BusCLIArguments cli{true, true};
+	cli.i2c_address = LIS2MDLL_ADDRESS;
 	cli.default_i2c_frequency = 400000;
 	cli.default_spi_frequency = 11 * 1000 * 1000;
 
@@ -112,8 +113,6 @@ extern "C" int lis2mdl_main(int argc, char *argv[])
 		return -1;
 	}
 
-	cli.i2c_address = LIS2MDLL_ADDRESS;
-
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS2MDL);
 
 	if (!strcmp(verb, "start")) {
diff --git a/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp b/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
index 54e5a24b61..b017ad4afe 100644
--- a/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
+++ b/src/drivers/magnetometer/lis2mdl/lis2mdl_spi.cpp
@@ -61,7 +61,7 @@
 class LIS2MDL_SPI : public device::SPI
 {
 public:
-	LIS2MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
+	LIS2MDL_SPI(const I2CSPIDriverConfig &config);
 	virtual ~LIS2MDL_SPI() = default;
 
 	virtual int     init();
@@ -70,16 +70,16 @@ public:
 };
 
 device::Device *
-LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
+LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config);
 
 device::Device *
-LIS2MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
+LIS2MDL_SPI_interface(const I2CSPIDriverConfig &config)
 {
-	return new LIS2MDL_SPI(bus, devid, bus_frequency, spi_mode);
+	return new LIS2MDL_SPI(config);
 }
 
-LIS2MDL_SPI::LIS2MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
-	SPI(DRV_MAG_DEVTYPE_LIS2MDL, "LIS2MDL_SPI", bus, devid, spi_mode, bus_frequency)
+LIS2MDL_SPI::LIS2MDL_SPI(const I2CSPIDriverConfig &config) :
+	SPI(config)
 {
 }
 
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.h b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
index f36d99972d..cff8c9466f 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.h
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
@@ -84,8 +84,8 @@
 #define CNTL_REG5_DEFAULT 0x00
 
 /* interface factories */
-extern device::Device *LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
-extern device::Device *LIS3MDL_I2C_interface(int bus, int bus_frequency);
+extern device::Device *LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config);
+extern device::Device *LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config);
 
 enum OPERATING_MODE {
 	CONTINUOUS = 0,
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
index c85c03b752..a0957cff3c 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
@@ -56,7 +56,7 @@
 class LIS3MDL_I2C : public device::I2C
 {
 public:
-	LIS3MDL_I2C(int bus, int bus_frequency);
+	LIS3MDL_I2C(const I2CSPIDriverConfig &config);
 	virtual ~LIS3MDL_I2C() = default;
 
 	virtual int     read(unsigned address, void *data, unsigned count);
@@ -68,16 +68,16 @@ protected:
 };
 
 device::Device *
-LIS3MDL_I2C_interface(int bus, int bus_frequency);
+LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config);
 
 device::Device *
-LIS3MDL_I2C_interface(int bus, int bus_frequency)
+LIS3MDL_I2C_interface(const I2CSPIDriverConfig &config)
 {
-	return new LIS3MDL_I2C(bus, bus_frequency);
+	return new LIS3MDL_I2C(config);
 }
 
-LIS3MDL_I2C::LIS3MDL_I2C(int bus, int bus_frequency) :
-	I2C(DRV_MAG_DEVTYPE_LIS3MDL, MODULE_NAME, bus, LIS3MDLL_ADDRESS, bus_frequency)
+LIS3MDL_I2C::LIS3MDL_I2C(const I2CSPIDriverConfig &config) :
+	I2C(config)
 {
 }
 
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
index edd1f280f3..7bdb49908a 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
@@ -46,10 +46,10 @@ I2CSPIDriverBase *LIS3MDL::instantiate(const I2CSPIDriverConfig &config, int run
 	device::Device *interface = nullptr;
 
 	if (config.bus_type == BOARD_I2C_BUS) {
-		interface = LIS3MDL_I2C_interface(config.bus, config.bus_frequency);
+		interface = LIS3MDL_I2C_interface(config);
 
 	} else if (config.bus_type == BOARD_SPI_BUS) {
-		interface = LIS3MDL_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
+		interface = LIS3MDL_SPI_interface(config);
 	}
 
 	if (interface == nullptr) {
@@ -90,6 +90,7 @@ void LIS3MDL::print_usage()
 	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x1e);
 	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
 	PRINT_MODULE_USAGE_COMMAND("reset");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
@@ -100,6 +101,7 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
 	using ThisDriver = LIS3MDL;
 	int ch;
 	BusCLIArguments cli{true, true};
+	cli.i2c_address = LIS3MDLL_ADDRESS;
 	cli.default_i2c_frequency = 400000;
 	cli.default_spi_frequency = 11 * 1000 * 1000;
 
@@ -118,8 +120,6 @@ extern "C" int lis3mdl_main(int argc, char *argv[])
 		return -1;
 	}
 
-	cli.i2c_address = LIS3MDLL_ADDRESS;
-
 	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
 
 	if (!strcmp(verb, "start")) {
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
index af9f99d776..9646259b63 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
@@ -61,7 +61,7 @@
 class LIS3MDL_SPI : public device::SPI
 {
 public:
-	LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
+	LIS3MDL_SPI(const I2CSPIDriverConfig &config);
 	virtual ~LIS3MDL_SPI() = default;
 
 	virtual int     init();
@@ -70,16 +70,16 @@ public:
 };
 
 device::Device *
-LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode);
+LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config);
 
 device::Device *
-LIS3MDL_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode)
+LIS3MDL_SPI_interface(const I2CSPIDriverConfig &config)
 {
-	return new LIS3MDL_SPI(bus, devid, bus_frequency, spi_mode);
+	return new LIS3MDL_SPI(config);
 }
 
-LIS3MDL_SPI::LIS3MDL_SPI(int bus, uint32_t devid, int bus_frequency, spi_mode_e spi_mode) :
-	SPI(DRV_MAG_DEVTYPE_LIS3MDL, MODULE_NAME, bus, devid, spi_mode, bus_frequency)
+LIS3MDL_SPI::LIS3MDL_SPI(const I2CSPIDriverConfig &config) :
+	SPI(config)
 {
 }