diff --git a/Sensors.cpp b/Sensors.cpp
index 88ea67a2..faba55b0 100644
--- a/Sensors.cpp
+++ b/Sensors.cpp
@@ -1117,6 +1117,43 @@ void Device_Mag_getADC() {
 }
 #endif
 #endif
+
+
+// ************************************************************************************************************
+// I2C Compass QMC5883L
+// ************************************************************************************************************
+// I2C adress: 0x0D (7bit)
+// ************************************************************************************************************
+#if defined(QMC5883)
+
+#define MAG_ADDRESS 0x0D
+#define MAG_DATA_REGISTER 0x00
+
+//REG CONTROL
+
+#define MAG_CTRL_REG1 0x09
+#define QMC_MODE 0xC1 // 11 00 00 01OSR=64(11); Range=2G(00); ODR=10Hz(00); MODE=Cont(01)
+#define MAG_CTRL_REG2 0x0A
+
+void Mag_init() {
+  i2c_writeReg(MAG_ADDRESS,0x0B,0x01);
+  i2c_writeReg(MAG_ADDRESS,MAG_CTRL_REG1,QMC_MODE);
+}
+
+
+static void getADC() {
+  i2c_getSixRawADC(MAG_ADDRESS,MAG_DATA_REGISTER);
+  MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
+                   ((rawADC[3]<<8) | rawADC[2]) ,
+                   ((rawADC[5]<<8) | rawADC[4]) );
+}
+
+#if !defined(MPU6050_I2C_AUX_MASTER)
+static void Device_Mag_getADC() {
+  getADC();
+}
+#endif
+#endif
   
 
 // ************************************************************************************************************
@@ -1217,6 +1254,11 @@ void ACC_getADC () {
                          ((rawADC[2]<<8) | rawADC[3]) ,     
                          ((rawADC[4]<<8) | rawADC[5]) );
       #endif
+      #if defined(QMC5883)
+        MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
+                         ((rawADC[3]<<8) | rawADC[2]) ,
+                         ((rawADC[5]<<8) | rawADC[4]) );
+      #endif
     }
   #endif
 #endif
@@ -1536,4 +1578,4 @@ void initSensors() {
     initS();
     if (i2c_errors_count == 0) break; // no error during init => init ok
   }
-}
+}
diff --git a/config.h b/config.h
index dffdfa1e..656c80bf 100644
--- a/config.h
+++ b/config.h
@@ -133,6 +133,7 @@
       //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
       //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
       //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
+      //#define GY_87           // Chinese 10 DOF with  MPU6050 & QMC5883L
       //#define GY_88 // Chinese 10 DOF with MPU6050 HMC5883L BMP085, LLC
       //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
       //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
@@ -1228,4 +1229,4 @@ Also note, that maqgnetic declination changes with time, so recheck your value e
 /*************************************************************************************************/
 
 #endif /* CONFIG_H_ */
-
+
diff --git a/def.h b/def.h
index 04a93dcb..f9b3ba2f 100644
--- a/def.h
+++ b/def.h
@@ -1329,6 +1329,18 @@
   #undef INTERNAL_I2C_PULLUPS
 #endif
 
+#if defined(GY_87)
+  //https://forum.arduino.cc/index.php?topic=556590.0
+  #define MPU6050
+  #define QMC5883 
+  #define BMP085
+  #define ACC_ORIENTATION(X, Y, Z)  {imu.accADC[ROLL]  = -X; imu.accADC[PITCH]  = -Y; imu.accADC[YAW]  =  Z;}
+  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] =  Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
+  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[ROLL]  =  X; imu.magADC[PITCH]  =  Y; imu.magADC[YAW]  = -Z;}
+  #define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
+  #undef INTERNAL_I2C_PULLUPS
+#endif
+
 #if defined(GY_88)
   #define MPU6050
   #define HMC5883
@@ -1674,8 +1686,8 @@
   #define ACC 0
 #endif
 
-#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110)
-  #define MAG 1
+#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) || defined(QMC5883) 
+ #define MAG 1
 #else
   #define MAG 0
 #endif
@@ -2029,4 +2041,4 @@
   #error "you use one feature that is no longer supported or has undergone a name change"
 #endif
 
-#endif /* DEF_H_ */
+#endif /* DEF_H_ */