diff --git a/make/source.mk b/make/source.mk
index 5fed8a988..ed430360b 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -284,6 +284,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_fake.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/display_ug2864hsweg01.c \
             drivers/inverter.c \
             drivers/light_ws2811strip.c \
diff --git a/src/main/drivers/compass/compass_qmc5883l.c b/src/main/drivers/compass/compass_qmc5883l.c
new file mode 100644
index 000000000..3c1f13965
--- /dev/null
+++ b/src/main/drivers/compass/compass_qmc5883l.c
@@ -0,0 +1,142 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <math.h>
+
+#include "platform.h"
+
+#ifdef USE_MAG_QMC5883
+
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/bus.h"
+#include "drivers/bus_i2c.h"
+#include "drivers/bus_i2c_busdev.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#include "compass.h"
+#include "compass_qmc5883l.h"
+
+#define QMC5883L_MAG_I2C_ADDRESS 0x0D
+
+// Registers
+#define QMC5883L_REG_CONF1 0x09
+#define QMC5883L_REG_CONF2 0x0A
+
+// data output rates for 5883L
+#define QMC5883L_ODR_10HZ  (0x00 << 2)
+#define QMC5883L_ODR_50HZ  (0x01 << 2)
+#define QMC5883L_ODR_100HZ (0x02 << 2)
+#define QMC5883L_ODR_200HZ (0x03 << 2)
+
+// Sensor operation modes
+#define QMC5883L_MODE_STANDBY    0x00
+#define QMC5883L_MODE_CONTINUOUS 0x01
+
+#define QMC5883L_RNG_2G (0x00 << 4)
+#define QMC5883L_RNG_8G (0x01 << 4)
+
+#define QMC5883L_OSR_512 (0x00 << 6)
+#define QMC5883L_OSR_256 (0x01 << 6)
+#define QMC5883L_OSR_128 (0x10 << 6)
+#define QMC5883L_OSR_64  (0x11 << 6)
+
+#define QMC5883L_RST 0x80
+
+#define QMC5883L_REG_DATA_OUTPUT_X 0x00
+#define QMC5883L_REG_STATUS 0x06
+
+#define QMC5883L_REG_ID 0x0D
+#define QMC5883_ID_VAL 0xFF
+
+static bool qmc5883lInit(magDev_t *magDev)
+{
+    UNUSED(magDev);
+
+    bool ack = true;
+    busDevice_t *busdev = &magDev->busdev;
+
+    ack = ack && busWriteRegister(busdev, 0x0B, 0x01);
+    ack = ack && busWriteRegister(busdev, QMC5883L_REG_CONF1, QMC5883L_MODE_CONTINUOUS | QMC5883L_ODR_200HZ | QMC5883L_OSR_512 | QMC5883L_RNG_8G);
+
+    if (!ack) {
+        return false;
+    }
+
+    return true;
+}
+
+static bool qmc5883lRead(magDev_t *magDev, int16_t *magData)
+{
+    uint8_t status;
+    uint8_t buf[6];
+
+    // set magData to zero for case of failed read
+    magData[X] = 0;
+    magData[Y] = 0;
+    magData[Z] = 0;
+
+    busDevice_t *busdev = &magDev->busdev;
+
+    bool ack = busReadRegisterBuffer(busdev, QMC5883L_REG_STATUS, &status, 1);
+
+    if (!ack || (status & 0x04) == 0) {
+        return false;
+    }
+
+    ack = busReadRegisterBuffer(busdev, QMC5883L_REG_DATA_OUTPUT_X, buf, 6);
+    if (!ack) {
+        return false;
+    }
+
+    magData[X] = (int16_t)(buf[1] << 8 | buf[0]);
+    magData[Y] = (int16_t)(buf[3] << 8 | buf[2]);
+    magData[Z] = (int16_t)(buf[5] << 8 | buf[4]);
+
+    return true;
+}
+
+bool qmc5883lDetect(magDev_t *magDev)
+{
+
+    busDevice_t *busdev = &magDev->busdev;
+
+    if (busdev->bustype == BUSTYPE_I2C && busdev->busdev_u.i2c.address == 0) {
+        busdev->busdev_u.i2c.address = QMC5883L_MAG_I2C_ADDRESS;
+    }
+
+    // Must write reset first  - don't care about the result
+    busWriteRegister(busdev, QMC5883L_REG_CONF2, QMC5883L_RST);
+    delay(20);
+
+    uint8_t sig = 0;
+    bool ack = busReadRegisterBuffer(busdev, QMC5883L_REG_ID, &sig, 1);
+    if (ack && sig == QMC5883_ID_VAL) {
+        magDev->init = qmc5883lInit;
+        magDev->read = qmc5883lRead;
+        return true;
+    }
+
+    return false;
+}
+#endif
diff --git a/src/main/drivers/compass/compass_qmc5883l.h b/src/main/drivers/compass/compass_qmc5883l.h
new file mode 100644
index 000000000..020078d5e
--- /dev/null
+++ b/src/main/drivers/compass/compass_qmc5883l.h
@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/io_types.h"
+
+bool qmc5883lDetect(magDev_t *magDev);
+
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 7514b899d..8cd7e9ade 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -116,7 +116,7 @@ const char * const lookupTableBaroHardware[] = {
 #if defined(USE_SENSOR_NAMES) || defined(USE_MAG)
 // sync with magSensor_e
 const char * const lookupTableMagHardware[] = {
-    "AUTO", "NONE", "HMC5883", "AK8975", "AK8963"
+    "AUTO", "NONE", "HMC5883", "AK8975", "AK8963", "QMC5883"
 };
 #endif
 #if defined(USE_SENSOR_NAMES) || defined(USE_RANGEFINDER)
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 6f78f8c81..f36a0cb84 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -34,6 +34,7 @@
 #include "drivers/compass/compass_ak8963.h"
 #include "drivers/compass/compass_fake.h"
 #include "drivers/compass/compass_hmc5883l.h"
+#include "drivers/compass/compass_qmc5883l.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
 
@@ -83,7 +84,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
 #endif
     compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
     compassConfig->mag_i2c_address = 0;
-#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
+#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
     compassConfig->mag_bustype = BUSTYPE_I2C;
     compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
     compassConfig->mag_i2c_address = 0;
@@ -180,6 +181,22 @@ bool compassDetect(magDev_t *dev)
 #endif
         FALLTHROUGH;
 
+    case MAG_QMC5883:
+#ifdef USE_MAG_QMC5883
+        if (busdev->bustype == BUSTYPE_I2C) {
+                busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
+        }
+
+        if (qmc5883lDetect(dev)) {
+#ifdef MAG_QMC5883L_ALIGN
+            dev->magAlign = MAG_QMC5883L_ALIGN;
+#endif
+            magHardware = MAG_QMC5883;
+            break;
+        }
+#endif
+        FALLTHROUGH;
+
     case MAG_AK8975:
 #ifdef USE_MAG_AK8975
         if (busdev->bustype == BUSTYPE_I2C) {
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index ec1474430..f112742e0 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -30,7 +30,8 @@ typedef enum {
     MAG_NONE = 1,
     MAG_HMC5883 = 2,
     MAG_AK8975 = 3,
-    MAG_AK8963 = 4
+    MAG_AK8963 = 4,
+    MAG_QMC5883 = 5
 } magSensor_e;
 
 typedef struct mag_s {
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 94485a711..7c430b92d 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -53,6 +53,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define USE_MAG_AK8963
 
 #define MAG_AK8963_ALIGN        CW180_DEG_FLIP
diff --git a/src/main/target/ALIENFLIGHTF4/target.mk b/src/main/target/ALIENFLIGHTF4/target.mk
index 18a5e7586..e733398ee 100644
--- a/src/main/target/ALIENFLIGHTF4/target.mk
+++ b/src/main/target/ALIENFLIGHTF4/target.mk
@@ -7,5 +7,6 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
 
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index a0637dee0..79d00b891 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -52,6 +52,7 @@
 #define USE_MAG
 #define USE_MAG_HMC5883
 #define USE_MAG_SPI_HMC5883
+#define USE_MAG_QMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_SPI_AK8963
 
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.mk b/src/main/target/ALIENFLIGHTNGF7/target.mk
index ad0ca8fef..060814652 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.mk
+++ b/src/main/target/ALIENFLIGHTNGF7/target.mk
@@ -7,4 +7,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index 2e98e28b3..dddd68ac6 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -45,6 +45,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_I2C_INSTANCE           (I2CDEV_2)
 
 //#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
diff --git a/src/main/target/ANYFCF7/target.mk b/src/main/target/ANYFCF7/target.mk
index 70d9e7a78..1145bf501 100644
--- a/src/main/target/ANYFCF7/target.mk
+++ b/src/main/target/ANYFCF7/target.mk
@@ -6,6 +6,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \
             drivers/max7456.c
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index 9e6312fca..f4bdbd89a 100644
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -54,6 +54,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 #define USE_MAX7456
 #define MAX7456_SPI_INSTANCE    SPI2
diff --git a/src/main/target/BETAFLIGHTF4/target.mk b/src/main/target/BETAFLIGHTF4/target.mk
index 303e78739..0db789447 100644
--- a/src/main/target/BETAFLIGHTF4/target.mk
+++ b/src/main/target/BETAFLIGHTF4/target.mk
@@ -8,4 +8,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index 98d0acba7..4728a5e1f 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -62,6 +62,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 //#define USE_MAG_AK8963
 #define HMC5883_I2C_INSTANCE    I2CDEV_1
 
diff --git a/src/main/target/BLUEJAYF4/target.mk b/src/main/target/BLUEJAYF4/target.mk
index babf74f2a..6b7d592ae 100644
--- a/src/main/target/BLUEJAYF4/target.mk
+++ b/src/main/target/BLUEJAYF4/target.mk
@@ -5,5 +5,6 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/compass/compass_hmc5883l.c 
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
 
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
index 95cbecfbf..cfc0eab85 100644
--- a/src/main/target/COLIBRI/target.h
+++ b/src/main/target/COLIBRI/target.h
@@ -51,6 +51,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW270_DEG_FLIP
 
 #define MAG_INT_EXTI            PC1
diff --git a/src/main/target/COLIBRI/target.mk b/src/main/target/COLIBRI/target.mk
index af8364ed0..6594f8395 100644
--- a/src/main/target/COLIBRI/target.mk
+++ b/src/main/target/COLIBRI/target.mk
@@ -5,4 +5,5 @@ HSE_VALUE       = 16000000
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 9000ecbb7..c972fc5bf 100644
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -70,6 +70,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
 
diff --git a/src/main/target/COLIBRI_RACE/target.mk b/src/main/target/COLIBRI_RACE/target.mk
index d1288d26a..d9346ed6a 100644
--- a/src/main/target/COLIBRI_RACE/target.mk
+++ b/src/main/target/COLIBRI_RACE/target.mk
@@ -12,5 +12,6 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_ak8975.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
 
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index 372f2edac..a433cf05f 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -48,6 +48,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
 
 #define USE_BARO
diff --git a/src/main/target/F4BY/target.mk b/src/main/target/F4BY/target.mk
index ec2205cc5..e5c4a67fa 100644
--- a/src/main/target/F4BY/target.mk
+++ b/src/main/target/F4BY/target.mk
@@ -4,4 +4,5 @@ FEATURES        += SDCARD VCP
 TARGET_SRC = \
              drivers/accgyro/accgyro_spi_mpu6000.c \
              drivers/barometer/barometer_ms5611.c \
-             drivers/compass/compass_hmc5883l.c
+             drivers/compass/compass_hmc5883l.c \
+             drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 67a349abe..7e9146db2 100644
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -63,6 +63,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883                   //External, connect to I2C1
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW180_DEG
 
 #define USE_BARO
diff --git a/src/main/target/KAKUTEF4/target.mk b/src/main/target/KAKUTEF4/target.mk
index 3c8a3885b..8f2f2e734 100644
--- a/src/main/target/KAKUTEF4/target.mk
+++ b/src/main/target/KAKUTEF4/target.mk
@@ -7,4 +7,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 48ce3e662..4f6652e29 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -156,6 +156,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_I2C_INSTANCE      I2C_DEVICE
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO)
diff --git a/src/main/target/KAKUTEF7/target.mk b/src/main/target/KAKUTEF7/target.mk
index 270a3d400..27e215329 100644
--- a/src/main/target/KAKUTEF7/target.mk
+++ b/src/main/target/KAKUTEF7/target.mk
@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \
             drivers/max7456.c
diff --git a/src/main/target/KROOZX/target.h b/src/main/target/KROOZX/target.h
index 808bcd534..7109cad1e 100644
--- a/src/main/target/KROOZX/target.h
+++ b/src/main/target/KROOZX/target.h
@@ -53,6 +53,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW180_DEG
 #define MAG_I2C_INSTANCE        I2CDEV_1
 
diff --git a/src/main/target/KROOZX/target.mk b/src/main/target/KROOZX/target.mk
index a0bf89c18..0c294619c 100644
--- a/src/main/target/KROOZX/target.mk
+++ b/src/main/target/KROOZX/target.mk
@@ -6,4 +6,5 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index 8f83bde57..fc56740e2 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -62,6 +62,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 // *************** Baro **************************
 #define USE_I2C
diff --git a/src/main/target/MATEKF405/target.mk b/src/main/target/MATEKF405/target.mk
index cbb55c9a7..aeedf2ad3 100644
--- a/src/main/target/MATEKF405/target.mk
+++ b/src/main/target/MATEKF405/target.mk
@@ -9,4 +9,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index 5e2aa1026..72e2f99a2 100644
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -76,6 +76,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 // *************** SD Card **************************
 #define USE_SDCARD
diff --git a/src/main/target/MATEKF722/target.mk b/src/main/target/MATEKF722/target.mk
index 2b9009edf..7934b618a 100644
--- a/src/main/target/MATEKF722/target.mk
+++ b/src/main/target/MATEKF722/target.mk
@@ -9,4 +9,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
diff --git a/src/main/target/MICROSCISKY/target.h b/src/main/target/MICROSCISKY/target.h
index 2e16f0137..e14ca9193 100644
--- a/src/main/target/MICROSCISKY/target.h
+++ b/src/main/target/MICROSCISKY/target.h
@@ -60,6 +60,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW180_DEG
 
 #define USE_UART1
diff --git a/src/main/target/MICROSCISKY/target.mk b/src/main/target/MICROSCISKY/target.mk
index b3f98e927..d13b57b32 100644
--- a/src/main/target/MICROSCISKY/target.mk
+++ b/src/main/target/MICROSCISKY/target.mk
@@ -6,4 +6,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/MULTIFLITEPICO/target.h b/src/main/target/MULTIFLITEPICO/target.h
index 48c0293dd..8acdd0c3d 100644
--- a/src/main/target/MULTIFLITEPICO/target.h
+++ b/src/main/target/MULTIFLITEPICO/target.h
@@ -48,6 +48,7 @@
 #define USE_MAG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW270_DEG
 
 #define USE_MAG_DATA_READY_SIGNAL
diff --git a/src/main/target/MULTIFLITEPICO/target.mk b/src/main/target/MULTIFLITEPICO/target.mk
index 9a79fa471..f642917f9 100644
--- a/src/main/target/MULTIFLITEPICO/target.mk
+++ b/src/main/target/MULTIFLITEPICO/target.mk
@@ -8,4 +8,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_ak8975.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/NUCLEOF7/target.h b/src/main/target/NUCLEOF7/target.h
index bcdf35b8a..f6be817c7 100644
--- a/src/main/target/NUCLEOF7/target.h
+++ b/src/main/target/NUCLEOF7/target.h
@@ -45,6 +45,7 @@
 #define USE_MAG
 #define USE_FAKE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN CW270_DEG_FLIP
 
 #define USE_BARO
diff --git a/src/main/target/NUCLEOF7/target.mk b/src/main/target/NUCLEOF7/target.mk
index 1ac226fe3..3408bae1b 100644
--- a/src/main/target/NUCLEOF7/target.mk
+++ b/src/main/target/NUCLEOF7/target.mk
@@ -7,4 +7,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_fake.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_fake.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/NUCLEOF722/target.h b/src/main/target/NUCLEOF722/target.h
index 1eb088081..f27439691 100644
--- a/src/main/target/NUCLEOF722/target.h
+++ b/src/main/target/NUCLEOF722/target.h
@@ -47,6 +47,7 @@
 #define USE_MAG
 #define USE_FAKE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN CW270_DEG_FLIP
 
 #define USE_BARO
diff --git a/src/main/target/NUCLEOF722/target.mk b/src/main/target/NUCLEOF722/target.mk
index 0d7b8ea1d..0e8eb220b 100644
--- a/src/main/target/NUCLEOF722/target.mk
+++ b/src/main/target/NUCLEOF722/target.mk
@@ -8,5 +8,6 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_fake.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index a64e67562..6d7cc1f2f 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -107,6 +107,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
 
 //#define USE_MAG_NAZA                   // Delete this on next major release
diff --git a/src/main/target/OMNIBUSF4/target.mk b/src/main/target/OMNIBUSF4/target.mk
index a7a01edc5..89f1781ca 100644
--- a/src/main/target/OMNIBUSF4/target.mk
+++ b/src/main/target/OMNIBUSF4/target.mk
@@ -8,5 +8,6 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c
 			
diff --git a/src/main/target/OMNIBUSF7/target.h b/src/main/target/OMNIBUSF7/target.h
index 01a04b163..bf54af94c 100644
--- a/src/main/target/OMNIBUSF7/target.h
+++ b/src/main/target/OMNIBUSF7/target.h
@@ -210,6 +210,7 @@
 
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 #define SENSORS_SET (SENSOR_ACC | SENSOR_BARO)
 //ADC---------------------------------------
diff --git a/src/main/target/OMNIBUSF7/target.mk b/src/main/target/OMNIBUSF7/target.mk
index 6d99b9e98..dc42481aa 100644
--- a/src/main/target/OMNIBUSF7/target.mk
+++ b/src/main/target/OMNIBUSF7/target.mk
@@ -13,6 +13,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \
             drivers/light_ws2811strip_hal.c \
             drivers/max7456.c
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index eb8570256..612d2eeea 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -147,6 +147,7 @@
 // Configure MAG and BARO unconditionally.
 #define USE_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
 
 #define USE_BARO
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index b2104f3c2..b45407a44 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -12,4 +12,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index d173d6e9c..7c95f5d21 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -111,6 +111,7 @@
 #define USE_MAG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 #define MAG_HMC5883_ALIGN       CW270_DEG
 
 #define USE_MAG_DATA_READY_SIGNAL
diff --git a/src/main/target/SPRACINGF3/target.mk b/src/main/target/SPRACINGF3/target.mk
index 8095619d0..9ce0e8c69 100644
--- a/src/main/target/SPRACINGF3/target.mk
+++ b/src/main/target/SPRACINGF3/target.mk
@@ -7,7 +7,8 @@ TARGET_SRC = \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_ak8975.c \
-            drivers/compass/compass_hmc5883l.c
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c
 
 ifeq ($(TARGET), FLIP32F3OSD)
 TARGET_SRC += \
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index 8f8d7b402..38f147b9b 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -72,6 +72,7 @@
 #define USE_MPU9250_MAG // Enables bypass configuration
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883 // External
+#define USE_MAG_QMC5883
 #define MAG_AK8975_ALIGN        CW90_DEG_FLIP
 #endif
 
diff --git a/src/main/target/SPRACINGF3MINI/target.mk b/src/main/target/SPRACINGF3MINI/target.mk
index 075b712d5..cbf1aa87f 100644
--- a/src/main/target/SPRACINGF3MINI/target.mk
+++ b/src/main/target/SPRACINGF3MINI/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/compass/compass_ak8963.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/flash_m25p16.c
 
 ifeq ($(TARGET), TINYBEEF3)
diff --git a/src/main/target/SPRACINGF4EVO/target.h b/src/main/target/SPRACINGF4EVO/target.h
index 82bd325ef..4b3bcb93a 100644
--- a/src/main/target/SPRACINGF4EVO/target.h
+++ b/src/main/target/SPRACINGF4EVO/target.h
@@ -81,6 +81,7 @@
 #define USE_MAG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 #define USE_VCP
 #define USE_UART1
diff --git a/src/main/target/SPRACINGF4EVO/target.mk b/src/main/target/SPRACINGF4EVO/target.mk
index f53196b6b..86d4303c7 100644
--- a/src/main/target/SPRACINGF4EVO/target.mk
+++ b/src/main/target/SPRACINGF4EVO/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
             drivers/vtx_rtc6705.c
 
diff --git a/src/main/target/SPRACINGF4NEO/target.h b/src/main/target/SPRACINGF4NEO/target.h
index 9f3df4bed..7b20ec6fa 100644
--- a/src/main/target/SPRACINGF4NEO/target.h
+++ b/src/main/target/SPRACINGF4NEO/target.h
@@ -73,6 +73,7 @@
 #define USE_MAG
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 #define USE_VCP
 #define USE_UART1
diff --git a/src/main/target/SPRACINGF4NEO/target.mk b/src/main/target/SPRACINGF4NEO/target.mk
index f98d9afc3..94fafc747 100644
--- a/src/main/target/SPRACINGF4NEO/target.mk
+++ b/src/main/target/SPRACINGF4NEO/target.mk
@@ -8,6 +8,7 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
             drivers/transponder_ir.c \
             drivers/vtx_rtc6705.c \
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 7670c647d..c96cae29b 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -152,6 +152,7 @@
 #define USE_MAG_AK8963
 #define USE_MAG_AK8975
 #define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
 
 #define USE_VCP
 #define USE_UART1
diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk
index f4c5fec0b..7e589a45a 100644
--- a/src/main/target/STM32F3DISCOVERY/target.mk
+++ b/src/main/target/STM32F3DISCOVERY/target.mk
@@ -27,5 +27,6 @@ TARGET_SRC = \
             drivers/compass/compass_ak8975.c \
             drivers/compass/compass_fake.c \
             drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
             drivers/flash_m25p16.c \
             drivers/max7456.c