diff --git a/src/main/drivers/accgyro_fake.c b/src/main/drivers/accgyro_fake.c
new file mode 100644
index 0000000000..c592f01846
--- /dev/null
+++ b/src/main/drivers/accgyro_fake.c
@@ -0,0 +1,110 @@
+/*
+ * 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 "platform.h"
+
+#include "common/axis.h"
+#include "common/utils.h"
+
+#include "accgyro.h"
+#include "accgyro_fake.h"
+
+
+#ifdef USE_FAKE_GYRO
+
+static int16_t fakeGyroADC[XYZ_AXIS_COUNT];
+
+static void fakeGyroInit(gyroDev_t *gyro)
+{
+    UNUSED(gyro);
+}
+
+void fakeGyroSet(int16_t x, int16_t y, int16_t z)
+{
+    fakeGyroADC[X] = x;
+    fakeGyroADC[Y] = y;
+    fakeGyroADC[Z] = z;
+}
+
+static bool fakeGyroRead(gyroDev_t *gyro)
+{
+    gyro->gyroADCRaw[X] = fakeGyroADC[X];
+    gyro->gyroADCRaw[Y] = fakeGyroADC[Y];
+    gyro->gyroADCRaw[Z] = fakeGyroADC[Z];
+    return true;
+}
+
+static bool fakeGyroReadTemperature(int16_t *tempData)
+{
+    UNUSED(tempData);
+    return true;
+}
+
+static bool fakeGyroInitStatus(gyroDev_t *gyro)
+{
+    UNUSED(gyro);
+    return true;
+}
+
+bool fakeGyroDetect(gyroDev_t *gyro)
+{
+    gyro->init = fakeGyroInit;
+    gyro->intStatus = fakeGyroInitStatus;
+    gyro->read = fakeGyroRead;
+    gyro->temperature = fakeGyroReadTemperature;
+    gyro->scale = 1.0f;
+    return true;
+}
+#endif // USE_FAKE_GYRO
+
+
+#ifdef USE_FAKE_ACC
+
+static int16_t fakeAccData[XYZ_AXIS_COUNT];
+
+static void fakeAccInit(accDev_t *acc)
+{
+    UNUSED(acc);
+}
+
+void fakeAccSet(int16_t x, int16_t y, int16_t z)
+{
+    fakeAccData[X] = x;
+    fakeAccData[Y] = y;
+    fakeAccData[Z] = z;
+}
+
+static bool fakeAccRead(int16_t *accData)
+{
+    accData[X] = fakeAccData[X];
+    accData[Y] = fakeAccData[Y];
+    accData[Z] = fakeAccData[Z];
+    return true;
+}
+
+bool fakeAccDetect(accDev_t *acc)
+{
+    acc->init = fakeAccInit;
+    acc->read = fakeAccRead;
+    acc->revisionCode = 0;
+    return true;
+}
+#endif // USE_FAKE_ACC
+
diff --git a/src/main/drivers/accgyro_fake.h b/src/main/drivers/accgyro_fake.h
new file mode 100644
index 0000000000..d8452916bf
--- /dev/null
+++ b/src/main/drivers/accgyro_fake.h
@@ -0,0 +1,26 @@
+/*
+ * 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
+
+struct accDev_s;
+bool fakeAccDetect(struct accDev_s *acc);
+void fakeAccSet(int16_t x, int16_t y, int16_t z);
+
+struct gyroDev_s;
+bool fakeGyroDetect(struct gyroDev_s *gyro);
+void fakeGyroSet(int16_t x, int16_t y, int16_t z);
diff --git a/src/main/drivers/barometer_fake.c b/src/main/drivers/barometer_fake.c
new file mode 100644
index 0000000000..b567503603
--- /dev/null
+++ b/src/main/drivers/barometer_fake.c
@@ -0,0 +1,70 @@
+/*
+ * 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 <platform.h>
+
+#ifdef USE_FAKE_BARO
+
+#include "barometer.h"
+#include "barometer_fake.h"
+
+
+static int32_t fakePressure;
+static int32_t fakeTemperature;
+
+
+static void fakeBaroStartGet(void)
+{
+}
+
+static void fakeBaroCalculate(int32_t *pressure, int32_t *temperature)
+{
+    if (pressure)
+        *pressure = fakePressure;
+    if (temperature)
+        *temperature = fakeTemperature;
+}
+
+void fakeBaroSet(int32_t pressure, int32_t temperature)
+{
+    fakePressure = pressure;
+    fakeTemperature = temperature;
+}
+
+bool fakeBaroDetect(baroDev_t *baro)
+{
+    fakePressure = 101325;    // pressure in Pa (0m MSL)
+    fakeTemperature = 2500;   // temperature in 0.01 C = 25 deg
+
+    // these are dummy as temperature is measured as part of pressure
+    baro->ut_delay = 10000;
+    baro->get_ut = fakeBaroStartGet;
+    baro->start_ut = fakeBaroStartGet;
+
+    // only _up part is executed, and gets both temperature and pressure
+    baro->up_delay = 10000;
+    baro->start_up = fakeBaroStartGet;
+    baro->get_up = fakeBaroStartGet;
+    baro->calculate = fakeBaroCalculate;
+
+    return true;
+}
+#endif // USE_FAKE_BARO
+
diff --git a/src/main/drivers/barometer_fake.h b/src/main/drivers/barometer_fake.h
new file mode 100644
index 0000000000..bdf67ed24c
--- /dev/null
+++ b/src/main/drivers/barometer_fake.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
+
+struct baroDev_s;
+bool fakeBaroDetect(struct baroDev_s *baro);
+void fakeBaroSet(int32_t pressure, int32_t temperature);
+
diff --git a/src/main/drivers/compass_fake.c b/src/main/drivers/compass_fake.c
new file mode 100644
index 0000000000..cb8098c77d
--- /dev/null
+++ b/src/main/drivers/compass_fake.c
@@ -0,0 +1,66 @@
+/*
+ * 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 "platform.h"
+
+#ifdef USE_FAKE_MAG
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+
+#include "compass.h"
+#include "compass_fake.h"
+
+
+static int16_t fakeMagData[XYZ_AXIS_COUNT];
+
+static bool fakeMagInit(void)
+{
+    // initially point north
+    fakeMagData[X] = 4096;
+    fakeMagData[Y] = 0;
+    fakeMagData[Z] = 0;
+    return true;
+}
+
+void fakeMagSet(int16_t x, int16_t y, int16_t z)
+{
+    fakeMagData[X] = x;
+    fakeMagData[Y] = y;
+    fakeMagData[Z] = z;
+}
+
+static bool fakeMagRead(int16_t *magData)
+{
+    magData[X] = fakeMagData[X];
+    magData[Y] = fakeMagData[Y];
+    magData[Z] = fakeMagData[Z];
+    return true;
+}
+
+bool fakeMagDetect(magDev_t *mag)
+{
+    mag->init = fakeMagInit;
+    mag->read = fakeMagRead;
+    return true;
+}
+#endif // USE_FAKE_MAG
+
diff --git a/src/main/drivers/compass_fake.h b/src/main/drivers/compass_fake.h
new file mode 100644
index 0000000000..81957c3563
--- /dev/null
+++ b/src/main/drivers/compass_fake.h
@@ -0,0 +1,22 @@
+/*
+ * 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
+
+struct magDev_s;
+bool fakeMagDetect(struct magDev_s *mag);
+void fakeMagSet(int16_t x, int16_t y, int16_t z);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index bfb6127046..9116c18374 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -35,6 +35,7 @@
 #include "drivers/accgyro.h"
 #include "drivers/accgyro_adxl345.h"
 #include "drivers/accgyro_bma280.h"
+#include "drivers/accgyro_fake.h"
 #include "drivers/accgyro_l3g4200d.h"
 #include "drivers/accgyro_mma845x.h"
 #include "drivers/accgyro_mpu.h"
@@ -54,12 +55,14 @@
 #include "drivers/barometer.h"
 #include "drivers/barometer_bmp085.h"
 #include "drivers/barometer_bmp280.h"
+#include "drivers/barometer_fake.h"
 #include "drivers/barometer_ms5611.h"
 
 #include "drivers/compass.h"
-#include "drivers/compass_hmc5883l.h"
 #include "drivers/compass_ak8975.h"
 #include "drivers/compass_ak8963.h"
+#include "drivers/compass_fake.h"
+#include "drivers/compass_hmc5883l.h"
 
 #include "drivers/sonar_hcsr04.h"
 
@@ -94,69 +97,6 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 #endif
 }
 
-#ifdef USE_FAKE_GYRO
-int16_t fake_gyro_values[XYZ_AXIS_COUNT] = { 0,0,0 };
-static void fakeGyroInit(gyroDev_t *gyro)
-{
-    UNUSED(gyro);
-}
-
-static bool fakeGyroRead(gyroDev_t *gyro)
-{
-    for (int i = 0; i < XYZ_AXIS_COUNT; ++i) {
-        gyro->gyroADCRaw[X] = fake_gyro_values[i];
-    }
-
-    return true;
-}
-
-static bool fakeGyroReadTemp(int16_t *tempData)
-{
-    UNUSED(tempData);
-    return true;
-}
-
-
-static bool fakeGyroInitStatus(gyroDev_t *gyro)
-{
-    UNUSED(gyro);
-    return true;
-}
-
-bool fakeGyroDetect(gyroDev_t *gyro)
-{
-    gyro->init = fakeGyroInit;
-    gyro->intStatus = fakeGyroInitStatus;
-    gyro->read = fakeGyroRead;
-    gyro->temperature = fakeGyroReadTemp;
-    gyro->scale = 1.0f / 16.4f;
-    return true;
-}
-#endif
-
-#ifdef USE_FAKE_ACC
-int16_t fake_acc_values[XYZ_AXIS_COUNT] = {0,0,0};
-
-static void fakeAccInit(accDev_t *acc) {UNUSED(acc);}
-
-static bool fakeAccRead(int16_t *accData) {
-    for(int i=0;i<XYZ_AXIS_COUNT;++i) {
-        accData[i] = fake_acc_values[i];
-    }
-
-    return true;
-}
-
-bool fakeAccDetect(accDev_t *acc)
-{
-    acc->init = fakeAccInit;
-    acc->read = fakeAccRead;
-    acc->acc_1G = 512*8;
-    acc->revisionCode = 0;
-    return true;
-}
-#endif
-
 bool gyroDetect(gyroDev_t *dev)
 {
     gyroSensor_e gyroHardware = GYRO_DEFAULT;
diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk
index cef064b7e3..6f1f506bff 100644
--- a/src/main/target/STM32F3DISCOVERY/target.mk
+++ b/src/main/target/STM32F3DISCOVERY/target.mk
@@ -7,8 +7,8 @@ TARGET_SRC = \
             drivers/accgyro_l3gd20.c \
             drivers/accgyro_l3g4200d.c \
             drivers/accgyro_lsm303dlhc.c \
-            drivers/compass_hmc5883l.c \
             drivers/accgyro_adxl345.c \
+            drivers/accgyro_fake.c \
             drivers/accgyro_bma280.c \
             drivers/accgyro_mma845x.c \
             drivers/accgyro_mpu.c \
@@ -20,9 +20,11 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu9250.c \
             drivers/barometer_bmp085.c \
             drivers/barometer_bmp280.c \
+            drivers/barometer_fake.c \
             drivers/barometer_ms5611.c \
             drivers/compass_ak8963.c \
             drivers/compass_ak8975.c \
+            drivers/compass_fake.c \
             drivers/compass_hmc5883l.c \
             drivers/flash_m25p16.c \
             drivers/max7456.c