diff --git a/src/main/config/config.c b/src/main/config/config.c
index 289f2e571d..84bbaf4de2 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -128,7 +128,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 108;
+static const uint8_t EEPROM_CONF_VERSION = 109;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -453,6 +453,7 @@ static void resetConf(void)
     resetSerialConfig(&masterConfig.serialConfig);
 
     masterConfig.emf_avoidance = 0;
+    masterConfig.i2c_overclock = 0;
 
     resetPidProfile(&currentProfile->pidProfile);
 
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index 723af0ccf8..d14345dc8e 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -26,6 +26,7 @@ typedef struct master_t {
     uint8_t mixerMode;
     uint32_t enabledFeatures;
     uint8_t emf_avoidance;                   // change pll settings to avoid noise in the uhf band
+    uint8_t i2c_overclock;                  // i2c clockspeed, 0 = 400kHz default (conform specs), 1 = 800kHz, 2 = 1200kHz
 
     motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
 #ifdef USE_SERVOS
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index bcb876de38..6e9d1b3b69 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -434,10 +434,8 @@ static void mpu6050GyroInit(void)
     // Accel scale 8g (4096 LSB/g)
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
 
-//    ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
-//            0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG   -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
-            0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_PIN_CFG   -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
+            0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG   -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h
index 39db2094ec..6bcaac1103 100644
--- a/src/main/drivers/bus_i2c.h
+++ b/src/main/drivers/bus_i2c.h
@@ -23,6 +23,7 @@ typedef enum I2CDevice {
     I2CDEV_MAX = I2CDEV_2,
 } I2CDevice;
 
+void i2cSetClockSelect(uint8_t clockSelect);
 void i2cInit(I2CDevice index);
 bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data);
 bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data);
diff --git a/src/main/drivers/bus_i2c_stm32f10x.c b/src/main/drivers/bus_i2c_stm32f10x.c
index 026dccf507..34ef22ad62 100644
--- a/src/main/drivers/bus_i2c_stm32f10x.c
+++ b/src/main/drivers/bus_i2c_stm32f10x.c
@@ -61,6 +61,7 @@ static const i2cDevice_t i2cHardwareMap[] = {
 static I2C_TypeDef *I2Cx = NULL;
 // Copy of device index for reinit, etc purposes
 static I2CDevice I2Cx_index;
+static uint8_t i2cClockSelect = 0;
 
 void I2C1_ER_IRQHandler(void)
 {
@@ -312,6 +313,11 @@ void i2c_ev_handler(void)
     }
 }
 
+void i2cSetClockSelect(uint8_t clockSelect)
+{
+    i2cClockSelect = clockSelect;
+}
+
 void i2cInit(I2CDevice index)
 {
     NVIC_InitTypeDef nvic;
@@ -340,7 +346,24 @@ void i2cInit(I2CDevice index)
     i2c.I2C_Mode = I2C_Mode_I2C;
     i2c.I2C_DutyCycle = I2C_DutyCycle_2;
     i2c.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
-    i2c.I2C_ClockSpeed = 400000;
+    // Overclocking i2c, test results
+    // Default speed, conform specs is 400000 (400 kHz)
+    // 2.0* :  800kHz - worked without errors
+    // 3.0* : 1200kHz - worked without errors
+    // 3.5* : 1400kHz - failed, hangup, bootpin recovery needed
+    // 4.0* : 1600kHz - failed, hangup, bootpin recovery needed
+    switch (i2cClockSelect) {
+        default:
+        case 0:
+            i2c.I2C_ClockSpeed = 400000;
+            break;
+        case 1:
+            i2c.I2C_ClockSpeed = 800000;
+            break;
+        case 2:
+            i2c.I2C_ClockSpeed = 1200000;
+            break;
+    }
     I2C_Cmd(I2Cx, ENABLE);
     I2C_Init(I2Cx, &i2c);
 
diff --git a/src/main/drivers/compass_ak8975.c b/src/main/drivers/compass_ak8975.c
index 365e24968f..57260d86cb 100644
--- a/src/main/drivers/compass_ak8975.c
+++ b/src/main/drivers/compass_ak8975.c
@@ -129,7 +129,7 @@ bool ak8975Read(int16_t *magData)
     for (uint8_t i = 0; i < 6; i++) {
         ack = i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL + i, 1, &buf[i]); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
         if (!ack) {
-            break false
+            return false
         }
     }
 #endif
diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index a59186d51f..6911034a7d 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -310,7 +310,7 @@ bool hmc5883lRead(int16_t *magData)
     uint8_t buf[6];
 
     bool ack = i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
-    if (ack) {
+    if (!ack) {
         return false;
     }
     // During calibration, magGain is 1.0, so the read returns normal non-calibrated values.
diff --git a/src/main/drivers/system.h b/src/main/drivers/system.h
index 67ea4a3f4a..e6b62d7305 100644
--- a/src/main/drivers/system.h
+++ b/src/main/drivers/system.h
@@ -52,4 +52,3 @@ typedef enum {
     FAILURE_FLASH_WRITE_FAILED
 } failureMode_e;
 
-#define FAILURE_MODE_COUNT 4
diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index f2bd18fc66..e433999b93 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -48,6 +48,7 @@
 #include "config/runtime_config.h"
 
 //#define DEBUG_IMU
+#define DEBUG_IMU_SPEED
 
 int16_t accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
@@ -182,10 +183,17 @@ int16_t imuCalculateHeading(t_fp_vector *vec)
     return head;
 }
 
+#if 0
 void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
 {
+#ifdef DEBUG_IMU_SPEED
+    uint32_t time = micros();
+#endif
     gyroUpdate();
-
+#ifdef DEBUG_IMU_SPEED
+    debug[0] = micros() - time;
+    time = micros();
+#endif
     if (sensors(SENSOR_ACC)) {
         qAccProcessingStateMachine(accelerometerTrims);
     } else {
@@ -193,8 +201,37 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
         accADC[Y] = 0;
         accADC[Z] = 0;
     }
+#ifdef DEBUG_IMU_SPEED
+    debug[2] = debug[0] + debug[1];
+#endif
 }
 
+#else
+
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
+{
+#ifdef DEBUG_IMU_SPEED
+    uint32_t time = micros();
+#endif
+    gyroUpdate();
+#ifdef DEBUG_IMU_SPEED
+    debug[0] = micros() - time;
+    time = micros();
+#endif
+    if (sensors(SENSOR_ACC)) {
+        qAccProcessingStateMachine(accelerometerTrims);
+    } else {
+        accADC[X] = 0;
+        accADC[Y] = 0;
+        accADC[Z] = 0;
+    }
+#ifdef DEBUG_IMU_SPEED
+    debug[2] = debug[0] + debug[1];
+#endif
+}
+
+#endif
+
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
 {
     float cosZ = EstG.V.Z / sqrtf(EstG.V.X * EstG.V.X + EstG.V.Y * EstG.V.Y + EstG.V.Z * EstG.V.Z);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 8452e3eb6a..d1023872c9 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -325,6 +325,7 @@ typedef struct {
 
 const clivalue_t valueTable[] = {
     { "emf_avoidance",              VAR_UINT8  | MASTER_VALUE,  &masterConfig.emf_avoidance, 0, 1 },
+    { "i2c_overclock",              VAR_UINT8  | MASTER_VALUE,  &masterConfig.i2c_overclock, 0, 2 },
 
     { "mid_rc",                     VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.midrc, 1200, 1700 },
     { "min_check",                  VAR_UINT16 | MASTER_VALUE,  &masterConfig.rxConfig.mincheck, PWM_RANGE_ZERO, PWM_RANGE_MAX },
diff --git a/src/main/main.c b/src/main/main.c
index 95b6f63988..e563cd29e6 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -168,6 +168,7 @@ void init(void)
     // Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
     // Configure the Flash Latency cycles and enable prefetch buffer
     SetSysClock(masterConfig.emf_avoidance);
+    i2cSetClockSelect(masterConfig.i2c_overclock);
 #endif
 
 #ifdef USE_HARDWARE_REVISION_DETECTION
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 17d58e8667..0c3b70c742 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -19,11 +19,13 @@
 #include <stdint.h>
 
 #include "platform.h"
+#include "debug.h"
 
 #include "common/axis.h"
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
+#include "drivers/system.h"
 
 #include "sensors/battery.h"
 #include "sensors/sensors.h"
@@ -34,6 +36,8 @@
 
 #include "sensors/acceleration.h"
 
+#define DEBUG_IMU_SPEED
+
 int16_t accADC[XYZ_AXIS_COUNT];
 
 acc_t acc;                       // acc access functions
@@ -171,9 +175,15 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
 
 void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
 {
+#ifdef DEBUG_IMU_SPEED
+    uint32_t time = micros();
+#endif
     if (!acc.read(accADC)) {
         return;
     }
+#ifdef DEBUG_IMU_SPEED
+    debug[1] = micros() - time;
+#endif
     alignSensors(accADC, accADC, accAlign);
 
     if (!isAccelerationCalibrationComplete()) {