diff --git a/main/bmx055.h b/main/bmx055.h
index 8b5282b..2f7c3b9 100644
--- a/main/bmx055.h
+++ b/main/bmx055.h
@@ -17,9 +17,9 @@ class BMX055_ACC
    uint8_t ID;                               // 0x58 for BMP280, 0x60 for BME280
 
   public:
-     uint8_t Error;          //      error on the I2C bus (0=no error)
+   uint8_t Error;                            // error on the I2C bus (0=no error)
 
-  uint8_t CheckID(void) // check ID
+  uint8_t CheckID(void)                      // check ID
    { ADDR=0;
      Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
      if( (!Error) && (ID==0xFA) ) { ADDR=ADDR0; return 0; }
@@ -42,9 +42,9 @@ class BMX055_GYR
    uint8_t ID;                               // 0x58 for BMP280, 0x60 for BME280
 
   public:
-     uint8_t Error;          //      error on the I2C bus (0=no error)
+   uint8_t Error;                            // error on the I2C bus (0=no error)
 
-  uint8_t CheckID(void)      // check ID
+  uint8_t CheckID(void)                      // check ID
    { ADDR=0;
      Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
      if( (!Error) && (ID==0x0F) ) { ADDR=ADDR0; return 0; }
@@ -61,7 +61,8 @@ class BMX055_MAG
    static const uint8_t ADDR2        = 0x12;
    static const uint8_t ADDR3        = 0x13;
 
-   static const uint8_t REG_ID       = 0x32;
+   static const uint8_t REG_ID       = 0x40;
+   static const uint8_t REG_PWR      = 0x4B;
 
   public:
    uint8_t Bus;                              // which I2C bus
@@ -71,15 +72,19 @@ class BMX055_MAG
   public:
      uint8_t Error;                          // error on the I2C bus (0=no error)
 
-  uint8_t CheckID(void)                      // check ID
+  uint8_t CheckID(void)                      // power-up and check ID
    { ADDR=0;
-     Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
+     Error=I2C_Write(Bus, ADDR0, REG_PWR, 0x03);
+     if(!Error) Error=I2C_Read(Bus, ADDR0, REG_ID, ID);
      if( (!Error) && (ID==0x32) ) { ADDR=ADDR0; return 0; }
-     Error=I2C_Read(Bus, ADDR1, REG_ID, ID);
+     Error=I2C_Write(Bus, ADDR1, REG_PWR, 0x03);
+     if(!Error) Error=I2C_Read(Bus, ADDR1, REG_ID, ID);
      if( (!Error) && (ID==0x32) ) { ADDR=ADDR1; return 0; }
-     Error=I2C_Read(Bus, ADDR2, REG_ID, ID);
+     Error=I2C_Write(Bus, ADDR2, REG_PWR, 0x03);
+     if(!Error) Error=I2C_Read(Bus, ADDR2, REG_ID, ID);
      if( (!Error) && (ID==0x32) ) { ADDR=ADDR2; return 0; }
-     Error=I2C_Read(Bus, ADDR3, REG_ID, ID);
+     Error=I2C_Write(Bus, ADDR3, REG_PWR, 0x03);
+     if(!Error) Error=I2C_Read(Bus, ADDR3, REG_ID, ID);
      if( (!Error) && (ID==0x32) ) { ADDR=ADDR3; return 0; }
      return 1; } // 0 => no error and correct ID
 
diff --git a/main/imu.cpp b/main/imu.cpp
index 6c7475c..1a88482 100644
--- a/main/imu.cpp
+++ b/main/imu.cpp
@@ -22,9 +22,9 @@ static uint8_t InitIMU(void)
 { MAG.Bus=BARO_I2C;
   ACC.Bus=BARO_I2C;
   GYR.Bus=BARO_I2C;
-  uint8_t  Err  = MAG.CheckID(); Err<<=1;
-  if(!Err) Err |= ACC.CheckID(); Err<<=1;
-  if(!Err) Err |= GYR.CheckID();
+  uint8_t  Err  = MAG.CheckID(); // Err<<=1;
+  // if(!Err) Err |= ACC.CheckID(); Err<<=1;
+  // if(!Err) Err |= GYR.CheckID();
   return Err; }
 
 static void ProcIMU(void)