diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 4941df12c5..9a5248a513 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -11,7 +11,7 @@
    maximum number of INS instances available on this platform. If more
    than 1 then redundent sensors may be available
  */
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 #define INS_MAX_INSTANCES 3
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #define INS_MAX_INSTANCES 2
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
index bbadc4d604..4c35504d9c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
@@ -21,7 +21,7 @@
 // L3G4200D gyro http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00265057.pdf
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 
 #include <AP_Math.h>
 #include "AP_InertialSensor_L3G4200D.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
index a0350c9912..4b7277e011 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h
@@ -4,7 +4,7 @@
 #define __AP_INERTIAL_SENSOR_L3G4200D_H__
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 
 #include <AP_Progmem.h>
 #include "AP_InertialSensor.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
index 3b3ee6bd40..d501925706 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
@@ -22,7 +22,7 @@
 */
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 
 #include <AP_Math.h>
 #include "AP_InertialSensor_MPU9150.h"
@@ -412,22 +412,23 @@ uint16_t AP_InertialSensor_MPU9150::_init_sensor( Sample_rate sample_rate )
     rev = ((buff[5] & 0x01) << 2) | ((buff[3] & 0x01) << 1) |
         (buff[1] & 0x01);
 
-    if (rev) {        
-        if (rev == 1){
-            /* Congrats, these parts are better. */
-            ;
-        }
-        else if (rev == 2){
-            ;
-        }
-        else {
-            hal.scheduler->panic(PSTR("AP_InertialSensor_MPU9150: Unsupported software product rev.\n"));
-            goto failed;
-        }
-    } else {
-            hal.scheduler->panic(PSTR("Product ID read as 0 indicates device is either incompatible or an MPU3050.\n"));
-            goto failed;            
-    }
+    // Do not do the checking, for some reason the MPU-9150 returns 0
+    // if (rev) {        
+    //     if (rev == 1){
+    //         /* Congrats, these parts are better. */
+    //         ;
+    //     }
+    //     else if (rev == 2){
+    //         ;
+    //     }
+    //     else {
+    //         hal.scheduler->panic(PSTR("AP_InertialSensor_MPU9150: Unsupported software product rev.\n"));
+    //         goto failed;
+    //     }
+    // } else {
+    //         hal.scheduler->panic(PSTR("Product ID read as 0 indicates device is either incompatible or an MPU3050.\n"));
+    //         goto failed;            
+    // }
 
     // Set gyro full-scale range [250, 500, 1000, 2000]
     if (mpu_set_gyro_fsr(2000)){
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
index 2a6e910eb8..006088dcc4 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h
@@ -4,7 +4,7 @@
 #define __AP_INERTIAL_SENSOR_MPU9150_H__
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 
 #include <AP_Progmem.h>
 #include "AP_InertialSensor.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index 55fd0f1a66..dfaa5feee1 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 #include <AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
 #include "AP_InertialSensor_Oilpan.h"
 
 const extern AP_HAL::HAL& hal;