diff --git a/ROMFS/tap_common/init.d/rcS b/ROMFS/tap_common/init.d/rcS
index 373ac6d090..a68c78e6fd 100644
--- a/ROMFS/tap_common/init.d/rcS
+++ b/ROMFS/tap_common/init.d/rcS
@@ -154,6 +154,8 @@ then
 		fi
 	fi
 
+	gps start -d /dev/ttyS0
+
 	# waypoint storage
 	# REBOOTWORK this needs to start in parallel
 	if dataman start
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 6ce1ae215c..727ba5712f 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -17,6 +17,7 @@ set(config_module_list
 	drivers/tap_esc
 	#drivers/mpu6500
 	drivers/ms5611
+	drivers/hmc5883
 	drivers/gps
 	drivers/airspeed
 	drivers/meas_airspeed
diff --git a/src/drivers/boards/tap-v1/board_config.h b/src/drivers/boards/tap-v1/board_config.h
index b31935e258..a5f377ef91 100644
--- a/src/drivers/boards/tap-v1/board_config.h
+++ b/src/drivers/boards/tap-v1/board_config.h
@@ -106,6 +106,8 @@ __BEGIN_DECLS
 #define PX4_I2C_BUS_SONAR      2
 #define PX4_I2C_BUS_EXPANSION  3
 
+#define PX4_I2C_OBDEV_HMC5883	0x1e
+
 /*
  * Devices on the onboard bus.
  *