diff --git a/apps/drivers/l3gd20/Makefile b/apps/drivers/l3gd20/Makefile
deleted file mode 100644
index 98e2d57c55..0000000000
--- a/apps/drivers/l3gd20/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-############################################################################
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the L3GD20 driver.
-#
-
-APPNAME		 = l3gd20
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-include $(APPDIR)/mk/app.mk
diff --git a/makefiles/config_px4fmuv2_default.mk b/makefiles/config_px4fmuv2_default.mk
index d296c5379c..ee0c17bcb4 100644
--- a/makefiles/config_px4fmuv2_default.mk
+++ b/makefiles/config_px4fmuv2_default.mk
@@ -12,6 +12,7 @@ ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 #
 MODULES		+= drivers/boards/px4fmuv2
 MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
 MODULES		+= drivers/px4fmu
 MODULES		+= drivers/rgbled
 
@@ -43,7 +44,6 @@ BUILTIN_COMMANDS := \
 	$(call _B, hil,                    ,                          2048,  hil_main                   ) \
 	$(call _B, hott_telemetry,         ,                          2048,  hott_telemetry_main        ) \
 	$(call _B, kalman_demo,            SCHED_PRIORITY_MAX-30,     2048,  kalman_demo_main           ) \
-	$(call _B, l3gd20,                 ,                          2048,  l3gd20_main                ) \
 	$(call _B, math_demo,              ,                          8192,  math_demo_main             ) \
 	$(call _B, mavlink,                ,                          2048,  mavlink_main               ) \
 	$(call _B, mavlink_onboard,        ,                          2048,  mavlink_onboard_main       ) \
diff --git a/nuttx/configs/px4fmuv2/nsh/appconfig b/nuttx/configs/px4fmuv2/nsh/appconfig
index fff1406733..205b4448c7 100644
--- a/nuttx/configs/px4fmuv2/nsh/appconfig
+++ b/nuttx/configs/px4fmuv2/nsh/appconfig
@@ -115,8 +115,6 @@ CONFIGURED_APPS += drivers/boards/px4fmuv2
 CONFIGURED_APPS	+= drivers/device
 # XXX needs conversion to SPI
 #CONFIGURED_APPS += drivers/ms5611
-CONFIGURED_APPS += drivers/l3gd20
-CONFIGURED_APPS += drivers/lsm303d
 # XXX needs conversion to serial
 #CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
diff --git a/apps/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
similarity index 100%
rename from apps/drivers/l3gd20/l3gd20.cpp
rename to src/drivers/l3gd20/l3gd20.cpp
diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk
new file mode 100644
index 0000000000..23e77e8712
--- /dev/null
+++ b/src/drivers/l3gd20/module.mk
@@ -0,0 +1,6 @@
+#
+# LSM303D accel/mag driver
+#
+
+MODULE_COMMAND	 = l3gd20
+SRCS		 = l3gd20.cpp