diff --git a/include/driver/hdc1080.h b/include/driver/hdc1080.h
index 83a99cb63d2be5af50bd8eb6c4a4d7fd9258cebb..85d1303cd8824cdcd4215c6c830768eef1cf90d7 100644
--- a/include/driver/hdc1080.h
+++ b/include/driver/hdc1080.h
@@ -20,6 +20,7 @@ class HDC1080 {
 		float getRH();
 		unsigned int getManufacturerID();
 		void init();
+		void measure();
 		void heater(bool on);
 };
 
diff --git a/src/app/datalogger/main.cc b/src/app/datalogger/main.cc
index f9484b59db873357301bf1cfe9c0171c33954527..2d8a8e63f736dde6c35469e397d75feb7ff06101 100644
--- a/src/app/datalogger/main.cc
+++ b/src/app/datalogger/main.cc
@@ -127,6 +127,8 @@ void loop(void)
 		hdc1080.getTemp();
 	}
 	*/
+	hdc1080.measure();
+	arch.delay_ms(10);
 	kout << "HDC1080 temperature " << hdc1080.getTemp() << " degC" << endl;
 	kout << "HDC1080 humidity " << hdc1080.getRH() << " %H" << endl;
 #endif
@@ -253,6 +255,7 @@ int main(void)
 
 #ifdef CONFIG_driver_mpu9250
 	mpu9250.init();
+	mpu9250.nineAxis();
 #endif
 
 #ifdef CONFIG_driver_tsl2591
diff --git a/src/driver/hdc1080.cc b/src/driver/hdc1080.cc
index af828fdb5878704ef96c1d6183cf5d848ab6d105..2ac983d2b746b63f34bf1b5ba74c8d32fb39d888 100644
--- a/src/driver/hdc1080.cc
+++ b/src/driver/hdc1080.cc
@@ -11,14 +11,15 @@
 #include "driver/soft_i2c.h"
 #endif
 
-float HDC1080::getTemp()
+void HDC1080::measure()
 {
 	txbuf[0] = 0x00;
-
 	i2c.xmit(address, 1, txbuf, 0, rxbuf);
+}
 
-	arch.delay_ms(10);
-
+float HDC1080::getTemp()
+{
+	txbuf[0] = 0x00;
 	i2c.xmit(address, 0, txbuf, 2, rxbuf);
 
 	return (((unsigned int)rxbuf[0] << 8) | rxbuf[1]) * .00251770019531250000 - 40.;
@@ -27,11 +28,6 @@ float HDC1080::getTemp()
 float HDC1080::getRH()
 {
 	txbuf[0] = 0x01;
-
-	i2c.xmit(address, 1, txbuf, 0, rxbuf);
-
-	arch.delay_ms(10);
-
 	i2c.xmit(address, 0, txbuf, 2, rxbuf);
 
 	return (((unsigned int)rxbuf[0] << 8) | rxbuf[1]) * .00152587890625000000;