diff --git a/src/mpu9150/mpu9250.cxx b/src/mpu9150/mpu9250.cxx
index 6eccf8c8..c646a983 100644
--- a/src/mpu9150/mpu9250.cxx
+++ b/src/mpu9150/mpu9250.cxx
@@ -31,8 +31,8 @@
 using namespace upm;
 using namespace std;
 
-MPU9250::MPU9250 (int bus, int address, int magAddress) :
-  MPU9150(bus, address, magAddress)
+MPU9250::MPU9250 (int bus, int address, int magAddress, bool enableAk8975) :
+  MPU9150(bus, address, magAddress, enableAk8975)
 {
 }
 
diff --git a/src/mpu9150/mpu9250.h b/src/mpu9150/mpu9250.h
index 2b2b95c7..b7d0f061 100644
--- a/src/mpu9150/mpu9250.h
+++ b/src/mpu9150/mpu9250.h
@@ -58,9 +58,11 @@ namespace upm {
      * @param bus I2C bus to use
      * @param address The address for this device
      * @param magAddress The address of the connected magnetometer
+     * @param enableAk8975 Enables i2c bypass mode for magnetometer, default
+     * is true
      */
     MPU9250 (int bus=MPU9250_I2C_BUS, int address=MPU9250_DEFAULT_I2C_ADDR,
-             int magAddress=AK8975_DEFAULT_I2C_ADDR);
+             int magAddress=AK8975_DEFAULT_I2C_ADDR, bool enableAk8975=true);
 
     /**
      * MPU9250 destructor