diff --git a/library/sensors.dcm b/library/sensors.dcm
index 6c2febab..ee7d47d2 100644
--- a/library/sensors.dcm
+++ b/library/sensors.dcm
@@ -456,6 +456,30 @@ K MEMS Microphone
 F http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00025467.pdf
 $ENDCMP
 #
+$CMP MPU-6000
+D InvenSense 6-Axis Motion Sensor, Gyroscope, Accelerometer, I2C/SPI
+K mems
+F https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf
+$ENDCMP
+#
+$CMP MPU-6050
+D InvenSense 6-Axis Motion Sensor, Gyroscope, Accelerometer, I2C
+K mems
+F https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf
+$ENDCMP
+#
+$CMP MPU-9150
+D InvenSense 9-Axis Motion Sensor, Accelerometer, Gyroscope, Compass, I2C
+K mems magnetometer
+F https://www.invensense.com/wp-content/uploads/2015/02/MPU-9150-Datasheet.pdf
+$ENDCMP
+#
+$CMP MPU-9250
+D InvenSense 9-Axis Motion Sensor, Accelerometer, Gyroscope, Compass, I2C/SPI
+K mems magnetometer
+F https://store.invensense.com/datasheets/invensense/MPU9250REV1.0.pdf
+$ENDCMP
+#
 $CMP MPXA6115A
 D Absolute pressure sensor, 15 to 115kPa, analog output, integrated signal conditioning, temperature compensated, SO package
 K absolute pressure sensor
diff --git a/library/sensors.lib b/library/sensors.lib
index 1a07db80..9b75e6ef 100644
--- a/library/sensors.lib
+++ b/library/sensors.lib
@@ -931,6 +931,122 @@ X VDD 6 -400 100 100 R 50 50 1 1 W
 ENDDRAW
 ENDDEF
 #
+# MPU-6000
+#
+DEF MPU-6000 U 0 40 Y Y 1 F N
+F0 "U" -450 550 50 H V C CNN
+F1 "MPU-6000" 300 -550 50 H V C CNN
+F2 "" 0 -800 50 H I C CNN
+F3 "" 0 -150 50 H I C CNN
+$FPLIST
+ QFN-24*4x4mm_Pitch0.5mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X CLKIN 1 -700 -300 200 R 50 50 1 1 I C
+X AUX_SDA 6 700 100 200 L 50 50 1 1 B
+X AUX_SCL 7 700 0 200 L 50 50 1 1 O C
+X ~CS 8 -700 0 200 R 50 50 1 1 I
+X AD0/MISO 9 -700 200 200 R 50 50 1 1 B
+X REGOUT 10 700 -300 200 L 50 50 1 1 P
+X CPOUT 20 700 -200 200 L 50 50 1 1 P
+X FSYNC 11 -700 -200 200 R 50 50 1 1 I
+X INT 12 700 300 200 L 50 50 1 1 O
+X VDD 13 0 700 200 D 50 50 1 1 W
+X SCL/SCLK 23 -700 100 200 R 50 50 1 1 I
+X SDA/MOSI 24 -700 300 200 R 50 50 1 1 B
+X GND 18 0 -700 200 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# MPU-6050
+#
+DEF MPU-6050 U 0 40 Y Y 1 F N
+F0 "U" -450 550 50 H V C CNN
+F1 "MPU-6050" 300 -550 50 H V C CNN
+F2 "" 0 -800 50 H I C CNN
+F3 "" 0 -150 50 H I C CNN
+$FPLIST
+ QFN-24*4x4mm_Pitch0.5mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X CLKIN 1 -700 -300 200 R 50 50 1 1 I C
+X AUX_SDA 6 700 100 200 L 50 50 1 1 B
+X AUX_SCL 7 700 0 200 L 50 50 1 1 O C
+X VDDIO 8 -100 700 200 D 50 50 1 1 W
+X AD0 9 -700 100 200 R 50 50 1 1 I
+X REGOUT 10 700 -300 200 L 50 50 1 1 P
+X CPOUT 20 700 -200 200 L 50 50 1 1 P
+X FSYNC 11 -700 -200 200 R 50 50 1 1 I
+X INT 12 700 300 200 L 50 50 1 1 O
+X VDD 13 100 700 200 D 50 50 1 1 W
+X SCL 23 -700 200 200 R 50 50 1 1 I
+X SDA 24 -700 300 200 R 50 50 1 1 B
+X GND 18 0 -700 200 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# MPU-9150
+#
+DEF MPU-9150 U 0 40 Y Y 1 F N
+F0 "U" -450 550 50 H V C CNN
+F1 "MPU-9150" 350 -550 50 H V C CNN
+F2 "" 0 -800 50 H I C CNN
+F3 "" 0 -150 50 H I C CNN
+$FPLIST
+ QFN-24*4x4mm_Pitch0.5mm*
+$ENDFPLIST
+DRAW
+S -500 500 500 -500 0 1 10 f
+X CLKIN 1 -700 -300 200 R 50 50 1 1 I C
+X VDD 3 100 700 200 D 50 50 1 1 W
+X AUX_SDA 6 700 100 200 L 50 50 1 1 B
+X AUX_SCL 7 700 0 200 L 50 50 1 1 O C
+X VDDIO 8 -100 700 200 D 50 50 1 1 W
+X AD0 9 -700 100 200 R 50 50 1 1 I
+X REGOUT 10 700 -300 200 L 50 50 1 1 P
+X CPOUT 20 700 -200 200 L 50 50 1 1 P
+X FSYNC 11 -700 -200 200 R 50 50 1 1 I
+X INT 12 700 300 200 L 50 50 1 1 O
+X VDD 13 200 700 200 D 50 50 1 1 W
+X SCL 23 -700 200 200 R 50 50 1 1 I
+X SDA 24 -700 300 200 R 50 50 1 1 B
+X GND 15 -100 -700 200 U 50 50 1 1 W
+X GND 17 0 -700 200 U 50 50 1 1 W
+X GND 18 100 -700 200 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# MPU-9250
+#
+DEF MPU-9250 U 0 40 Y Y 1 F N
+F0 "U" -450 750 50 H V C CNN
+F1 "MPU-9250" 300 -750 50 H V C CNN
+F2 "" 0 -1000 50 H I C CNN
+F3 "" 0 -150 50 H I C CNN
+$FPLIST
+ QFN-24*3x3mm_Pitch0.4mm*
+$ENDFPLIST
+DRAW
+S -500 700 500 -700 0 1 10 f
+X RESV_VDDIO 1 700 -300 200 L 50 50 1 1 I
+X AUX_SDA 6 700 100 200 L 50 50 1 1 B
+X AUX_SCL 7 700 0 200 L 50 50 1 1 O C
+X VDDIO 8 -100 900 200 D 50 50 1 1 W
+X AD0/MISO 9 -700 200 200 R 50 50 1 1 B
+X REGOUT 10 700 -200 200 L 50 50 1 1 P
+X RESV_GND 20 700 -400 200 L 50 50 1 1 W
+X FSYNC 11 -700 -200 200 R 50 50 1 1 I
+X INT 12 700 300 200 L 50 50 1 1 O
+X ~CS 22 -700 0 200 R 50 50 1 1 I
+X VDD 13 100 900 200 D 50 50 1 1 W
+X SCL/SCLK 23 -700 100 200 R 50 50 1 1 I
+X SDA/MOSI 24 -700 300 200 R 50 50 1 1 B
+X GND 18 0 -900 200 U 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
 # MPXA6115A
 #
 DEF MPXA6115A U 0 40 Y Y 1 F N