diff --git a/boards/msbiot/Makefile.dep b/boards/msbiot/Makefile.dep
index cc3b8008fe..c1c23ead69 100644
--- a/boards/msbiot/Makefile.dep
+++ b/boards/msbiot/Makefile.dep
@@ -6,7 +6,7 @@ endif
 ifneq (,$(filter saul_default,$(USEMODULE)))
   USEMODULE += saul_gpio
 endif
-# add support for the MPU-9X50 as default saul device
+# add support for the MPU-9150 as default saul device
 ifneq (,$(filter saul_default,$(USEMODULE)))
-  USEMODULE += mpu9x50
+  USEMODULE += mpu9150
 endif
diff --git a/boards/msbiot/doc.txt b/boards/msbiot/doc.txt
index 9fb2484e6c..3256a1d7f4 100644
--- a/boards/msbiot/doc.txt
+++ b/boards/msbiot/doc.txt
@@ -150,27 +150,27 @@ on the inclusion.
 | IRQ Line                  | PA10                                                              |
 
 
-### MPU-9X50 Nine-Axis MotionTracking Device
+### MPU-9150 Nine-Axis MotionTracking Device
 
-The MSB-IoT is equipped with a MPU-9X50 MotionTracking Device from
+The MSB-IoT is equipped with a MPU-9150 MotionTracking Device from
 Invensense. The device combines a gyroscope, a magnetometer and an accelerometer
 in one module.
 
-Due to licensing issues, the current MPU-9X50 driver implementation for RIOT
+Due to licensing issues, the current MPU-9150 driver implementation for RIOT
 is not based on Invensense's 'Motion Driver' library and offers only a limited
 set of features. Nonetheless, the RIOT driver allows to configure and read
 values from all three sensors of the device. For an overview on the supported
 features, you can check the driver's documentation in @ref drivers_mpu9x50.
 
-A sample RIOT application for the MPU-9X50 that utilizes the driver can be
+A sample RIOT application for the MPU-9150 that utilizes the driver can be
 found [here](https://github.com/RIOT-OS/RIOT/tree/master/tests/driver_mpu9x50).
 
-| Product               | MPU-9X50                                                                                          |
+| Product               | MPU-9150                                                                                          |
 |:--------------------- |:------------------------------------------------------------------------------------------------- |
 | Type                  | Nine-Axis MotionTracking Device (Gyro, Accel and Compass)                                         |
 | Vendor                | Invensense                                                                                        |
-| Product Specification | [Product Specification](http://www.invensense.com/mems/gyro/documents/PS-MPU-9X50A-00v4_3.pdf)    |
-| Register Map          | [Register Map](http://www.invensense.com/mems/gyro/documents/RM-MPU-9X50A-00v4_2.pdf)             |
+| Product Specification | [Product Specification](http://www.invensense.com/mems/gyro/documents/PS-MPU-9150A-00v4_3.pdf)    |
+| Register Map          | [Register Map](http://www.invensense.com/mems/gyro/documents/RM-MPU-9150A-00v4_2.pdf)             |
 | Driver                | @ref drivers_mpu9x50                                                                              |
 | I²C Device            | I2C1 (Mapped to I2C_0 in RIOT)                                                                    |
 | SCL                   | PB6                                                                                               |
diff --git a/drivers/include/mpu9x50.h b/drivers/include/mpu9x50.h
index 206765c38c..bc73a441c3 100644
--- a/drivers/include/mpu9x50.h
+++ b/drivers/include/mpu9x50.h
@@ -88,7 +88,7 @@ extern "C" {
 #ifdef MODULE_MPU9150
 #define MPU9X50_TEMP_SENSITIVITY    340
 #define MPU9X50_TEMP_OFFSET         35
-#elif MODULE_MPU9250
+#elif defined(MODULE_MPU9250)
 #define MPU9X50_TEMP_SENSITIVITY    333.87
 #define MPU9X50_TEMP_OFFSET         21
 #else
diff --git a/drivers/mpu9x50/mpu9x50.c b/drivers/mpu9x50/mpu9x50.c
index 45a9dc3ba7..b09df6a53d 100644
--- a/drivers/mpu9x50/mpu9x50.c
+++ b/drivers/mpu9x50/mpu9x50.c
@@ -21,9 +21,10 @@
  */
 
 #include "mpu9x50.h"
-#include "mpu9x50-regs.h"
+#include "mpu9x50_regs.h"
 #include "periph/i2c.h"
 #include "xtimer.h"
+#include "byteorder.h"
 
 #define ENABLE_DEBUG        (0)
 #include "debug.h"
@@ -361,20 +362,20 @@ int mpu9x50_read_compass(const mpu9x50_t *dev, mpu9x50_results_t *output)
 
 int mpu9x50_read_temperature(const mpu9x50_t *dev, int32_t *output)
 {
-    uint8_t data[2];
-    int16_t temp;
+    uint16_t data;
 
     /* Acquire exclusive access */
     if (i2c_acquire(DEV_I2C)) {
         return -1;
     }
     /* Read raw temperature value */
-    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_TEMP_START_REG, data, 2, 0);
+    i2c_read_regs(DEV_I2C, DEV_ADDR, MPU9X50_TEMP_START_REG, &data, 2, 0);
     /* Release the bus */
     i2c_release(DEV_I2C);
 
-    temp = ((uint16_t)data[0] << 8) | data[1];
-    *output = (((int32_t)temp * 1000LU) / 340) + (35 * 1000LU);
+    data = htons(data);
+
+    *output = (((int32_t)data * 1000LU) / MPU9X50_TEMP_SENSITIVITY) + (MPU9X50_TEMP_OFFSET * 1000LU);
 
     return 0;
 }
@@ -505,7 +506,7 @@ static int compass_init(mpu9x50_t *dev)
 
     /* Check whether compass answers correctly */
     i2c_read_reg(DEV_I2C, DEV_COMP_ADDR, COMPASS_WHOAMI_REG, data, 0);
-    if (data[0] != MPU9150_COMP_WHOAMI_ANSWER) {
+    if (data[0] != MPU9X50_COMP_WHOAMI_ANSWER) {
         DEBUG("[Error] Wrong answer from compass\n");
         return -1;
     }