diff --git a/wasp/drivers/bma421.py b/wasp/drivers/bma421.py
index 14562d4..4657bc8 100644
--- a/wasp/drivers/bma421.py
+++ b/wasp/drivers/bma421.py
@@ -55,6 +55,11 @@ class BMA421:
                                perf_mode=bma42x.CIC_AVG_MODE)
         dev.feature_enable(bma42x.STEP_CNTR, True)
 
+        # Set axes remapping
+        # This works only for hardware-based intelligence.
+        # Software readout is remapped manually in accel_xyz().
+        dev.set_remap_axes(self._orientation)
+
     @property
     def steps(self):
         """Report the number of steps counted."""
diff --git a/wasp/modules/bma42x-upy b/wasp/modules/bma42x-upy
index b968b25..85622fc 160000
--- a/wasp/modules/bma42x-upy
+++ b/wasp/modules/bma42x-upy
@@ -1 +1 @@
-Subproject commit b968b2530440afae8b555613e89b1240afcf4da2
+Subproject commit 85622fc37610ebb3821f0b315c37c69a4bffa72d