diff --git a/radio/src/boards/jumper-h750/board.cpp b/radio/src/boards/jumper-h750/board.cpp
index 80c077da7..11dc79375 100644
--- a/radio/src/boards/jumper-h750/board.cpp
+++ b/radio/src/boards/jumper-h750/board.cpp
@@ -47,6 +47,7 @@
 #include "sdcard.h"
 #include "debug.h"
 #include "keys.h"
+#include "gyro.h"
 
 #include "flysky_gimbal_driver.h"
 #include "timers_driver.h"
diff --git a/radio/src/boards/rm-h750/board.cpp b/radio/src/boards/rm-h750/board.cpp
index 51e019501..447412f78 100644
--- a/radio/src/boards/rm-h750/board.cpp
+++ b/radio/src/boards/rm-h750/board.cpp
@@ -49,12 +49,21 @@
 #include "sdcard.h"
 #include "debug.h"
 #include "keys.h"
+#include "gyro.h"
 
 #include "flysky_gimbal_driver.h"
 #include "timers_driver.h"
 
 #include "touch_driver.h"
 
+#if defined(IMU_ICM4207C)
+#include "drivers/icm42607C.h"
+#endif
+#if defined(IMU_SC7U22)
+#include "drivers/sc7u22.h"
+#endif
+
+
 #include <string.h>
 
 // common ADC driver
@@ -63,6 +72,22 @@ extern const etx_hal_adc_driver_t _adc_driver;
 // RGB LED timer
 extern const stm32_pulse_timer_t _led_timer;
 
+static const etx_imu_t _imu_candidates[] = {
+#if defined(IMU_ICM4207C)
+  { &imu_icm42607_driver, IMU_I2C_BUS, ICM426xx_I2C_BASE_ADDR },
+  { &imu_icm42607_driver, IMU_I2C_BUS, ICM426xx_I2C_BASE_ADDR + 1 },
+#endif
+#if defined(IMU_SC7U22)
+  { &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR },
+  { &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR + 1 },
+#endif
+};
+
+static void gyroInit()
+{
+  gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
+}
+
 static void led_strip_off()
 {
   for (uint8_t i = 0; i < LED_STRIP_LENGTH; i++) {
@@ -178,6 +203,8 @@ void boardInit()
 
   // RTC must be initialized before rambackupRestore() is called
   rtcInit();
+
+  gyroInit();
 }
 
 extern void rtcDisableBackupReg();
diff --git a/radio/src/drivers/icm42607C.cpp b/radio/src/drivers/icm42607C.cpp
index f4120c9ea..8875277a3 100644
--- a/radio/src/drivers/icm42607C.cpp
+++ b/radio/src/drivers/icm42607C.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (C) EdgeTX
+ * Copyright (C) EdgeTX
  *
  * Based on code named
  *   opentx - https://github.com/opentx/opentx
@@ -24,33 +24,36 @@
 		  with code for generic ICM4267XX. All register have different addresses
 */
 
-#include "edgetx.h"
 #include "hal/i2c_driver.h"
-#include "stm32_i2c_driver.h"
+#include "hal/imu.h"
+#include "hal/gpio.h"
+
+#include "delays_driver.h"
+
 #include "icm42607C.h"
-#include "imu_filter.h"
-#include "stm32_gpio.h"
+
 #include "inactivity_timer.h"
-#include "hal.h"
+#include "debug.h"
 
-constexpr uint32_t I2C_TIMEOUT = 5; //ms
+static etx_i2c_bus_t s_i2c_bus;
+static uint16_t s_i2c_addr;
 
-int16_t getGyroTemperature()
+static int16_t __attribute__((unused)) get42607Temperature()
 {
-  uint8_t reg = TEMP_DATA_X0_REG;
   uint8_t buf[2] = {0};
 
-  if (stm32_i2c_read(IMU_I2C_BUS, ICM426xx_I2C_ADDR, reg, 1, buf, 2, I2C_TIMEOUT) < 0) {
+  if (i2c_read(s_i2c_bus, s_i2c_addr, TEMP_DATA_X0_REG, 1, buf, 2) < 0) {
     TRACE("ICM426xx ERROR: TEMP_DATA_X0_REG i2c read error");
     return -1;
   }
 
-  return (((buf[0] << 8) | buf[1]) / 128) + 25;
+  int16_t raw = (int16_t)((buf[0] << 8) | buf[1]);
+  return (int16_t)(raw / 128 + 25);
 }
 
-int write_cmd(uint8_t reg, uint8_t val)
+static int write_cmd(uint8_t reg, uint8_t val)
 {
-  return i2c_write(IMU_I2C_BUS, ICM426xx_I2C_ADDR, reg, 1, &val, 1);
+  return i2c_write(s_i2c_bus, s_i2c_addr, reg, 1, &val, 1);
 }
 
 #if defined(IMU_INT_GPIO)
@@ -60,30 +63,35 @@ static void imu_exti_isr(void)
 }
 #endif
 
+#if defined(IMU_INT_GPIO)
 static int write_mreg1(uint8_t reg, uint8_t val) {
-    if (write_cmd(BLK_SEL_W_REG, 0x00) < 0) return -1; 
+    if (write_cmd(BLK_SEL_W_REG, 0x00) < 0) return -1;
     if (write_cmd(MADDR_W_REG, reg) < 0) return -1;
     if (write_cmd(M_W_REG, val) < 0) return -1;
-    delay_us(10); //42627-pdf p12“Accessing MREG1, MREG2 And MREG3 Registers
+    delay_us(10); // small delay as recommended by datasheet
     return 0;
 }
+#endif
 
-int gyroInit(void)
+static int gyro42607Init(etx_i2c_bus_t bus, uint16_t addr)
 {
-  TRACE("ICM426xx I2C Init");
+  s_i2c_bus  = bus;
+  s_i2c_addr = addr;
 
-  if (i2c_init(IMU_I2C_BUS) < 0) {
+  TRACE("ICM426xx I2C Init at address 0x%x", addr);
+
+  if (i2c_init(s_i2c_bus) < 0) {
     TRACE("ICM426xx ERROR: i2c_init bus error");
     return -1;
   }
 
-  if (i2c_dev_ready(IMU_I2C_BUS, ICM426xx_I2C_ADDR) < 0) {
+  if (i2c_dev_ready(s_i2c_bus, s_i2c_addr) < 0) {
     TRACE("ICM426xx device init error");
     return -1;
   }
 
   uint8_t data = 0;
-  if (stm32_i2c_read(IMU_I2C_BUS, ICM426xx_I2C_ADDR, 0x75, 1, &data, 1, I2C_TIMEOUT) < 0) {
+  if (i2c_read(s_i2c_bus, s_i2c_addr, WHO_AM_I_REG, 1, &data, 1) < 0) {
     TRACE("ICM426xx ERROR: i2c read error");
     return -1;
   }
@@ -105,14 +113,14 @@ int gyroInit(void)
   }
   delay_ms(10);
 
-  // Set gyro to 2000 dps, 1kHz ODR
+  // Configure gyro: 2000 dps, 1 kHz ODR
   if(write_cmd(GYRO_CONFIG0_REG, GYRO_ODR_1KHZ) < 0) {
     TRACE("ICM426xx ERROR: GYRO_CONFIG0_REG error");
     return -1;
   }
   delay_ms(1);
 
-  // Set accel to ±4g, 1kHz ODR
+  // Configure accelerometer: ±4g, 1 kHz ODR
   if (write_cmd(ACCEL_CONFIG0_REG, ACCEL_ODR_1KHZ) < 0) {
     TRACE("ICM426xx ERROR: ACCEL_CONFIG0_REG error");
     return -1;
@@ -127,58 +135,54 @@ int gyroInit(void)
   delay_ms(1);
 
 #if defined(IMU_INT_GPIO)
-  // CCEL_WOM_X_THR:0-255（0-1g），0x10--16mg
+  // Configure Wake-on-Motion thresholds via MREG1 interface
+  // Values chosen to approximate activity detection behaviour used elsewhere
   if (write_mreg1(ACCEL_WOM_X_THR_REG, 0xFE) < 0) return -1;
   if (write_mreg1(ACCEL_WOM_Y_THR_REG, 0xFE) < 0) return -1;
   if (write_mreg1(ACCEL_WOM_Z_THR_REG, 0xFE) < 0) return -1;
 
   delay_ms(1);
-  // config WoM
+  // Configure WoM mode (OR across axes)
   if (write_cmd(WOM_CONFIG_REG, 0x03) < 0) return -1; // OR mode
   delay_ms(1);
-  // enable INT1 
+  // Enable INT1 source bits for XYZ
   if (write_cmd(INT_SOURCE1_REG, 0x07) < 0) return -1; // XYZ interrupt
   delay_ms(1);
-  // config INT1 pin
+  // Ensure INT1 is configured to default behaviour
   if (write_cmd(INT_CONFIG_REG, 0x00) < 0) return -1;
 
   gpio_init_int(IMU_INT_GPIO, GPIO_IN_PU, GPIO_FALLING, imu_exti_isr);
 #endif
 
+  TRACE("ICM426xx succeeded");
   return 0;
 }
 
-int gyroRead(uint8_t buffer[IMU_BUFFER_LENGTH])
+static int gyro42607Read(etx_imu_data_t* data)
 {
-  IMU_RawData_t imu_raw;
-  IMU_FilteredData_t *filtered;
-
   uint8_t buf[6];
-  uint8_t reg = GYRO_DATA_X0_REG;
-  if (stm32_i2c_read(IMU_I2C_BUS, ICM426xx_I2C_ADDR, reg, 1, buf, 6, I2C_TIMEOUT) < 0) {
-    TRACE("ICM426xx ERROR: i2c read error");
+
+  if (i2c_read(s_i2c_bus, s_i2c_addr, GYRO_DATA_X0_REG, 1, buf, 6) < 0) {
+    TRACE("ICM426xx ERROR: gyro read error");
     return -1;
   }
-  imu_raw.gyro_x = -((int16_t)(buf[0] << 8) | buf[1]); // x
-  imu_raw.gyro_y = -((int16_t)(buf[2] << 8) | buf[3]); // y
-  imu_raw.gyro_z = ((int16_t)(buf[4] << 8) | buf[5]); // z
+  data->gyro_x = -((int16_t)(buf[0] << 8) | buf[1]);
+  data->gyro_y = -((int16_t)(buf[2] << 8) | buf[3]);
+  data->gyro_z =  ((int16_t)(buf[4] << 8) | buf[5]);
 
-  reg = ACCEL_DATA_X0_REG;
-  if (stm32_i2c_read(IMU_I2C_BUS, ICM426xx_I2C_ADDR, reg, 1, buf, 6, I2C_TIMEOUT) < 0) {
-    TRACE("ICM426xx ERROR: i2c read error");
+  if (i2c_read(s_i2c_bus, s_i2c_addr, ACCEL_DATA_X0_REG, 1, buf, 6) < 0) {
+    TRACE("ICM426xx ERROR: accel read error");
     return -1;
   }
-  imu_raw.accel_x = ((int16_t)(buf[0] << 8) | buf[1]); // x
-  imu_raw.accel_y = ((int16_t)(buf[2] << 8) | buf[3]); // y
-  imu_raw.accel_z = ((int16_t)(buf[4] << 8) | buf[5]); // z
-
-  // Process through filters
-  process_imu_data(&imu_raw);
-  filtered = get_filtered_imu_data();
-
-  *(int16_t*)&buffer[6] = -(int16_t)filtered->accel_x; // x
-  *(int16_t*)&buffer[8] = -(int16_t)filtered->accel_y; // y
-  *(int16_t*)&buffer[10] = (int16_t)filtered->accel_z; // z
+  data->accel_x = ((int16_t)(buf[0] << 8) | buf[1]);
+  data->accel_y = ((int16_t)(buf[2] << 8) | buf[3]);
+  data->accel_z = ((int16_t)(buf[4] << 8) | buf[5]);
 
   return 0;
 }
+
+const etx_imu_driver_t imu_icm42607_driver = {
+  gyro42607Init,
+  gyro42607Read,
+  "ICM42607",
+};
diff --git a/radio/src/drivers/icm42607C.h b/radio/src/drivers/icm42607C.h
index 9813fb121..92b5fba98 100644
--- a/radio/src/drivers/icm42607C.h
+++ b/radio/src/drivers/icm42607C.h
@@ -1,5 +1,5 @@
 /*
-* Copyright (C) EdgeTX
+ * Copyright (C) EdgeTX
  *
  * Based on code named
  *   opentx - https://github.com/opentx/opentx
@@ -20,13 +20,18 @@
  */
 
 /*
- WARNING: while this ICM42607C belong to the ICM426xx familly, it is NOT compatible
-                  with code for generic ICM4267XX. All register have different addresses
+ WARNING: While this ICM42607C belong to the ICM426xx familly, it is NOT
+          compatible with code for generic ICM4267XX. All registers have
+          different addresses.
 */
 
 #pragma once
 
-#define ICM426xx_I2C_ADDR           0x68
+#include "hal/imu.h"
+
+#define ICM426xx_I2C_BASE_ADDR           0x68
+
+extern const etx_imu_driver_t imu_icm42607_driver;
 
 // Register addresses
 #define WHO_AM_I_REG          0x75
@@ -57,14 +62,3 @@
 #define INT_SOURCE1_REG       0x2C
 #define INT_CONFIG_REG        0x06
 #define INT_STATUS2_REG       0x3B
-
-typedef struct {
-  float fTemperatureDegC; //°C
-  float fAccX, fAccY, fAccZ; // m/s^2
-  float fGyroXradps, fGyroYradps, fGyroZradps; // rad/s
-} sIMUoutput;
-
-extern sIMUoutput IMUoutput;
-
-int gyroInit(void);
-int gyroRead(unsigned char*);
diff --git a/radio/src/drivers/imu_filter.cpp b/radio/src/drivers/imu_filter.cpp
deleted file mode 100644
index a0694b1dd..000000000
--- a/radio/src/drivers/imu_filter.cpp
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
-* Copyright (C) EdgeTX
- *
- * Based on code named
- *   opentx - https://github.com/opentx/opentx
- *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#include "edgetx.h"
-#include "imu_filter.h"
-#include <math.h>
-#include <string.h>
-
-// Filter parameters
-#define COMPLEMENTARY_ALPHA     0.92f   // Complementary filter coefficient
-#define LP_FILTER_ALPHA         0.9f    // Low-pass filter coefficient
-#define SAMPLE_TIME_S           0.005f  // Gyro is read every 5ms as part of execMixerFrequentActions()
-#define RAD_TO_DEG              57.2958f
-#define DEG_TO_RAD              0.0174533f
-
-// Filter state variables
-static IMU_FilteredData_t filtered_data = {0};
-static float prev_accel[3] = {0};
-static float prev_gyro[3] = {0};
-static uint8_t filter_initialized = 0;
-
-// Low-pass filter implementation
-float low_pass_filter(float new_value, float prev_value, float alpha) {
-    return alpha * prev_value + (1.0f - alpha) * new_value;
-}
-
-// Calculate roll and pitch from accelerometer data
-void calculate_accel_angles(float ax, float ay, float az, float *roll, float *pitch) {
-    // Normalize accelerometer data
-    float norm = sqrtf(ax*ax + ay*ay + az*az);
-    if (norm == 0.0f) return;
-
-    ax /= norm;
-    ay /= norm;
-    az /= norm;
-
-    // Calculate angles
-    *roll = atan2f(ay, sqrtf(ax*ax + az*az));
-    *pitch = atan2f(-ax, sqrtf(ay*ay + az*az));
-}
-
-// Complementary filter for attitude estimation
-void complementary_filter(IMU_RawData_t *raw_data, float dt) {
-    float accel_roll, accel_pitch;
-
-    // Calculate angles from accelerometer
-    calculate_accel_angles(raw_data->accel_x, raw_data->accel_y, raw_data->accel_z,
-                          &accel_roll, &accel_pitch);
-
-    if (!filter_initialized) {
-        // Initialize filter with accelerometer angles
-        filtered_data.roll = accel_roll;
-        filtered_data.pitch = accel_pitch;
-        filtered_data.yaw = 0.0f;
-        filter_initialized = 1;
-    } else {
-        // Integrate gyroscope data
-        float gyro_roll = filtered_data.roll + raw_data->gyro_x * dt;
-        float gyro_pitch = filtered_data.pitch + raw_data->gyro_y * dt;
-        float gyro_yaw = filtered_data.yaw + raw_data->gyro_z * dt;
-
-        // Apply complementary filter
-        filtered_data.roll = COMPLEMENTARY_ALPHA * gyro_roll +
-                            (1.0f - COMPLEMENTARY_ALPHA) * accel_roll;
-        filtered_data.pitch = COMPLEMENTARY_ALPHA * gyro_pitch +
-                             (1.0f - COMPLEMENTARY_ALPHA) * accel_pitch;
-        filtered_data.yaw = gyro_yaw; // No magnetometer correction in this example
-
-        // Keep yaw within -π to π range
-        while (filtered_data.yaw > M_PI) filtered_data.yaw -= 2.0f * M_PI;
-        while (filtered_data.yaw < -M_PI) filtered_data.yaw += 2.0f * M_PI;
-    }
-}
-
-// Apply low-pass filter to raw sensor data
-void apply_lowpass_filter(IMU_RawData_t *raw_data) {
-    // Filter accelerometer data
-    filtered_data.accel_x = low_pass_filter(raw_data->accel_x, prev_accel[0], LP_FILTER_ALPHA);
-    filtered_data.accel_y = low_pass_filter(raw_data->accel_y, prev_accel[1], LP_FILTER_ALPHA);
-    filtered_data.accel_z = low_pass_filter(raw_data->accel_z, prev_accel[2], LP_FILTER_ALPHA);
-
-    // Filter gyroscope data
-    filtered_data.gyro_x = low_pass_filter(raw_data->gyro_x, prev_gyro[0], LP_FILTER_ALPHA);
-    filtered_data.gyro_y = low_pass_filter(raw_data->gyro_y, prev_gyro[1], LP_FILTER_ALPHA);
-    filtered_data.gyro_z = low_pass_filter(raw_data->gyro_z, prev_gyro[2], LP_FILTER_ALPHA);
-
-    // Update previous values
-    prev_accel[0] = filtered_data.accel_x;
-    prev_accel[1] = filtered_data.accel_y;
-    prev_accel[2] = filtered_data.accel_z;
-
-    prev_gyro[0] = filtered_data.gyro_x;
-    prev_gyro[1] = filtered_data.gyro_y;
-    prev_gyro[2] = filtered_data.gyro_z;
-}
-
-// Main IMU filter processing function
-void process_imu_data(IMU_RawData_t *raw_data) {
-    // Apply low-pass filtering to raw data
-    apply_lowpass_filter(raw_data);
-
-    // Apply complementary filter for attitude estimation
-    complementary_filter(raw_data, SAMPLE_TIME_S);
-}
-
-// Get filtered IMU data
-IMU_FilteredData_t* get_filtered_imu_data(void) {
-    return &filtered_data;
-}
-
-// Reset filter state
-void reset_imu_filter(void) {
-    memset(&filtered_data, 0, sizeof(filtered_data));
-    memset(prev_accel, 0, sizeof(prev_accel));
-    memset(prev_gyro, 0, sizeof(prev_gyro));
-    filter_initialized = 0;
-}
-
-// Advanced Kalman filter structure (optional implementation)
-typedef struct {
-    float Q_angle;     // Process noise variance for accelerometer
-    float Q_bias;      // Process noise variance for gyro bias
-    float R_measure;   // Measurement noise variance
-    float angle;       // Estimated angle
-    float bias;        // Estimated bias
-    float rate;        // Unbiased rate
-    float P[2][2];     // Error covariance matrix
-} kalman_state_t;
-
-// Kalman filter implementation (more advanced option)
-float kalman_filter(kalman_state_t *state, float new_angle, float new_rate, float dt) {
-    // Prediction step
-    state->rate = new_rate - state->bias;
-    state->angle += dt * state->rate;
-
-    // Update error covariance
-    state->P[0][0] += dt * (dt * state->P[1][1] - state->P[0][1] - state->P[1][0] + state->Q_angle);
-    state->P[0][1] -= dt * state->P[1][1];
-    state->P[1][0] -= dt * state->P[1][1];
-    state->P[1][1] += state->Q_bias * dt;
-
-    // Innovation
-    float S = state->P[0][0] + state->R_measure;
-    float K[2] = {state->P[0][0] / S, state->P[1][0] / S};
-
-    float y = new_angle - state->angle;
-
-    // Update step
-    state->angle += K[0] * y;
-    state->bias += K[1] * y;
-
-    // Update error covariance
-    float P00_temp = state->P[0][0];
-    float P01_temp = state->P[0][1];
-
-    state->P[0][0] -= K[0] * P00_temp;
-    state->P[0][1] -= K[0] * P01_temp;
-    state->P[1][0] -= K[1] * P00_temp;
-    state->P[1][1] -= K[1] * P01_temp;
-
-    return state->angle;
-}
\ No newline at end of file
diff --git a/radio/src/targets/common/arm/stm32/lsm6ds_driver.cpp b/radio/src/drivers/lsm6ds.cpp
similarity index 86%
rename from radio/src/targets/common/arm/stm32/lsm6ds_driver.cpp
rename to radio/src/drivers/lsm6ds.cpp
index b1b619927..9f1112d05 100644
--- a/radio/src/targets/common/arm/stm32/lsm6ds_driver.cpp
+++ b/radio/src/drivers/lsm6ds.cpp
@@ -19,18 +19,18 @@
  * GNU General Public License for more details.
  */
 
-#include "gyro.h"
-#include "hal.h"
-
-#if defined(IMU_I2C_BUS) && defined(IMU_I2C_ADDRESS)
+#include "lsm6ds.h"
 
 #include "hal/i2c_driver.h"
-#include "stm32_i2c_driver.h"
 #include "delays_driver.h"
 
-#include <string.h>
+#include "definitions.h"
+
 #include <stdint.h>
 
+static etx_i2c_bus_t s_i2c_bus;
+static uint16_t s_i2c_addr;
+
 /* COMMON VALUES FOR ACCEL-GYRO SENSORS */
 #define LSM6DS_WHO_AM_I                         0x0f
 #define LSM6DS_WHO_AM_I_DEF                     0x69
@@ -204,72 +204,64 @@ static const char configure[][2] = {
   {LSM6DS_BDU_ADDR, 0x04}
 };
 
-#define I2C_TIMEOUT_MAX      10000
-#define I2C_LSM6DS_MAX_WRITE 32
-
-static int I2C_LSM6DS_WriteRegister(uint8_t reg, uint8_t* data, uint8_t len)
+static int write_reg(uint8_t reg, uint8_t val)
 {
-  uint8_t buffer[I2C_LSM6DS_MAX_WRITE];
-
-  if (len >= I2C_LSM6DS_MAX_WRITE - 1) return -1;
-
-  buffer[0] = reg;
-  memcpy(buffer + 1, data, len);
-  
-  return stm32_i2c_master_tx(IMU_I2C_BUS, IMU_I2C_ADDRESS, buffer, len + 1, 100);
+  return i2c_write(s_i2c_bus, s_i2c_addr, reg, 1, &val, 1);
 }
 
-static int I2C_LSM6DS_WriteRegister(uint8_t reg, uint8_t value)
+static int read_reg(uint8_t reg)
 {
-  return I2C_LSM6DS_WriteRegister(reg, &value, 1);
+  uint8_t val = 0;
+  if (i2c_read(s_i2c_bus, s_i2c_addr, reg, 1, &val, 1) < 0)
+    return -1;
+  return val;
 }
 
-static int I2C_LSM6DS_ReadRegister(uint8_t reg, uint8_t* data, uint8_t len)
+static int read_regs(uint8_t reg, uint8_t* data, uint8_t len)
 {
-  if (stm32_i2c_master_tx(IMU_I2C_BUS, IMU_I2C_ADDRESS, &reg, 1, 10) < 0)
+  return i2c_read(s_i2c_bus, s_i2c_addr, reg, 1, data, len);
+}
+
+static int lsm6dsRead(etx_imu_data_t* data)
+{
+  // LSM6DS registers are contiguous: gyro X/Y/Z then accel X/Y/Z (little-endian)
+  uint8_t buf[12];
+  if (read_regs(LSM6DS_GYRO_OUT_X_L_ADDR, buf, sizeof(buf)) < 0)
     return -1;
 
-  uint8_t value = 0;
-  if (stm32_i2c_master_rx(IMU_I2C_BUS, IMU_I2C_ADDRESS, data, len, 100) < 0)
-    return -1;
-
-  return value;
+  int16_t* raw = (int16_t*)buf;
+  data->gyro_x  = raw[0];
+  data->gyro_y  = raw[1];
+  data->gyro_z  = raw[2];
+  data->accel_x = raw[3];
+  data->accel_y = raw[4];
+  data->accel_z = raw[5];
+  return 0;
 }
 
-static int I2C_LSM6DS_ReadRegister(uint8_t reg)
+static int lsm6dsInit(etx_i2c_bus_t bus, uint16_t addr)
 {
-  uint8_t value = 0;
-  if (I2C_LSM6DS_ReadRegister(reg, &value, 1) < 0)
-    return -1;
+  s_i2c_bus = bus;
+  s_i2c_addr = addr;
 
-  return value;
-}
-
-int gyroInit()
-{
-  if (i2c_init(IMU_I2C_BUS) < 0)
+  if (i2c_init(s_i2c_bus) < 0)
     return -1;
 
   // LSM6DS33TR works with LSM6DSLTR code for our use
-  uint8_t id = I2C_LSM6DS_ReadRegister(LSM6DS_WHO_AM_I);
+  int id = read_reg(LSM6DS_WHO_AM_I);
   if (id != LSM6DSLTR_ID && id != LSM6DS33TR_ID)
     return -1;
 
   for (uint8_t i = 0; i < DIM(configure); i++) {
-    I2C_LSM6DS_WriteRegister(configure[i][0], configure[i][1]);
+    write_reg(configure[i][0], configure[i][1]);
   }
 
   return 0;
 }
 
-int gyroRead(uint8_t buffer[IMU_BUFFER_LENGTH])
-{
-  return I2C_LSM6DS_ReadRegister(LSM6DS_GYRO_OUT_X_L_ADDR, buffer, IMU_BUFFER_LENGTH);
-}
+const etx_imu_driver_t imu_lsm6ds_driver = {
+  lsm6dsInit,
+  lsm6dsRead,
+  "LSM6DS",
+};
 
-#else
-
-int gyroInit() { return -1; }
-int gyroRead(uint8_t buffer[IMU_BUFFER_LENGTH]) { return -1; }
-
-#endif
diff --git a/radio/src/targets/simu/gyro_driver.cpp b/radio/src/drivers/lsm6ds.h
similarity index 89%
rename from radio/src/targets/simu/gyro_driver.cpp
rename to radio/src/drivers/lsm6ds.h
index f23d46669..187fecb49 100644
--- a/radio/src/targets/simu/gyro_driver.cpp
+++ b/radio/src/drivers/lsm6ds.h
@@ -19,7 +19,8 @@
  * GNU General Public License for more details.
  */
 
-#include "gyro.h"
+#pragma once
 
-int gyroInit() { return -1; }
-int gyroRead(uint8_t*) { return -1; }
+#include "hal/imu.h"
+
+extern const etx_imu_driver_t imu_lsm6ds_driver;
diff --git a/radio/src/drivers/sc7u22.cpp b/radio/src/drivers/sc7u22.cpp
new file mode 100644
index 000000000..bfb704de9
--- /dev/null
+++ b/radio/src/drivers/sc7u22.cpp
@@ -0,0 +1,241 @@
+/*
+ * Copyright (C) EdgeTX
+ *
+ * Based on code named
+ *   opentx - https://github.com/opentx/opentx
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include "hal/i2c_driver.h"
+#include "hal/imu.h"
+#include "hal/gpio.h"
+
+#include "delays_driver.h"
+
+#include "sc7u22.h"
+
+#include "inactivity_timer.h"
+#include "debug.h"
+
+static etx_i2c_bus_t s_i2c_bus;
+static uint16_t s_i2c_addr;
+
+static int write_reg(uint8_t reg, uint8_t val)
+{
+  return i2c_write(s_i2c_bus, s_i2c_addr, reg, 1, &val, 1);
+}
+
+static int read_regs(uint8_t reg, uint8_t *buf, uint8_t len)
+{
+  return i2c_read(s_i2c_bus, s_i2c_addr, reg, 1, buf, len);
+}
+
+static int soft_reset(void)
+{
+  // Ensure Addr_Auto is enabled (default 0x50 has it set, but be explicit)
+  if (write_reg(SC7U22_COM_CONF_REG, SC7U22_COM_CONF_DEFAULT) < 0)
+    return -1;
+  delay_ms(1);
+
+  // Write 0xA5 twice to SOFT_RST
+  if (write_reg(SC7U22_SOFT_RST_REG, 0xA5) < 0) return -1;
+  if (write_reg(SC7U22_SOFT_RST_REG, 0xA5) < 0) return -1;
+
+  // Datasheet recommends ~100 ms after reset for chip to re-initialise
+  delay_ms(100);
+  return 0;
+}
+
+// ---------------------------------------------------------------------------
+// Optional: WoM ISR (mirror of ICM42607C pattern)
+// ---------------------------------------------------------------------------
+#if defined(IMU_INT_GPIO)
+static void imu_exti_isr(void)
+{
+  inactivityTimerReset(ActivitySource::MainControls);
+}
+#endif
+
+static int16_t __attribute__((unused)) getSC7U22Temperature(void)
+{
+  uint8_t buf[2] = {0};
+
+  if (read_regs(SC7U22_TEMP_H_REG, buf, 2) < 0) {
+    TRACE("SC7U22 ERROR: TEMP read error");
+    return -1;
+  }
+
+  int16_t raw = (int16_t)((buf[0] << 8) | buf[1]);
+  return (int16_t)(raw / 512 + 23);
+}
+
+
+static int gyroSC7U22Init(etx_i2c_bus_t bus, uint16_t addr)
+{
+  s_i2c_bus  = bus;
+  s_i2c_addr = addr;
+
+  TRACE("SC7U22 I2C Init at address 0x%x", addr);
+
+  if (i2c_init(s_i2c_bus) < 0) {
+    TRACE("SC7U22 ERROR: i2c_init bus error");
+    return -1;
+  }
+
+  if (i2c_dev_ready(s_i2c_bus, s_i2c_addr) < 0) {
+    TRACE("SC7U22 ERROR: device not ready");
+    return -1;
+  }
+
+  uint8_t who_am_i = 0;
+  if (read_regs(SC7U22_WHO_AM_I_REG, &who_am_i, 1) < 0) {
+    TRACE("SC7U22 ERROR: WHO_AM_I read error");
+    return -1;
+  }
+
+  if (who_am_i != 0x6A) {
+    TRACE("SC7U22 ERROR: unexpected WHO_AM_I 0x%02X (expected 0x6A)", who_am_i);
+    return -1;
+  }
+
+  if (soft_reset() < 0) {
+    TRACE("SC7U22 ERROR: soft reset failed");
+    return -1;
+  }
+
+  // -------------------------------------------------------------------------
+  // 4. Configure COM_CONF (0x04)
+  //    BDU=1 (block data update – output not updated until both bytes read)
+  //    Addr_Auto=1 (auto-increment for burst reads)
+  //    All other bits at default (push-pull, active-high INT, 4-wire SPI)
+  // -------------------------------------------------------------------------
+  if (write_reg(SC7U22_COM_CONF_REG, SC7U22_COM_CONF_DEFAULT) < 0) {
+    TRACE("SC7U22 ERROR: COM_CONF write error");
+    return -1;
+  }
+  delay_ms(1);
+
+  // -------------------------------------------------------------------------
+  // 5. Enable accelerometer, gyroscope and temperature sensor via PWR_CTRL
+  //    Datasheet §5.47: ACC_EN | GYR_EN | TEMP_EN
+  //    Delay ≥1 ms after configuring before reading.
+  // -------------------------------------------------------------------------
+  if (write_reg(SC7U22_PWR_CTRL_REG, SC7U22_PWR_CTRL_ENABLE) < 0) {
+    TRACE("SC7U22 ERROR: PWR_CTRL write error");
+    return -1;
+  }
+  delay_ms(10); // Allow sensors to start up
+
+  // -------------------------------------------------------------------------
+  // 6. Configure accelerometer
+  //    ACC_CONF (0x40): high-performance mode, NORM_AVG4 filter, 1600 Hz ODR
+  //    ACC_RANGE (0x41): ±4g
+  // -------------------------------------------------------------------------
+  if (write_reg(SC7U22_ACC_CONF_REG, SC7U22_ACC_CONF_HP_1KHZ) < 0) {
+    TRACE("SC7U22 ERROR: ACC_CONF write error");
+    return -1;
+  }
+  delay_ms(1);
+
+  if (write_reg(SC7U22_ACC_RANGE_REG, SC7U22_ACC_RANGE_4G) < 0) {
+    TRACE("SC7U22 ERROR: ACC_RANGE write error");
+    return -1;
+  }
+  delay_ms(1);
+
+  // -------------------------------------------------------------------------
+  // 7. Configure gyroscope
+  //    GYR_CONF (0x42): high-performance mode, NORM_AVG4 filter, 1600 Hz ODR
+  //    GYR_RANGE (0x43): ±2000 dps
+  // -------------------------------------------------------------------------
+  if (write_reg(SC7U22_GYR_CONF_REG, SC7U22_GYR_CONF_HP_1KHZ) < 0) {
+    TRACE("SC7U22 ERROR: GYR_CONF write error");
+    return -1;
+  }
+  delay_ms(1);
+
+  if (write_reg(SC7U22_GYR_RANGE_REG, SC7U22_GYR_RANGE_2000DPS) < 0) {
+    TRACE("SC7U22 ERROR: GYR_RANGE write error");
+    return -1;
+  }
+  delay_ms(1);
+
+  // -------------------------------------------------------------------------
+  // 8. Optional: Wake-on-Motion via AOI1
+  //    Uses the AOI1 OR-interrupt with all three axes enabled.
+  //    Threshold: 0x7F LSB.  At ±4g, 1 LSB = 32 mg → 0x7F ≈ 4g (max, safe).
+  //    For activity detection similar to ICM42607C (0xFE ≈ 1g), set 0x1F ≈ 1g.
+  // -------------------------------------------------------------------------
+#if defined(IMU_INT_GPIO)
+  // AOI1_CFG: AOI=0 (OR mode), 6D=0, enable ZHIE|YHIE|XHIE
+  if (write_reg(SC7U22_AOI1_CFG_REG, 0x15) < 0) return -1; // 0b00010101
+  delay_ms(1);
+
+  // AOI1_THS: ~0.5g threshold for ±4g range (1 LSB = 32 mg → 16 LSB ≈ 512 mg)
+  if (write_reg(SC7U22_AOI1_THS_REG, 0x10) < 0) return -1;
+  delay_ms(1);
+
+  // AOI1_DURATION: minimal (1 sample)
+  if (write_reg(SC7U22_AOI1_DURATION_REG, 0x00) < 0) return -1;
+  delay_ms(1);
+
+  // AOI1&AOI2_CFG (0x3F): enable AOI, high-pass filter on AOI1
+  // AOI_EN=1 (bit6), HPIS1=1 (bit4) for motion detection with HP data
+  if (write_reg(SC7U22_AOI1_AOI2_CFG_REG, 0x50) < 0) return -1;
+  delay_ms(1);
+
+  // Route AOI1 interrupt to INT1 pin (INT1_OUT_SEL2, 0x06, bit0 = INT1_AOI1)
+  if (write_reg(SC7U22_INT1_OUT_SEL2_REG, 0x01) < 0) return -1;
+  delay_ms(1);
+
+  // Configure INT1 GPIO as falling-edge interrupt input
+  gpio_init_int(IMU_INT_GPIO, GPIO_IN_PU, GPIO_FALLING, imu_exti_isr);
+#endif
+
+  TRACE("SC7U22 succeeded");
+  return 0;
+}
+
+static int gyroSC7U22Read(etx_imu_data_t* data)
+{
+  uint8_t buf[6];
+
+  // Read gyroscope: GYR_XH ... GYR_ZL (0x12 ... 0x17, 6 bytes)
+  if (read_regs(SC7U22_GYR_XH_REG, buf, 6) < 0) {
+    TRACE("SC7U22 ERROR: gyro read error");
+    return -1;
+  }
+  data->gyro_x = -((int16_t)(buf[0] << 8) | buf[1]);
+  data->gyro_y = -((int16_t)(buf[2] << 8) | buf[3]);
+  data->gyro_z =  ((int16_t)(buf[4] << 8) | buf[5]);
+
+  // Read accelerometer: ACC_XH ... ACC_ZL (0x0C ... 0x11, 6 bytes)
+  if (read_regs(SC7U22_ACC_XH_REG, buf, 6) < 0) {
+    TRACE("SC7U22 ERROR: accel read error");
+    return -1;
+  }
+  data->accel_x = ((int16_t)(buf[0] << 8) | buf[1]);
+  data->accel_y = ((int16_t)(buf[2] << 8) | buf[3]);
+  data->accel_z = ((int16_t)(buf[4] << 8) | buf[5]);
+
+  return 0;
+}
+
+const etx_imu_driver_t imu_sc7u22_driver = {
+  gyroSC7U22Init,
+  gyroSC7U22Read,
+  "SC7U22",
+};
diff --git a/radio/src/drivers/sc7u22.h b/radio/src/drivers/sc7u22.h
new file mode 100644
index 000000000..2053d8739
--- /dev/null
+++ b/radio/src/drivers/sc7u22.h
@@ -0,0 +1,177 @@
+/*
+ * Copyright (C) EdgeTX
+ *
+ * Based on code named
+ *   opentx - https://github.com/opentx/opentx
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+/*
+ * Driver for Silan SC7U22 six-axis IMU (3-axis accelerometer + 3-axis gyroscope).
+ *
+ * I2C slave address: 0x19 (SDO/SA0 floating or high) / 0x18 (SDO/SA0 grounded)
+ * WHO_AM_I register (0x01) expected value: 0x6A
+ */
+
+#pragma once
+
+#include "hal/imu.h"
+
+extern const etx_imu_driver_t imu_sc7u22_driver;
+
+// ---------------------------------------------------------------------------
+// I2C address
+// ---------------------------------------------------------------------------
+// SDO/SA0 tied high or floating → 7-bit address 0x19
+// SDO/SA0 grounded              → 7-bit address 0x18
+#define SC7U22_I2C_BASE_ADDR             0x18
+
+// ---------------------------------------------------------------------------
+// General-purpose registers (directly accessible with 8-bit address)
+// ---------------------------------------------------------------------------
+#define SC7U22_WHO_AM_I_REG         0x01   // Expected value: 0x6A
+#define SC7U22_COM_CONF_REG         0x04   // Communication configuration
+#define SC7U22_INT1_OUT_SEL1_REG    0x05
+#define SC7U22_INT1_OUT_SEL2_REG    0x06
+#define SC7U22_INT2_OUT_SEL1_REG    0x07
+#define SC7U22_INT2_OUT_SEL2_REG    0x08
+#define SC7U22_INT1_STAT_REG        0x09
+#define SC7U22_INT2_STAT_REG        0x0A
+#define SC7U22_DATA_STAT_REG        0x0B   // Data ready status
+
+// Accelerometer output registers (16-bit, 2's complement, MSB first)
+#define SC7U22_ACC_XH_REG           0x0C
+#define SC7U22_ACC_XL_REG           0x0D
+#define SC7U22_ACC_YH_REG           0x0E
+#define SC7U22_ACC_YL_REG           0x0F
+#define SC7U22_ACC_ZH_REG           0x10
+#define SC7U22_ACC_ZL_REG           0x11
+
+// Gyroscope output registers (16-bit, 2's complement, MSB first)
+#define SC7U22_GYR_XH_REG           0x12
+#define SC7U22_GYR_XL_REG           0x13
+#define SC7U22_GYR_YH_REG           0x14
+#define SC7U22_GYR_YL_REG           0x15
+#define SC7U22_GYR_ZH_REG           0x16
+#define SC7U22_GYR_ZL_REG           0x17
+
+// Temperature registers: T = (int16_t)(TEMP_H<<8 | TEMP_L) / 512 + 23 °C
+#define SC7U22_TEMP_H_REG           0x22
+#define SC7U22_TEMP_L_REG           0x23
+
+// FIFO
+#define SC7U22_FIFO_CFG0_REG        0x1C
+#define SC7U22_FIFO_CFG1_REG        0x1D
+#define SC7U22_FIFO_CFG2_REG        0x1E
+#define SC7U22_FIFO_STAT0_REG       0x1F
+#define SC7U22_FIFO_STAT1_REG       0x20
+#define SC7U22_FIFO_DATA_REG        0x21
+
+// Saturation / self-test status
+#define SC7U22_DATA_SAT_REG         0x24
+
+// Power control
+#define SC7U22_PWR_CTRL_REG         0x7D
+
+// Accelerometer configuration
+#define SC7U22_ACC_CONF_REG         0x40   // ACC_FILTER_PERF | ACC_BWP[2:0] | ACC_ODR[3:0]
+#define SC7U22_ACC_RANGE_REG        0x41   // FS[1:0]: 00=±2g 01=±4g 10=±8g 11=±16g
+
+// Gyroscope configuration
+#define SC7U22_GYR_CONF_REG         0x42   // GYR_FILTER_PERF | GYR_NOISE_PERF | GYR_BWP[1:0] | GYR_ODR[3:0]
+#define SC7U22_GYR_RANGE_REG        0x43   // OIS bits | FS[2:0]: 000=±2000dps … 100=±125dps
+
+// Soft reset (write 0xA5 twice after enabling Addr_Auto)
+#define SC7U22_SOFT_RST_REG         0x4A
+
+// Segment selector (for special registers)
+#define SC7U22_SEG_SEL_REG          0x7F
+
+// ---------------------------------------------------------------------------
+// COM_CONF (0x04) bit definitions
+// ---------------------------------------------------------------------------
+#define SC7U22_COM_CONF_BOOT        (1 << 7)  // Reboot memory content
+#define SC7U22_COM_CONF_BDU         (1 << 6)  // Block data update
+#define SC7U22_COM_CONF_OIS_EN      (1 << 5)  // OIS enable
+#define SC7U22_COM_CONF_ADDR_AUTO   (1 << 4)  // Address auto-increment
+#define SC7U22_COM_CONF_PP_OD       (1 << 3)  // INT push-pull / open-drain
+#define SC7U22_COM_CONF_INT_H       (1 << 2)  // INT active level
+#define SC7U22_COM_CONF_OISM        (1 << 1)  // OIS SPI mode
+#define SC7U22_COM_CONF_SIM         (1 << 0)  // SPI 4-wire / 3-wire
+
+// Default after reset: BDU=1, Addr_Auto=1  → 0x50
+#define SC7U22_COM_CONF_DEFAULT     0x50
+
+// ---------------------------------------------------------------------------
+// DATA_STAT (0x0B) bit definitions
+// ---------------------------------------------------------------------------
+#define SC7U22_DATA_STAT_DRDY_GYR   (1 << 1)
+#define SC7U22_DATA_STAT_DRDY_ACC   (1 << 0)
+#define SC7U22_DATA_STAT_DRDY_TMP   (1 << 2)
+
+// ---------------------------------------------------------------------------
+// PWR_CTRL (0x7D) bit definitions
+// ---------------------------------------------------------------------------
+#define SC7U22_PWR_CTRL_TEMP_EN     (1 << 3)
+#define SC7U22_PWR_CTRL_ACC_EN      (1 << 2)
+#define SC7U22_PWR_CTRL_GYR_EN      (1 << 1)
+
+// Enable accelerometer + gyroscope + temperature sensor
+#define SC7U22_PWR_CTRL_ENABLE      (SC7U22_PWR_CTRL_TEMP_EN | \
+                                     SC7U22_PWR_CTRL_ACC_EN  | \
+                                     SC7U22_PWR_CTRL_GYR_EN)
+
+// ---------------------------------------------------------------------------
+// ACC_CONF (0x40) preset values
+// ACC_FILTER_PERF=1 (high-perf), ACC_BWP=010 (NORM_AVG4), ACC_ODR=1000 (100 Hz)
+//   → bits[7:0] = 1_010_1000 = 0xA8  (matches chip default)
+// For 1 kHz high-performance: ACC_ODR=1100 → 0xAC
+// ---------------------------------------------------------------------------
+#define SC7U22_ACC_CONF_HP_1KHZ     0xAC  // High-perf, NORM_AVG4, 1600 Hz ODR
+#define SC7U22_ACC_CONF_HP_100HZ    0xA8  // High-perf, NORM_AVG4, 100 Hz ODR (default)
+
+// ACC_RANGE: ±4g = 0x01
+#define SC7U22_ACC_RANGE_4G         0x01
+
+// ---------------------------------------------------------------------------
+// GYR_CONF (0x42) preset values
+// GYR_FILTER_PERF=1 (high-perf/normal), GYR_NOISE_PERF=0, GYR_BWP=10 (NORM_AVG4),
+// GYR_ODR=1000 (100 Hz) → 0xA8 … for 1 kHz: GYR_ODR=1100 → 0xAC
+// Chip default is 0xA9 (BWP=10, ODR=1001 = 200 Hz)
+// ---------------------------------------------------------------------------
+#define SC7U22_GYR_CONF_HP_1KHZ     0xAC  // High-perf, NORM_AVG4, 1600 Hz ODR
+#define SC7U22_GYR_CONF_HP_100HZ    0xA8  // High-perf, NORM_AVG4, 100 Hz ODR
+
+// GYR_RANGE: ±2000 dps = FS[2:0]=000
+#define SC7U22_GYR_RANGE_2000DPS    0x00
+
+// ---------------------------------------------------------------------------
+// WoM / interrupt registers (for optional wake-on-motion, same principle as
+// ICM42607C but using SC7U22 AOI mechanism via AOI1_CFG / AOI2_CFG)
+// ---------------------------------------------------------------------------
+#define SC7U22_AOI1_CFG_REG         0x30
+#define SC7U22_AOI1_STAT_REG        0x31
+#define SC7U22_AOI1_THS_REG         0x32
+#define SC7U22_AOI1_DURATION_REG    0x33
+#define SC7U22_AOI2_CFG_REG         0x34
+#define SC7U22_AOI2_STAT_REG        0x35
+#define SC7U22_AOI2_THS_REG         0x36
+#define SC7U22_AOI2_DURATION_REG    0x37
+#define SC7U22_AOI1_AOI2_CFG_REG    0x3F
+
+// INT1_OUT_SEL1 bits (0x05)
+#define SC7U22_INT1_ACC             (1 << 0)
+#define SC7U22_INT1_GYR             (1 << 2)
diff --git a/radio/src/gui/128x64/radio_diaganas.cpp b/radio/src/gui/128x64/radio_diaganas.cpp
index db094c1c6..fbe422e45 100644
--- a/radio/src/gui/128x64/radio_diaganas.cpp
+++ b/radio/src/gui/128x64/radio_diaganas.cpp
@@ -125,13 +125,13 @@ void menuRadioDiagAnalogs(event_t event)
   y += FH;
   uint8_t x = INDENT_WIDTH;
   lcdDrawText(x, y, "X:");
-  lcdDrawNumber(x+3*FW-1, y, gyro.outputs[0] * 180 / 1024);
+  lcdDrawNumber(x+3*FW-1, y, gyroOutputs[0] * 180 / 1024);
   lcdDrawChar(lcdNextPos, y, CHAR_BW_DEGREE);
-  lcdDrawNumber(x+10*FW-1, y, gyro.scaledX(), RIGHT);
+  lcdDrawNumber(x+10*FW-1, y, gyroScaledX(), RIGHT);
   x = LCD_W/2 + INDENT_WIDTH;
   lcdDrawText(x, y, "Y:");
-  lcdDrawNumber(x+3*FW-1, y, gyro.outputs[1] * 180 / 1024);
+  lcdDrawNumber(x+3*FW-1, y, gyroOutputs[1] * 180 / 1024);
   lcdDrawChar(lcdNextPos, y, CHAR_BW_DEGREE);
-  lcdDrawNumber(x+10*FW-1, y, gyro.scaledY(), RIGHT);
+  lcdDrawNumber(x+10*FW-1, y, gyroScaledY(), RIGHT);
 #endif
 }
diff --git a/radio/src/gui/128x64/radio_setup.cpp b/radio/src/gui/128x64/radio_setup.cpp
index 7e0aa5997..dad113239 100644
--- a/radio/src/gui/128x64/radio_setup.cpp
+++ b/radio/src/gui/128x64/radio_setup.cpp
@@ -484,7 +484,7 @@ void menuRadioSetup(event_t event)
           if (attr) {
             CHECK_INCDEC_GENVAR(event, g_eeGeneral.imuMax, IMU_MAX_DEFAULT - IMU_MAX_RANGE, IMU_MAX_DEFAULT + IMU_MAX_RANGE);
             lcdDrawText(lp, y, ")", RIGHT);
-            lcdDrawNumber(lcdLastLeftPos, y, max(abs(gyro.outputs[0]), abs(gyro.outputs[1])) * 180 / 1024, RIGHT);
+            lcdDrawNumber(lcdLastLeftPos, y, max(abs(gyroOutputs[0]), abs(gyroOutputs[1])) * 180 / 1024, RIGHT);
             lcdDrawText(lcdLastLeftPos, y, "(", RIGHT);
           }
         }
@@ -499,7 +499,7 @@ void menuRadioSetup(event_t event)
           if (attr) {
             CHECK_INCDEC_GENVAR(event, g_eeGeneral.imuOffset, IMU_OFFSET_MIN, IMU_OFFSET_MAX);
             lcdDrawText(lp, y, ")", RIGHT);
-            lcdDrawNumber(lcdLastLeftPos, y, gyro.outputs[0] * 180 / 1024, RIGHT);
+            lcdDrawNumber(lcdLastLeftPos, y, gyroOutputs[0] * 180 / 1024, RIGHT);
             lcdDrawText(lcdLastLeftPos, y, "(", RIGHT);
           }
         }
diff --git a/radio/src/gui/colorlcd/radio/radio_diaganas.cpp b/radio/src/gui/colorlcd/radio/radio_diaganas.cpp
index 560230ed4..c8a375d0d 100644
--- a/radio/src/gui/colorlcd/radio/radio_diaganas.cpp
+++ b/radio/src/gui/colorlcd/radio/radio_diaganas.cpp
@@ -124,26 +124,37 @@ class AnaViewWindow : public Window
       }
     }
 
-#if defined(IMU_ICM4207C) && LANDSCAPE
-    line = newLine(grid);
-    lv_obj_set_style_pad_column(line->getLvObj(), PAD_SMALL, LV_PART_MAIN);
+#if defined(IMU) && LANDSCAPE
+    if (imuGetName()) {
+      line = newLine(grid);
+      lv_obj_set_style_pad_column(line->getLvObj(), PAD_SMALL, LV_PART_MAIN);
 
-    grid.setColSpan(2);
-    new StaticText(line, rect_t{}, "Tilt X");
-    grid.setColSpan(1);
-    new DynamicNumber<int16_t>(line, rect_t{},
-           [=]() { return gyro.scaledX(); }, COLOR_THEME_PRIMARY1_INDEX, RIGHT);
+      grid.setColSpan(2);
+      new StaticText(line, rect_t{}, STR_GYRO);
+      grid.setColSpan(3);
+      new StaticText(line, rect_t{}, imuGetName());
+      grid.setColSpan(1);
 
-    for (int i = 0; i < 3; i++) {grid.nextCell();}
+      line = newLine(grid);
+      lv_obj_set_style_pad_column(line->getLvObj(), PAD_SMALL, LV_PART_MAIN);
 
-    line = newLine(grid);
-    lv_obj_set_style_pad_column(line->getLvObj(), PAD_SMALL, LV_PART_MAIN);
+      grid.setColSpan(2);
+      new StaticText(line, rect_t{}, "Tilt X");
+      grid.setColSpan(1);
+      new DynamicNumber<int16_t>(line, rect_t{},
+             [=]() { return gyroScaledX(); }, COLOR_THEME_PRIMARY1_INDEX, RIGHT);
 
-    grid.setColSpan(2);
-    new StaticText(line, rect_t{}, "Tilt Y");
-    grid.setColSpan(1);
-    new DynamicNumber<int16_t>(line, rect_t{},
-           [=]() { return gyro.scaledY(); }, COLOR_THEME_PRIMARY1_INDEX, RIGHT);
+      for (int i = 0; i < 3; i++) {grid.nextCell();}
+
+      line = newLine(grid);
+      lv_obj_set_style_pad_column(line->getLvObj(), PAD_SMALL, LV_PART_MAIN);
+
+      grid.setColSpan(2);
+      new StaticText(line, rect_t{}, "Tilt Y");
+      grid.setColSpan(1);
+      new DynamicNumber<int16_t>(line, rect_t{},
+             [=]() { return gyroScaledY(); }, COLOR_THEME_PRIMARY1_INDEX, RIGHT);
+    }
 #endif
 
 #if defined(LUMINOSITY_SENSOR)
diff --git a/radio/src/gyro.cpp b/radio/src/gyro.cpp
index b6b4468d4..f623c221a 100644
--- a/radio/src/gyro.cpp
+++ b/radio/src/gyro.cpp
@@ -21,115 +21,143 @@
 
 #include "edgetx.h"
 #include "hal.h"
-#include "debug.h"
-#define _USE_MATH_DEFINES
-#include <math.h>
 #include "hal/usb_driver.h"
 
-#define ACC_LSB_VALUE	0.000488  // 0.488 mg/LSB
+#define _USE_MATH_DEFINES
+#include <math.h>
 
-#define ALPHA 0.98
-#define DT    0.01
-#define SCALE_FACT_ACC  0.005
-#define SCALE_FACT_GYRO 0.0078 // 250deg/s / 32000
+#define COMPLEMENTARY_ALPHA  0.92f
+#define LP_FILTER_ALPHA      0.9f
+#define SAMPLE_TIME_S        0.005f
 
-Gyro gyro;
+int16_t gyroOutputs[2];
 
-#if !defined(IMU_ICM4207C)
-static float deg2RESX(float deg)
+static imu_read_fn readFn;
+static uint8_t errors;
+static int16_t offset_x, offset_y;
+static int16_t range_x = 8192, range_y = 8192;
+static int16_t raw_ax, raw_ay;
+
+// filter state
+static bool filterInitialized;
+static float roll, pitch, yaw;
+static float filteredAccel[3];
+static float prevAccel[3];
+static float filteredGyro[3];
+static float prevGyro[3];
+
+static float lowPass(float val, float prev, float alpha)
 {
-  // [-90 : 90] -> [-RESX : RESX]
-  return (deg * float(RESX)) / 90.0;
+  return alpha * prev + (1.0f - alpha) * val;
 }
-#endif
 
-void Gyro::wakeup()
+static void gyroFilter(etx_imu_data_t* raw)
+{
+  // low-pass
+  filteredAccel[0] = lowPass(raw->accel_x, prevAccel[0], LP_FILTER_ALPHA);
+  filteredAccel[1] = lowPass(raw->accel_y, prevAccel[1], LP_FILTER_ALPHA);
+  filteredAccel[2] = lowPass(raw->accel_z, prevAccel[2], LP_FILTER_ALPHA);
+
+  filteredGyro[0] = lowPass(raw->gyro_x, prevGyro[0], LP_FILTER_ALPHA);
+  filteredGyro[1] = lowPass(raw->gyro_y, prevGyro[1], LP_FILTER_ALPHA);
+  filteredGyro[2] = lowPass(raw->gyro_z, prevGyro[2], LP_FILTER_ALPHA);
+
+  prevAccel[0] = filteredAccel[0];
+  prevAccel[1] = filteredAccel[1];
+  prevAccel[2] = filteredAccel[2];
+
+  prevGyro[0] = filteredGyro[0];
+  prevGyro[1] = filteredGyro[1];
+  prevGyro[2] = filteredGyro[2];
+
+  // complementary filter for attitude
+  float ax = raw->accel_x;
+  float ay = raw->accel_y;
+  float az = raw->accel_z;
+
+  float norm = sqrtf(ax * ax + ay * ay + az * az);
+  if (norm == 0.0f) return;
+  ax /= norm;
+  ay /= norm;
+  az /= norm;
+
+  float accelRoll  = atan2f(ay, sqrtf(ax * ax + az * az));
+  float accelPitch = atan2f(-ax, sqrtf(ay * ay + az * az));
+
+  if (!filterInitialized) {
+    roll  = accelRoll;
+    pitch = accelPitch;
+    yaw   = 0.0f;
+    filterInitialized = true;
+  } else {
+    float dt = SAMPLE_TIME_S;
+    roll  = COMPLEMENTARY_ALPHA * (roll  + raw->gyro_x * dt) +
+            (1.0f - COMPLEMENTARY_ALPHA) * accelRoll;
+    pitch = COMPLEMENTARY_ALPHA * (pitch + raw->gyro_y * dt) +
+            (1.0f - COMPLEMENTARY_ALPHA) * accelPitch;
+    yaw  += raw->gyro_z * dt;
+
+    if (yaw > (float)M_PI) yaw -= 2.0f * (float)M_PI;
+    if (yaw < -(float)M_PI) yaw += 2.0f * (float)M_PI;
+  }
+}
+
+void gyroStart(imu_read_fn fn)
+{
+  readFn = fn;
+}
+
+void gyroWakeup()
 {
   static tmr10ms_t gyroWakeupTime = 0;
 
   tmr10ms_t now = get_tmr10ms();
-  if (errors >= 100 || now < gyroWakeupTime || usbPluggedInStorageMode())
+  if (!readFn || errors >= 100 || now < gyroWakeupTime ||
+      usbPluggedInStorageMode())
     return;
 
   gyroWakeupTime = now + 1; /* 10ms default */
 
-  int16_t values[IMU_VALUES_COUNT];
-  if (gyroRead((uint8_t*)values) < 0) {
+  etx_imu_data_t raw;
+  if (readFn(&raw) < 0) {
     ++errors;
     return;
   }
 
-  // reset error count on each
-  // successful query to avoid
-  // stopping the sensor forever
   errors = 0;
 
-#if defined(IMU_ICM4207C)
-  raw_ax = values[3];
-  raw_ay = values[4];
+  gyroFilter(&raw);
+
+  raw_ax = (int16_t)filteredAccel[0];
+  raw_ay = (int16_t)filteredAccel[1];
+
   int16_t ax = raw_ax - offset_x;
   int16_t ay = raw_ay - offset_y;
 
-  // Use only ACC value, they are really reliable
-  outputs[0] = (ax * float(RESX)) / range_x;
-  outputs[1] = (ay * float(RESX)) / range_y;
-#else
-  int16_t ax = values[3];
-  int16_t ay = values[4];
-  int16_t az = values[5];
-
-  int16_t gx = values[0];
-  int16_t gy = values[1];
-  // int16_t gz = values[2];
-
-  // integrate gyro
-  roll  -= gx * SCALE_FACT_GYRO * DT;
-  pitch += gy * SCALE_FACT_GYRO * DT;
-
-  int32_t magn = abs(ax) + abs(ay) + abs(az);
-  if (magn > 8192 && magn < 32768) {
-
-    if (az < 0) az = -az;
-        
-    float rollAcc  = atan2f((float)ay,(float)az) * 57.3 /* 180/PI */;
-    float pitchAcc = atan2f((float)ax,(float)az) * 57.3 /* 180/PI */;
-
-    roll  = roll  * ALPHA + rollAcc  * (1.0-ALPHA);
-    pitch = pitch * ALPHA + pitchAcc * (1.0-ALPHA);
-  }
-
-  outputs[0] = deg2RESX(roll);
-  outputs[1] = deg2RESX(pitch);
-#endif
+  gyroOutputs[0] = (ax * float(RESX)) / range_x;
+  gyroOutputs[1] = (ay * float(RESX)) / range_y;
 }
 
-int16_t Gyro::scaledX()
+int16_t gyroScaledX()
 {
-  // return limit(-RESX,
-  //              (int)(outputs[0] - g_eeGeneral.imuOffset * RESX / 180) *
-  //                  (180 / (IMU_MAX_DEFAULT + g_eeGeneral.imuMax)),
-  //              RESX);
-  return limit<int16_t>(-RESX, outputs[0], RESX);
+  return limit<int16_t>(-RESX, gyroOutputs[0], RESX);
 }
 
-int16_t Gyro::scaledY()
+int16_t gyroScaledY()
 {
-  // return limit(-RESX,
-  //              outputs[1] * (180 / (IMU_MAX_DEFAULT + g_eeGeneral.imuMax)),
-  //              RESX);
-  return limit<int16_t>(-RESX, outputs[1], RESX);
+  return limit<int16_t>(-RESX, gyroOutputs[1], RESX);
 }
 
-void Gyro::setIMU_X(int16_t offset, int16_t range)
+void gyroSetIMU_X(int16_t offset, int16_t range)
 {
   if (offset == -1) offset_x = raw_ax;
   else offset_x = offset;
   range_x = range * 8192 / 180;
 }
 
-void Gyro::setIMU_Y(int16_t offset, int16_t range)
+void gyroSetIMU_Y(int16_t offset, int16_t range)
 {
   if (offset == -1) offset_y = raw_ay;
   else offset_y = offset;
   range_y = range * 8192 / 180;
-}
\ No newline at end of file
+}
diff --git a/radio/src/gyro.h b/radio/src/gyro.h
index 5336b61d0..e852ed925 100644
--- a/radio/src/gyro.h
+++ b/radio/src/gyro.h
@@ -19,46 +19,21 @@
  * GNU General Public License for more details.
  */
 
-#include <inttypes.h>
-#include "myeeprom.h"
+#pragma once
 
-#define IMU_VALUES_COUNT      6
-#define IMU_BUFFER_LENGTH     (IMU_VALUES_COUNT * sizeof(int16_t))
+#include <inttypes.h>
+#include "hal/imu.h"
 
 #define IMU_MAX_DEFAULT       30
 #define IMU_MAX_RANGE         60
 #define IMU_OFFSET_MIN       -30
 #define IMU_OFFSET_MAX        10
 
-#define IMU_SAMPLES_EXPONENT  3
-#define IMU_SAMPLES_COUNT     (2 ^ IMU_SAMPLES_EXPONENT)
+void gyroStart(imu_read_fn fn);
+void gyroWakeup();
+void gyroSetIMU_X(int16_t offset, int16_t range);
+void gyroSetIMU_Y(int16_t offset, int16_t range);
+int16_t gyroScaledX();
+int16_t gyroScaledY();
 
-class Gyro
-{
- protected:
-  uint8_t errors = 0;
-  float roll = 0.0;
-  float pitch = 0.0;
-  int16_t offset_x = 0;
-  int16_t offset_y = 0;
-  int16_t range_x = 8192;
-  int16_t range_y = 8192;
-  int16_t raw_ax = 0;
-  int16_t raw_ay = 0;
-
- public:
-  int16_t outputs[2];
-
-  void wakeup();
-  void setIMU_X(int16_t, int16_t);
-  void setIMU_Y(int16_t, int16_t);
-
-  int16_t scaledX();
-  int16_t scaledY();
-};
-
-extern Gyro gyro;
-
-// Gyro driver
-int gyroInit();
-int gyroRead(uint8_t buffer[IMU_BUFFER_LENGTH]);
+extern int16_t gyroOutputs[2];
diff --git a/radio/src/drivers/imu_filter.h b/radio/src/hal/imu.cpp
similarity index 53%
rename from radio/src/drivers/imu_filter.h
rename to radio/src/hal/imu.cpp
index 2899ae656..273fe3c9b 100644
--- a/radio/src/drivers/imu_filter.h
+++ b/radio/src/hal/imu.cpp
@@ -1,5 +1,5 @@
 /*
-* Copyright (C) EdgeTX
+ * Copyright (C) EdgeTX
  *
  * Based on code named
  *   opentx - https://github.com/opentx/opentx
@@ -19,20 +19,22 @@
  * GNU General Public License for more details.
  */
 
-#pragma once
+#include "hal/imu.h"
 
-// IMU data structure
-typedef struct {
-  float accel_x, accel_y, accel_z;    // Accelerometer data (m/s²)
-  float gyro_x, gyro_y, gyro_z;       // Gyroscope data (rad/s)
-  float mag_x, mag_y, mag_z;          // Magnetometer data (optional)
-} IMU_RawData_t;
+static const char* s_imu_name = nullptr;
 
-typedef struct {
-  float roll, pitch, yaw;             // Filtered attitude (radians)
-  float accel_x, accel_y, accel_z;    // Filtered acceleration
-  float gyro_x, gyro_y, gyro_z;       // Filtered gyroscope
-} IMU_FilteredData_t;
+imu_read_fn imuDetect(const etx_imu_t* candidates, uint8_t count)
+{
+  for (uint8_t i = 0; i < count; i++) {
+    if (candidates[i].driver->init(candidates[i].bus, candidates[i].addr) == 0) {
+      s_imu_name = candidates[i].driver->name;
+      return candidates[i].driver->read;
+    }
+  }
+  return nullptr;
+}
 
-void process_imu_data(IMU_RawData_t *raw_data);
-IMU_FilteredData_t* get_filtered_imu_data(void);
\ No newline at end of file
+const char* imuGetName()
+{
+  return s_imu_name;
+}
diff --git a/radio/src/hal/imu.h b/radio/src/hal/imu.h
new file mode 100644
index 000000000..9aa70ed06
--- /dev/null
+++ b/radio/src/hal/imu.h
@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) EdgeTX
+ *
+ * Based on code named
+ *   opentx - https://github.com/opentx/opentx
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "hal/i2c_driver.h"
+
+struct etx_imu_data_t {
+  float accel_x, accel_y, accel_z;
+  float gyro_x, gyro_y, gyro_z;
+};
+
+typedef int (*imu_init_fn)(etx_i2c_bus_t bus, uint16_t addr);
+typedef int (*imu_read_fn)(etx_imu_data_t* data);
+
+struct etx_imu_driver_t {
+  imu_init_fn init;
+  imu_read_fn read;
+  const char* name;
+};
+
+struct etx_imu_t {
+  const etx_imu_driver_t* driver;
+  etx_i2c_bus_t bus;
+  uint16_t addr;
+};
+
+// Generic detection: iterates candidates, returns read fn on success
+imu_read_fn imuDetect(const etx_imu_t* candidates, uint8_t count);
+
+// Returns the name of the detected IMU, or nullptr if none
+const char* imuGetName();
diff --git a/radio/src/lua/api_general.cpp b/radio/src/lua/api_general.cpp
index 43dfe0ee5..dddda8746 100644
--- a/radio/src/lua/api_general.cpp
+++ b/radio/src/lua/api_general.cpp
@@ -3065,7 +3065,7 @@ static int luaSetIMU_X(lua_State* const L)
     return 1;
   }
 
-  gyro.setIMU_X(offset, range);
+  gyroSetIMU_X(offset, range);
 #endif
   lua_pushboolean(L, true);
   return 1;
@@ -3096,7 +3096,7 @@ static int luaSetIMU_Y(lua_State* const L)
     return 1;
   }
 
-  gyro.setIMU_Y(offset, range);
+  gyroSetIMU_Y(offset, range);
 #endif
   lua_pushboolean(L, true);
   return 1;
diff --git a/radio/src/mixer.cpp b/radio/src/mixer.cpp
index 147b7a8fc..9aa7f3782 100644
--- a/radio/src/mixer.cpp
+++ b/radio/src/mixer.cpp
@@ -386,10 +386,10 @@ getvalue_t _getValue(mixsrc_t i, bool* valid)
 
 #if defined(IMU)
   else if (i == MIXSRC_TILT_X) {
-    return gyro.scaledX();
+    return gyroScaledX();
   }
   else if (i == MIXSRC_TILT_Y) {
-    return gyro.scaledY();
+    return gyroScaledY();
   }
 #endif
 
diff --git a/radio/src/targets/common/arm/stm32/CMakeLists.txt b/radio/src/targets/common/arm/stm32/CMakeLists.txt
index 2a3cdeb84..c5beb4116 100644
--- a/radio/src/targets/common/arm/stm32/CMakeLists.txt
+++ b/radio/src/targets/common/arm/stm32/CMakeLists.txt
@@ -137,7 +137,7 @@ endif()
 
 if(IMU)
   add_definitions(-DIMU)
-  set(SRC ${SRC} gyro.cpp)
+  set(SRC ${SRC} gyro.cpp hal/imu.cpp)
 endif()
 
 if(AUX_SERIAL OR AUX2_SERIAL)
diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt
index 6cf115ee8..819a52cba 100644
--- a/radio/src/targets/horus/CMakeLists.txt
+++ b/radio/src/targets/horus/CMakeLists.txt
@@ -291,7 +291,7 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${BOARD_COMMON_SRC}
   targets/common/arm/stm32/delays_driver.cpp
   targets/common/arm/stm32/heartbeat_driver.cpp
-  targets/common/arm/stm32/lsm6ds_driver.cpp
+  drivers/lsm6ds.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/module_timer_driver.cpp
   targets/common/arm/stm32/sticks_pwm_driver.cpp
diff --git a/radio/src/targets/horus/board.cpp b/radio/src/targets/horus/board.cpp
index f3696a34d..6c84ff189 100644
--- a/radio/src/targets/horus/board.cpp
+++ b/radio/src/targets/horus/board.cpp
@@ -53,6 +53,10 @@
   #include "csd203_sensor.h"
 #endif
 
+#if defined(IMU) && defined(IMU_I2C_BUS) && defined(IMU_I2C_ADDRESS)
+  #define HAS_IMU
+#endif
+
 HardwareOptions hardwareOptions;
 bool boardBacklightOn = false;
 
@@ -150,6 +154,19 @@ uint16_t getSixPosAnalogValue(uint16_t adcValue)
 }
 #endif
 
+#if defined(HAS_IMU)
+#include "drivers/lsm6ds.h"
+#include "stm32_i2c_driver.h"
+
+static void gyroInit()
+{
+  const etx_imu_t candidates[] = {
+    { &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
+  };
+  gyroStart(imuDetect(candidates, DIM(candidates)));
+}
+#endif
+
 void boardInit()
 {
   delaysInit();
@@ -246,6 +263,10 @@ void boardInit()
   ledGreen();
   #endif
 #endif
+
+#if defined(HAS_IMU)
+  gyroInit();
+#endif
 }
 #endif
 
diff --git a/radio/src/targets/horus/imu_lsm6ds33.cpp b/radio/src/targets/horus/imu_lsm6ds33.cpp
deleted file mode 100644
index a5ad8eee1..000000000
--- a/radio/src/targets/horus/imu_lsm6ds33.cpp
+++ /dev/null
@@ -1,263 +0,0 @@
-/*
- * Copyright (C) EdgeTX
- *
- * Based on code named
- *   opentx - https://github.com/opentx/opentx
- *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
- 
-#include "edgetx.h"
-#include "i2c_driver.h"
-#include "imu_lsm6ds33.h"
-
-I2C_HandleTypeDef hi2c2;
-
-sIMUsettings IMUsettings = {-1, -1.0, -1, -1, -1.0};
-sIMUoutput IMUoutput = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-
-float fIMUtemp = 0.0;
-
-bool I2C_LSM6DS33_ReadRegister(uint8_t reg, uint8_t * buf, uint8_t len)
-{
-    if (HAL_I2C_Master_Transmit(&hi2c2, LSM6DS33_I2C_ADDR << 1, &reg, 1, 10000) != HAL_OK)
-    {
-        TRACE("I2C B2 ERROR: ReadRegister write reg. address failed");
-        return false;
-    }
-
-    if (HAL_I2C_Master_Receive(&hi2c2, LSM6DS33_I2C_ADDR << 1, buf, len, 10000) != HAL_OK)
-    {
-        TRACE("I2C B2 ERROR: ReadRegister read register failed");
-        return false;
-    }
-    return true;
-}
-
-bool I2C_LSM6DS33_WriteRegister(uint8_t reg, uint8_t * buf, uint8_t len)
-{
-    uint8_t uAddrAndBuf[15];
-    uAddrAndBuf[0] = reg;
-
-    if (len > 0)
-    {
-        for (int i = 0;i < len;i++)
-        {
-            uAddrAndBuf[i + 1] = buf[i];
-        }
-    }
-
-    if (HAL_I2C_Master_Transmit(&hi2c2, LSM6DS33_I2C_ADDR << 1, uAddrAndBuf, len + 1, 10000) != HAL_OK)
-    {
-        TRACE("I2C B2 ERROR: WriteRegister failed");
-        return false;
-    }
-    return true;
-}
-
-bool IMUgetConf(void)
-{
-    uint8_t ui8_regs[2] = {0};
-
-    if (!I2C_LSM6DS33_ReadRegister(LSM6DS33_CTRL1_XL_ADDR, ui8_regs, 2))
-    {
-        TRACE("ERROR: LSM6DS33 did not respond to I2C address");
-        return false;
-    }
-
-    switch ((ui8_regs[0] >> 4) & 0x0F) // CTRL1_XL
-    {
-        case LSM6DS33_ODR_0Hz:			IMUsettings.linacc_odr = 0; TRACE("LSM6DS33 lin. acc. output turned off"); break;
-        case LSM6DS33_ODR_12_5Hz:		IMUsettings.linacc_odr = 13; break;
-        case LSM6DS33_ODR_26Hz:			IMUsettings.linacc_odr = 26; break;
-        case LSM6DS33_ODR_52Hz:			IMUsettings.linacc_odr = 52; break;
-        case LSM6DS33_ODR_104Hz:		IMUsettings.linacc_odr = 104; break;
-        case LSM6DS33_ODR_208Hz:		IMUsettings.linacc_odr = 208; break;
-        case LSM6DS33_ODR_416Hz:		IMUsettings.linacc_odr = 417; break;
-        case LSM6DS33_ODR_833Hz:		IMUsettings.linacc_odr = 833; break;
-        case LSM6DS33_ODR_1_66kHz:		IMUsettings.linacc_odr = 1667; break;
-        case LSM6DS33_ODR_3_33kHz:		IMUsettings.linacc_odr = 3333; break;
-        case LSM6DS33_ODR_6_66kHz:		IMUsettings.linacc_odr = 6667; break;
-        default: 						TRACE("ERROR: LSM6DS33 lin.acc. output data rate at illegal setting"); return false; break;
-    }
-    if (IMUsettings.linacc_odr > 0) 	TRACE("LSM6DS33 lin. acc. output at %i Hz", IMUsettings.linacc_odr);
-
-    switch ((ui8_regs[0] >> 2) & 0x03)
-    {
-        case LSM6DS33_LA_FS_2G:			IMUsettings.linacc_mG = 0.061; break;
-        case LSM6DS33_LA_FS_4G:			IMUsettings.linacc_mG = 0.122; break;
-        case LSM6DS33_LA_FS_8G:			IMUsettings.linacc_mG = 0.244; break;
-        case LSM6DS33_LA_FS_16G:		IMUsettings.linacc_mG = 0.488; break;
-        default:						TRACE("ERROR: LSM6DS33 lin. acc full scale value at illegal setting"); return false; break;
-    }
-    TRACE("LSM6DS33 lin. acc. resolution %.2f G", IMUsettings.linacc_mG);
-
-    switch ((ui8_regs[0] >> 2) & 0x03)
-    {
-        case LSM6DS33_LA_AABW_400Hz:	IMUsettings.linacc_aabw = 400; break;
-        case LSM6DS33_LA_AABW_200Hz:	IMUsettings.linacc_aabw = 200; break;
-        case LSM6DS33_LA_AABW_100Hz:	IMUsettings.linacc_aabw = 100; break;
-        case LSM6DS33_LA_AABW_50Hz:		IMUsettings.linacc_aabw = 50; break;
-        default:						TRACE("ERROR: LSM6DS33 lin. acc anti aliasing bandwidth at illegal setting"); return false; break;
-    }
-    TRACE("LSM6DS33 lin. acc. anti aliasing bandwidth at %i Hz", IMUsettings.linacc_aabw);
-
-    switch ((ui8_regs[1] >> 4) & 0x0F) // CTRL2_G
-    {
-        case LSM6DS33_ODR_0Hz:			IMUsettings.gyro_odr = 0; TRACE("LSM6DS33 gyro output turned off"); break;
-        case LSM6DS33_ODR_12_5Hz:		IMUsettings.gyro_odr = 13; break;
-        case LSM6DS33_ODR_26Hz:			IMUsettings.gyro_odr = 26; break;
-        case LSM6DS33_ODR_52Hz:			IMUsettings.gyro_odr = 52; break;
-        case LSM6DS33_ODR_104Hz:		IMUsettings.gyro_odr = 104; break;
-        case LSM6DS33_ODR_208Hz:		IMUsettings.gyro_odr = 208; break;
-        case LSM6DS33_ODR_416Hz:		IMUsettings.gyro_odr = 417; break;
-        case LSM6DS33_ODR_833Hz:		IMUsettings.gyro_odr = 833; break;
-        case LSM6DS33_ODR_1_66kHz:		IMUsettings.gyro_odr = 1667; break;
-        default: 						TRACE("ERROR: LSM6DS33 gyro output data rate at illegal setting"); return false; break;
-    }
-    if (IMUsettings.gyro_odr > 0) 	TRACE("LSM6DS33 gyro output at %i Hz", IMUsettings.gyro_odr);
-
-    switch ((ui8_regs[1] >> 1) & 0x07)
-    {
-        case LSM6DS33_GY_FS_125dps:		IMUsettings.gyro_mDPS	= 4.375; break;
-        case LSM6DS33_GY_FS_250dps:		IMUsettings.gyro_mDPS	= 8.75; break;
-        case LSM6DS33_GY_FS_500dps:		IMUsettings.gyro_mDPS	= 17.5; break;
-        case LSM6DS33_GY_FS_1000dps:	IMUsettings.gyro_mDPS	= 35.0; break;
-        case LSM6DS33_GY_FS_2000dps:	IMUsettings.gyro_mDPS	= 70.0; break;
-        default:						TRACE("ERROR: LSM6DS33 gyro full scale value at illegal setting"); return false; break;
-    }
-    TRACE("LSM6DS33 raw gyro resolution: %.2f milli-degrees/sec.", IMUsettings.gyro_mDPS);
-    return true;
-}
-
-void init_imu_i2c(void)
-{
-  TRACE("I2C IMU Init");
-
-  hi2c2.Instance = I2C_B2;
-  hi2c2.Init.ClockSpeed = I2C_B2_CLK_RATE;
-  hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
-  hi2c2.Init.OwnAddress1 = 0;
-  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-  hi2c2.Init.OwnAddress2 = 0;
-  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
-  {
-      TRACE("I2C B2 ERROR: HAL_I2C_Init() failed");
-  }
-  // Configure Analogue filter
-  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-  {
-      TRACE("I2C B2 ERROR: HAL_I2CEx_ConfigAnalogFilter() failed");
-  }
-  // Configure Digital filter
-  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
-  {
-      TRACE("I2C B2 ERROR: HAL_I2CEx_ConfigDigitalFilter() failed");
-  }
-}
-
-bool imu_lsm6ds33_init(void)
-{
-    uint8_t ui8_reg[2] = {0};
-
-    GPIO_SetBits(AUX_I2C_B2_PWR_GPIO, AUX_I2C_B2_PWR_GPIO_PIN);   // Turn on AUX1 power
-
-    init_imu_i2c();
-
-    if (!I2C_LSM6DS33_ReadRegister(LSM6DS33_WHO_AM_I_ADDR, ui8_reg, 1))
-    {
-        TRACE("ERROR: LSM6DS33 did not respond to I2C address");
-        return false;
-    }
-    if (ui8_reg[0] != LSM6DS33_WHOAMI)
-    {
-        TRACE("LSM6DS33 ERROR: Product ID read failes");
-        return false;
-    }
-    TRACE("LSM6DS33 detected");
-
-    // Set IMU configuration
-    ui8_reg[0] = (LSM6DS33_ODR_104Hz << 4) | (LSM6DS33_LA_FS_4G << 2) | LSM6DS33_LA_AABW_100Hz; // Linear acceleration configuration
-    ui8_reg[1] = (LSM6DS33_ODR_104Hz << 4) | (LSM6DS33_GY_FS_125dps < 1);						// Gyro configuration
-    if (!I2C_LSM6DS33_WriteRegister(LSM6DS33_CTRL1_XL_ADDR, ui8_reg, 2))
-    {
-        TRACE("ERROR: Failed to write LSM6DS33 configuration");
-        return false;
-    }
-
-    if (!IMUgetConf())
-    {
-        TRACE("ERROR: Failed ro read LSM6DS33 configuration");
-        return false;
-    }
-    return true;
-}
-
-bool imu_lsm6ds33_read()
-{
-    uint8_t ui8_regs[14] = {0};
-
-    int16_t i16_rawTemperature = 0;
-    int16_t i16_rawGyroX = 0;
-    int16_t i16_rawGyroY = 0;
-    int16_t i16_rawGyroZ = 0;
-    int16_t i16_rawAccX = 0;
-    int16_t i16_rawAccY = 0;
-    int16_t i16_rawAccZ = 0;
-
-    // Check first if new data is available
-    if (!I2C_LSM6DS33_ReadRegister(LSM6DS33_STATUS_REG_ADDR, ui8_regs, 1))
-    {
-        TRACE("ERROR: LSM6DS33 did not respond to I2C address");
-        return false;
-    }
-    if ((ui8_regs[0] & 0x07) != 0x07)
-    {
-        TRACE("ERROR: LSM6DS33 has no new data available yet");
-        return false;
-    }
-
-    if (!I2C_LSM6DS33_ReadRegister(LSM6DS33_OUT_TEMP_L_ADDR, ui8_regs, 14))
-    {
-        TRACE("ERROR: LSM6DS33 did not respond to I2C address");
-        return false;
-    }
-
-    i16_rawTemperature = (ui8_regs[1] << 8) | ui8_regs[0];
-    i16_rawGyroX = (ui8_regs[3] << 8) | ui8_regs[2];
-    i16_rawGyroY = (ui8_regs[5] << 8) | ui8_regs[4];
-    i16_rawGyroZ = (ui8_regs[7] << 8) | ui8_regs[6];
-    i16_rawAccX = (ui8_regs[9] << 8) | ui8_regs[8];
-    i16_rawAccY = (ui8_regs[11] << 8) | ui8_regs[10];
-    i16_rawAccZ = (ui8_regs[13] << 8) | ui8_regs[12];
-
-    IMUoutput.fGyroXradps = i16_rawGyroX * IMUsettings.gyro_mDPS * M_PI/180.0 / 1000.0;
-    IMUoutput.fGyroYradps = i16_rawGyroY * IMUsettings.gyro_mDPS * M_PI/180.0 / 1000.0;
-    IMUoutput.fGyroZradps = i16_rawGyroZ * IMUsettings.gyro_mDPS * M_PI/180.0 / 1000.0;
-
-    IMUoutput.fAccX =  i16_rawAccX * IMUsettings.linacc_mG * GRAVITY_EARTH / 1000.0;
-    IMUoutput.fAccY =  i16_rawAccY * IMUsettings.linacc_mG * GRAVITY_EARTH / 1000.0;
-    IMUoutput.fAccZ =  i16_rawAccZ * IMUsettings.linacc_mG * GRAVITY_EARTH / 1000.0;
-
-    IMUoutput.fTemperatureDegC = (float)i16_rawTemperature / 16.0 + 25.0;
-    /*TRACE("LSM6DS33: %.2f deg.C, GyroXYZ [rad/s]: %.2f, %.2f, %.2f, AccXYZ [m/s^2]: %.2f %.2f %.2f",
-          IMUoutput.fTemperatureDegC,
-          IMUoutput.fGyroXradps, IMUoutput.fGyroYradps, IMUoutput.fGyroZradps,
-          IMUoutput.fAccX, IMUoutput.fAccY, IMUoutput.fAccZ); */
-    return true;
-}
diff --git a/radio/src/targets/horus/imu_lsm6ds33.h b/radio/src/targets/horus/imu_lsm6ds33.h
deleted file mode 100644
index 16ec03f8b..000000000
--- a/radio/src/targets/horus/imu_lsm6ds33.h
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * Copyright (C) EdgeTX
- *
- * Based on code named
- *   opentx - https://github.com/opentx/opentx
- *   th9x - http://code.google.com/p/th9x
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#pragma once
-
-#include "i2c_driver.h"
-
-#define GRAVITY_EARTH					9.80665F	// m/s^2
-
-#define LSM6DS33_I2C_ADDR				0x6A
-#define LSM6DS33_WHOAMI					0x69
-#define LSM6DS33_TIMEOUT				3 			// 3ms
-
-// LSM6DS33 register map
-#define LSM6DS33_FUNC_CFG_ACCESS_ADDR	0x01
-#define LSM6DS33_FIFO_CTRL1_ADDR		0x06
-#define LSM6DS33_FIFO_CTRL2_ADDR		0x07
-#define LSM6DS33_FIFO_CTRL3_ADDR		0x08
-#define LSM6DS33_FIFO_CTRL4_ADDR		0x09
-#define LSM6DS33_FIFO_CTRL5_ADDR		0x0A
-#define LSM6DS33_ORIENT_CFG_G_ADDR		0x0B
-#define LSM6DS33_INT1_CTRL_ADDR			0x0D
-#define LSM6DS33_INT2_CTRL_ADDR			0x0E
-#define LSM6DS33_WHO_AM_I_ADDR			0x0F
-#define LSM6DS33_CTRL1_XL_ADDR			0x10
-#define LSM6DS33_CTRL2_G_ADDR			0x11
-#define LSM6DS33_CTRL3_C_ADDR			0x12
-#define LSM6DS33_CTRL4_C_ADDR			0x13
-#define LSM6DS33_CTRL5_C_ADDR			0x14
-#define LSM6DS33_CTRL6_C_ADDR			0x15
-#define LSM6DS33_CTRL7_G_ADDR			0x16
-#define LSM6DS33_CTRL8_XL_ADDR			0x17
-#define LSM6DS33_CTRL9_XL_ADDR			0x18
-#define LSM6DS33_CTRL10_C_ADDR			0x19
-#define LSM6DS33_WAKE_UP_SRC_ADDR		0x1B
-#define LSM6DS33_TAP_SRC_ADDR			0x1C
-#define LSM6DS33_D6D_SRC_ADDR			0x1D
-#define LSM6DS33_STATUS_REG_ADDR		0x1E
-#define LSM6DS33_OUT_TEMP_L_ADDR		0x20
-#define LSM6DS33_OUT_TEMP_H_ADDR		0x21
-#define LSM6DS33_OUTX_L_G_ADDR			0x22
-#define LSM6DS33_OUTX_H_G_ADDR			0x23
-#define LSM6DS33_OUTY_L_G_ADDR			0x24
-#define LSM6DS33_OUTY_H_G_ADDR			0x25
-#define LSM6DS33_OUTZ_L_G_ADDR			0x26
-#define LSM6DS33_OUTZ_H_G_ADDR			0x27
-#define LSM6DS33_OUTX_L_XL_ADDR			0x28
-#define LSM6DS33_OUTX_H_XL_ADDR			0x29
-#define LSM6DS33_OUTY_L_XL_ADDR			0x2A
-#define LSM6DS33_OUTY_H_XL_ADDR			0x2B
-#define LSM6DS33_OUTZ_L_XL_ADDR			0x2C
-#define LSM6DS33_OUTZ_H_XL_ADDR			0x2D
-#define LSM6DS33_FIFO_STATUS1_ADDR		0x3A
-#define LSM6DS33_FIFO_STATUS2_ADDR		0x3B
-#define LSM6DS33_FIFO_STATUS3_ADDR		0x3C
-#define LSM6DS33_FIFO_STATUS4_ADDR		0x3D
-#define LSM6DS33_FIFO_DATA_OUT_L_ADDR	0x3E
-#define LSM6DS33_FIFO_DATA_OUT_H_ADDR	0x3F
-#define LSM6DS33_TIMESTAMP0_REG_ADDR	0x40
-#define LSM6DS33_TIMESTAMP1_REG_ADDR	0x41
-#define LSM6DS33_TIMESTAMP2_REG_ADDR	0x42
-#define LSM6DS33_STEP_TIMESTAMP_L_ADDR	0x49
-#define LSM6DS33_STEP_TIMESTAMP_H_ADDR	0x4A
-#define LSM6DS33_STEP_COUNTER_L_ADDR	0x4B
-#define LSM6DS33_STEP_COUNTER_H_ADDR	0x4C
-#define LSM6DS33_FUNC_SRC_ADDR			0x53
-#define LSM6DS33_TAP_CFG_ADDR			0x58
-#define LSM6DS33_TAP_THS_6D_ADDR		0x59
-#define LSM6DS33_INT_DUR2_ADDR			0x5A
-#define LSM6DS33_WAKE_UP_THS_ADDR		0x5B
-#define LSM6DS33_WAKE_UP_DUR_ADDR		0x5C
-#define LSM6DS33_FREE_FALL_ADDR			0x5D
-#define LSM6DS33_MD1_CFG_ADDR			0x5E
-#define LSM6DS33_MD2_CFG_ADDR			0x5F
-
-#define LSM6DS33_ODR_0Hz				0x00
-#define LSM6DS33_ODR_12_5Hz				0x01
-#define LSM6DS33_ODR_26Hz				0x02
-#define LSM6DS33_ODR_52Hz				0x03
-#define LSM6DS33_ODR_104Hz				0x04
-#define LSM6DS33_ODR_208Hz				0x05
-#define LSM6DS33_ODR_416Hz				0x06
-#define LSM6DS33_ODR_833Hz				0x07
-#define LSM6DS33_ODR_1_66kHz			0x08
-#define LSM6DS33_ODR_3_33kHz			0x09
-#define LSM6DS33_ODR_6_66kHz			0x0A
-
-#define LSM6DS33_LA_FS_2G				0x00
-#define LSM6DS33_LA_FS_16G				0x01
-#define LSM6DS33_LA_FS_4G				0x02
-#define LSM6DS33_LA_FS_8G				0x03
-
-#define LSM6DS33_LA_AABW_400Hz			0x00
-#define LSM6DS33_LA_AABW_200Hz			0x01
-#define LSM6DS33_LA_AABW_100Hz			0x02
-#define LSM6DS33_LA_AABW_50Hz			0x03
-
-#define LSM6DS33_GY_FS_125dps			0x01
-#define LSM6DS33_GY_FS_250dps			0x00
-#define LSM6DS33_GY_FS_500dps			0x02
-#define LSM6DS33_GY_FS_1000dps			0x04
-#define LSM6DS33_GY_FS_2000dps			0x05
-
-typedef struct {
-    int16_t linacc_odr;
-    float linacc_mG; // milli G per Bit
-    int16_t linacc_aabw;
-    int16_t gyro_odr;
-    float gyro_mDPS; // milli degrees per second per Bit
-} sIMUsettings;
-
-typedef struct {
-    float fTemperatureDegC; //°C
-    float fAccX, fAccY, fAccZ; // m/s^2
-    float fGyroXradps, fGyroYradps, fGyroZradps; // rad/s
-} sIMUoutput;
-
-extern sIMUoutput IMUoutput;
-
-bool imu_lsm6ds33_init(void);
-bool imu_lsm6ds33_read();
diff --git a/radio/src/targets/pa01/CMakeLists.txt b/radio/src/targets/pa01/CMakeLists.txt
index 0caeabfb4..393cb3a7b 100644
--- a/radio/src/targets/pa01/CMakeLists.txt
+++ b/radio/src/targets/pa01/CMakeLists.txt
@@ -146,7 +146,7 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${TARGET_SRC_DIR}/battery_driver.cpp
   targets/common/arm/stm32/audio_dac_driver.cpp
   targets/common/arm/stm32/heartbeat_driver.cpp
-  targets/common/arm/stm32/lsm6ds_driver.cpp
+  drivers/lsm6ds.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/module_timer_driver.cpp
   targets/common/arm/stm32/stm32_pulse_driver.cpp
diff --git a/radio/src/targets/pa01/board.cpp b/radio/src/targets/pa01/board.cpp
index 9eca340dd..19fb21756 100644
--- a/radio/src/targets/pa01/board.cpp
+++ b/radio/src/targets/pa01/board.cpp
@@ -47,11 +47,13 @@
 #include "sdcard.h"
 #include "debug.h"
 #include "keys.h"
+#include "gyro.h"
 
 #include "flysky_gimbal_driver.h"
 #include "timers_driver.h"
 
 #include "battery_driver.h"
+#include "drivers/lsm6ds.h"
 
 #include <string.h>
 
@@ -126,6 +128,14 @@ void boardBLInit()
   flashRegisterDriver(QSPI_BASE, 8 * 1024 * 1024, &extflash_driver);
 }
 
+static void gyroInit()
+{
+  const etx_imu_t candidates[] = {
+    { &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
+  };
+  gyroStart(imuDetect(candidates, DIM(candidates)));
+}
+
 bool pwrPressedDebounced()
 {
   static bool debouncedState = 0;
@@ -377,6 +387,8 @@ void boardInit()
 #if defined(RTCLOCK)
   rtcInit(); // RTC must be initialized before rambackupRestore() is called
 #endif
+
+  gyroInit();
 }
 
 extern void rtcDisableBackupReg();
diff --git a/radio/src/targets/simu/CMakeLists.txt b/radio/src/targets/simu/CMakeLists.txt
index f2c2ee523..0f71244e7 100644
--- a/radio/src/targets/simu/CMakeLists.txt
+++ b/radio/src/targets/simu/CMakeLists.txt
@@ -35,7 +35,6 @@ set(SIMU_DRIVERS
   module_drivers.cpp
   led_driver.cpp
   backlight_driver.cpp
-  gyro_driver.cpp
   bt_driver.cpp
   timers_driver.cpp
   abnormal_reboot.cpp
diff --git a/radio/src/targets/st16/CMakeLists.txt b/radio/src/targets/st16/CMakeLists.txt
index 76644ff4b..f02857a8d 100644
--- a/radio/src/targets/st16/CMakeLists.txt
+++ b/radio/src/targets/st16/CMakeLists.txt
@@ -149,7 +149,7 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${TARGET_SRC_DIR}/touch_driver.cpp
   ${TARGET_SRC_DIR}/battery_driver.cpp  
   targets/common/arm/stm32/heartbeat_driver.cpp
-  targets/common/arm/stm32/lsm6ds_driver.cpp
+  drivers/lsm6ds.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/module_timer_driver.cpp
   targets/common/arm/stm32/stm32_pulse_driver.cpp
diff --git a/radio/src/targets/st16/board.cpp b/radio/src/targets/st16/board.cpp
index dd6f6aeeb..1b2dd36ae 100644
--- a/radio/src/targets/st16/board.cpp
+++ b/radio/src/targets/st16/board.cpp
@@ -48,11 +48,13 @@
 #include "sdcard.h"
 #include "debug.h"
 #include "keys.h"
+#include "gyro.h"
 
 #include "flysky_gimbal_driver.h"
 #include "timers_driver.h"
 
 #include "battery_driver.h"
+#include "drivers/lsm6ds.h"
 
 #include "bitmapbuffer.h"
 #include "colors.h"
@@ -173,6 +175,14 @@ void boardBLInit()
   flashRegisterDriver(QSPI_BASE, 8 * 1024 * 1024, &extflash_driver);
 }
 
+static void gyroInit()
+{
+  const etx_imu_t candidates[] = {
+    { &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
+  };
+  gyroStart(imuDetect(candidates, DIM(candidates)));
+}
+
 void boardInit()
 {
   // enable interrupts
@@ -263,6 +273,8 @@ void boardInit()
 #if defined(RTCLOCK)
   rtcInit(); // RTC must be initialized before rambackupRestore() is called
 #endif
+
+  gyroInit();
 }
 
 extern void rtcDisableBackupReg();
diff --git a/radio/src/targets/stm32h7s78-dk/CMakeLists.txt b/radio/src/targets/stm32h7s78-dk/CMakeLists.txt
index 2007cde17..edb3dc419 100644
--- a/radio/src/targets/stm32h7s78-dk/CMakeLists.txt
+++ b/radio/src/targets/stm32h7s78-dk/CMakeLists.txt
@@ -99,7 +99,6 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${TARGET_SRC_DIR}/tp_gt911.cpp
   ${TARGET_SRC_DIR}/audio_driver.cpp
   drivers/wm8904.cpp
-  targets/common/arm/stm32/lsm6ds_driver.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/stm32_switch_driver.cpp
   targets/common/arm/stm32/stm32_i2s.cpp
diff --git a/radio/src/targets/stm32h7s78-dk/board.cpp b/radio/src/targets/stm32h7s78-dk/board.cpp
index 69e383ec5..5e5c7bfab 100644
--- a/radio/src/targets/stm32h7s78-dk/board.cpp
+++ b/radio/src/targets/stm32h7s78-dk/board.cpp
@@ -40,6 +40,7 @@
 #include "sdcard.h"
 #include "touch.h"
 #include "debug.h"
+#include "gyro.h"
 
 #include "timers_driver.h"
 #include "tp_gt911.h"
diff --git a/radio/src/targets/t15pro/CMakeLists.txt b/radio/src/targets/t15pro/CMakeLists.txt
index c306379ab..6dc29aa95 100644
--- a/radio/src/targets/t15pro/CMakeLists.txt
+++ b/radio/src/targets/t15pro/CMakeLists.txt
@@ -149,7 +149,6 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${BOARD_SRC_DIR}/touch_driver.cpp
   targets/common/arm/stm32/audio_dac_driver.cpp
   targets/common/arm/stm32/heartbeat_driver.cpp
-  targets/common/arm/stm32/lsm6ds_driver.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/module_timer_driver.cpp
   targets/common/arm/stm32/stm32_pulse_driver.cpp
diff --git a/radio/src/targets/taranis/CMakeLists.txt b/radio/src/targets/taranis/CMakeLists.txt
index f3a71ec29..45b18e59d 100644
--- a/radio/src/targets/taranis/CMakeLists.txt
+++ b/radio/src/targets/taranis/CMakeLists.txt
@@ -627,7 +627,7 @@ if(USB_CHARGER)
 endif()
 
 if(IMU)
-  target_sources(board PRIVATE targets/common/arm/stm32/lsm6ds_driver.cpp)
+  target_sources(board PRIVATE drivers/lsm6ds.cpp)
 endif()
 
 if(AUTOUPDATE)
diff --git a/radio/src/targets/taranis/board.cpp b/radio/src/targets/taranis/board.cpp
index 1ecf9ce99..1866d70f8 100644
--- a/radio/src/targets/taranis/board.cpp
+++ b/radio/src/targets/taranis/board.cpp
@@ -125,6 +125,21 @@ void SDLEDpwrInit()
 }
 #endif
 
+#if defined(IMU) && defined(IMU_I2C_BUS) && defined(IMU_I2C_BUS)
+#include "drivers/lsm6ds.h"
+#include "stm32_i2c_driver.h"
+
+#define HAS_IMU
+
+static void gyroInit()
+{
+  const etx_imu_t candidates[] = {
+    { &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
+  };
+  gyroStart(imuDetect(candidates, DIM(candidates)));
+}
+#endif
+
 void boardInit()
 {
   LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SYSCFG);
@@ -277,6 +292,10 @@ void boardInit()
 #if defined(RADIO_GX12)
   gpio_init(HALL_SYNC, GPIO_OUT, GPIO_PIN_SPEED_LOW);
 #endif
+
+#if defined(HAS_IMU)
+  gyroInit();
+#endif
 }
 #endif
 
diff --git a/radio/src/targets/tx15/CMakeLists.txt b/radio/src/targets/tx15/CMakeLists.txt
index 4317b994e..a61dd05bd 100644
--- a/radio/src/targets/tx15/CMakeLists.txt
+++ b/radio/src/targets/tx15/CMakeLists.txt
@@ -45,6 +45,7 @@ endif()
 # IMU support
 set(IMU ON)
 add_definitions(-DIMU_ICM4207C)
+add_definitions(-DIMU_SC7U22)
 
 # for size report script
 set(CPU_TYPE_FULL STM32H750xB)
@@ -144,6 +145,9 @@ set(BOARD_COMMON_SRC
   ${BOARD_SRC_DIR}/extflash_driver.cpp
   ${BOARD_SRC_DIR}/usb_charger_driver.cpp
   ${TARGET_SRC_DIR}/key_driver.cpp
+  drivers/pca95xx.cpp
+  drivers/icm42607C.cpp
+  drivers/sc7u22.cpp
   targets/common/arm/stm32/abnormal_reboot.cpp
   targets/common/arm/stm32/delays_driver.cpp
   targets/common/arm/stm32/dma2d.cpp
@@ -152,7 +156,6 @@ set(BOARD_COMMON_SRC
   targets/common/arm/stm32/rotary_encoder_driver.cpp
   targets/common/arm/stm32/rtc_driver.cpp
   targets/common/arm/stm32/watchdog_driver.cpp
-  drivers/pca95xx.cpp
 )
 
 if(BLUETOOTH)
@@ -186,8 +189,6 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${BOARD_COMMON_SRC}
   ${BOARD_SRC_DIR}/tp_gt911.cpp
   ${BOARD_SRC_DIR}/audio_driver.cpp
-  drivers/icm42607C.cpp
-  drivers/imu_filter.cpp
   drivers/tas2505.cpp
   targets/common/arm/stm32/heartbeat_driver.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
diff --git a/radio/src/targets/tx15/hal.h b/radio/src/targets/tx15/hal.h
index 9e64ef5a1..a533c6b97 100644
--- a/radio/src/targets/tx15/hal.h
+++ b/radio/src/targets/tx15/hal.h
@@ -382,8 +382,8 @@ TIM17:	ROTARY_ENCODER_TIMER
 
 // IMU
 #define IMU_I2C_BUS                     I2C_Bus_1
-#define IMU_I2C_ADDRESS                 0x6A
 #define IMU_INT_GPIO	                GPIO_PIN(GPIOG, 13) // PG.13
+
 // IMU_INT_EXTI IRQ
 #if !defined(USE_EXTI15_10_IRQ)
   #define USE_EXTI15_10_IRQ
diff --git a/radio/src/targets/tx16smk3/CMakeLists.txt b/radio/src/targets/tx16smk3/CMakeLists.txt
index bc67a36c6..f6332280e 100644
--- a/radio/src/targets/tx16smk3/CMakeLists.txt
+++ b/radio/src/targets/tx16smk3/CMakeLists.txt
@@ -36,6 +36,7 @@ set(INTERNAL_GPS_BAUDRATE "9600" CACHE STRING "Baud rate for internal GPS")
 # IMU support
 set(IMU ON)
 add_definitions(-DIMU_ICM4207C)
+add_definitions(-DIMU_SC7U22)
 
 # for size report script
 set(CPU_TYPE_FULL STM32H750xB)
@@ -172,9 +173,9 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
   ${BOARD_SRC_DIR}/tp_gt911.cpp
   ${BOARD_SRC_DIR}/audio_driver.cpp
   ${BOARD_SRC_DIR}/luminosity_sensor.cpp
-  drivers/icm42607C.cpp
-  drivers/imu_filter.cpp
   drivers/tas2505.cpp
+  drivers/icm42607C.cpp
+  drivers/sc7u22.cpp
   targets/common/arm/stm32/heartbeat_driver.cpp
   targets/common/arm/stm32/mixer_scheduler_driver.cpp
   targets/common/arm/stm32/module_timer_driver.cpp
diff --git a/radio/src/targets/tx16smk3/hal.h b/radio/src/targets/tx16smk3/hal.h
index 0178280a0..7e50bff91 100644
--- a/radio/src/targets/tx16smk3/hal.h
+++ b/radio/src/targets/tx16smk3/hal.h
@@ -572,8 +572,7 @@ USART6: INTMODULE_USART
 #endif
 
 #define IMU_I2C_BUS                     I2C_Bus_2
-#define IMU_I2C_ADDRESS                 0x6A
-#define IMU_INT_GPIO                  GPIO_PIN(GPIOG, 13) // PG.13
+#define IMU_INT_GPIO                    GPIO_PIN(GPIOG, 13) // PG.13
 #if !defined(USE_EXTI15_10_IRQ)
   #define USE_EXTI15_10_IRQ
   #define EXTI15_10_IRQ_Priority       6
diff --git a/radio/src/tasks/mixer_task.cpp b/radio/src/tasks/mixer_task.cpp
index e7b24297a..7be269956 100644
--- a/radio/src/tasks/mixer_task.cpp
+++ b/radio/src/tasks/mixer_task.cpp
@@ -128,7 +128,7 @@ constexpr uint8_t MIXER_MAX_PERIOD = MAX_REFRESH_RATE / 1000 /*ms*/;
 void execMixerFrequentActions()
 {
 #if defined(IMU)
-  gyro.wakeup();
+  gyroWakeup();
 #endif
 
 #if defined(BLUETOOTH)
@@ -138,10 +138,6 @@ void execMixerFrequentActions()
 
 void mixerTask()
 {
-#if defined(IMU)
-  gyroInit();
-#endif
-
   while (task_running()) {
 
     int timeout = 0;
diff --git a/radio/src/translations/i18n/cn.h b/radio/src/translations/i18n/cn.h
index 77012ced5..9837c8bd1 100644
--- a/radio/src/translations/i18n/cn.h
+++ b/radio/src/translations/i18n/cn.h
@@ -1202,6 +1202,7 @@
 #define TR_ALTSENSOR                   "Alt 传感器"
 #define TR_CELLSENSOR                  "Cell 传感器"
 #define TR_GPSSENSOR                   "GPS 传感器"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "传感器"
 #define TR_AUTOOFFSET                  "自动偏移值"
 #define TR_ONLYPOSITIVE                "正向"
diff --git a/radio/src/translations/i18n/cz.h b/radio/src/translations/i18n/cz.h
index 31373e446..2ab0208dd 100644
--- a/radio/src/translations/i18n/cz.h
+++ b/radio/src/translations/i18n/cz.h
@@ -1205,6 +1205,7 @@
 #define TR_ALTSENSOR                   "Senzor výšky"
 #define TR_CELLSENSOR                  "Senzor článků"
 #define TR_GPSSENSOR                   "GPS senzor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Senzor"
 #define TR_AUTOOFFSET                  "Auto offset"
 #define TR_ONLYPOSITIVE                "Jen kladné"
diff --git a/radio/src/translations/i18n/da.h b/radio/src/translations/i18n/da.h
index f852735c2..9166bd009 100644
--- a/radio/src/translations/i18n/da.h
+++ b/radio/src/translations/i18n/da.h
@@ -1207,6 +1207,7 @@
 #define TR_ALTSENSOR                   "Højde sensor"
 #define TR_CELLSENSOR                  "Cell sensor"
 #define TR_GPSSENSOR                   "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Sensor"
 #define TR_AUTOOFFSET                  "Auto offset"
 #define TR_ONLYPOSITIVE                "Positive"
diff --git a/radio/src/translations/i18n/de.h b/radio/src/translations/i18n/de.h
index 9707d2a8b..ec873f890 100644
--- a/radio/src/translations/i18n/de.h
+++ b/radio/src/translations/i18n/de.h
@@ -1201,6 +1201,7 @@
 #define TR_ALTSENSOR                   "Höhen Sensor"
 #define TR_CELLSENSOR                  "Zellen Sensor"
 #define TR_GPSSENSOR                   "GPS Sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Sensor"
 #define TR_AUTOOFFSET                  "Auto Offset"
 #define TR_ONLYPOSITIVE                "Nur Positiv"
diff --git a/radio/src/translations/i18n/en.h b/radio/src/translations/i18n/en.h
index aefa0f2f3..618debff2 100644
--- a/radio/src/translations/i18n/en.h
+++ b/radio/src/translations/i18n/en.h
@@ -1203,6 +1203,7 @@
 #define TR_ALTSENSOR                   "Alt sensor"
 #define TR_CELLSENSOR                  "Cell sensor"
 #define TR_GPSSENSOR                   "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Sensor"
 #define TR_AUTOOFFSET                  "Auto Offset"
 #define TR_ONLYPOSITIVE                "Positive"
diff --git a/radio/src/translations/i18n/es.h b/radio/src/translations/i18n/es.h
index c88249068..c08ad3474 100644
--- a/radio/src/translations/i18n/es.h
+++ b/radio/src/translations/i18n/es.h
@@ -1203,6 +1203,7 @@
 #define TR_ALTSENSOR           "Alt sensor"
 #define TR_CELLSENSOR          "Cell sensor"
 #define TR_GPSSENSOR           "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR       "Sensor"
 #define TR_AUTOOFFSET          "Auto offset"
 #define TR_ONLYPOSITIVE        "Positivo"
diff --git a/radio/src/translations/i18n/fi.h b/radio/src/translations/i18n/fi.h
index dcfe54ec2..49bbcbde3 100644
--- a/radio/src/translations/i18n/fi.h
+++ b/radio/src/translations/i18n/fi.h
@@ -1202,6 +1202,7 @@
 #define TR_ALTSENSOR                   "Alt sensor"
 #define TR_CELLSENSOR                  "Cell sensor"
 #define TR_GPSSENSOR                   "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Sensor"
 #define TR_AUTOOFFSET                  "Auto Offset"
 #define TR_ONLYPOSITIVE                "Positive"
diff --git a/radio/src/translations/i18n/fr.h b/radio/src/translations/i18n/fr.h
index 2ddb84a79..2544b973a 100644
--- a/radio/src/translations/i18n/fr.h
+++ b/radio/src/translations/i18n/fr.h
@@ -1205,6 +1205,7 @@
 #define TR_ALTSENSOR                   "Capteur Alt."
 #define TR_CELLSENSOR                  "Capteur Elém."
 #define TR_GPSSENSOR                   "Capteur GPS"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Capteur"
 #define TR_AUTOOFFSET                  "Offset auto"
 #define TR_ONLYPOSITIVE                "Positif"
diff --git a/radio/src/translations/i18n/he.h b/radio/src/translations/i18n/he.h
index 6bc93c6ca..b433767f3 100644
--- a/radio/src/translations/i18n/he.h
+++ b/radio/src/translations/i18n/he.h
@@ -1205,6 +1205,7 @@
 #define TR_ALTSENSOR                   "Alt sensor"
 #define TR_CELLSENSOR                  "Cell sensor"
 #define TR_GPSSENSOR                   "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "חיישן"
 #define TR_AUTOOFFSET                  "Auto Offset"
 #define TR_ONLYPOSITIVE                "חיובי"
diff --git a/radio/src/translations/i18n/it.h b/radio/src/translations/i18n/it.h
index f778f8a37..6cec0149e 100644
--- a/radio/src/translations/i18n/it.h
+++ b/radio/src/translations/i18n/it.h
@@ -1202,6 +1202,7 @@
 #define TR_ALTSENSOR                    "Sensore Alt"
 #define TR_CELLSENSOR                   "Sensore Cell"
 #define TR_GPSSENSOR                    "Sensore GPS"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR                "Sensore"
 #define TR_AUTOOFFSET                   "Offset Auto"
 #define TR_ONLYPOSITIVE                 "Positivo"
diff --git a/radio/src/translations/i18n/jp.h b/radio/src/translations/i18n/jp.h
index 3afcf3d1a..e36342a51 100644
--- a/radio/src/translations/i18n/jp.h
+++ b/radio/src/translations/i18n/jp.h
@@ -1201,6 +1201,7 @@
 #define TR_ALTSENSOR                   "Altセンサー"
 #define TR_CELLSENSOR                  "セルセンサー"
 #define TR_GPSSENSOR                   "GPSセンサー"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "センサー"
 #define TR_AUTOOFFSET                  "自動オフセット"
 #define TR_ONLYPOSITIVE                "ポジティブ"
diff --git a/radio/src/translations/i18n/ko.h b/radio/src/translations/i18n/ko.h
index ca837833f..fca1b999f 100644
--- a/radio/src/translations/i18n/ko.h
+++ b/radio/src/translations/i18n/ko.h
@@ -1248,6 +1248,7 @@
 #define TR_ALTSENSOR                      "고도 센서"
 #define TR_CELLSENSOR                     "셀 전압 센서"
 #define TR_GPSSENSOR                      "GPS 센서"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR                  "전류 센서"
 #define TR_AUTOOFFSET                     "자동 오프셋"
 #define TR_ONLYPOSITIVE                   "양수만"
diff --git a/radio/src/translations/i18n/nl.h b/radio/src/translations/i18n/nl.h
index e3f3b25b2..d9db8ed7b 100644
--- a/radio/src/translations/i18n/nl.h
+++ b/radio/src/translations/i18n/nl.h
@@ -1203,6 +1203,7 @@
 #define TR_ALTSENSOR           "Hoogte Sensor"
 #define TR_CELLSENSOR          "Cellen Sensor"
 #define TR_GPSSENSOR           "GPS Sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR       "Stroomsensor"
 #define TR_AUTOOFFSET          "Auto Offset"
 #define TR_ONLYPOSITIVE        "Enkel positief"
diff --git a/radio/src/translations/i18n/pl.h b/radio/src/translations/i18n/pl.h
index 3e5bcacf0..c83aecf9f 100644
--- a/radio/src/translations/i18n/pl.h
+++ b/radio/src/translations/i18n/pl.h
@@ -1200,6 +1200,7 @@
 #define TR_ALTSENSOR           "Sensor wys."
 #define TR_CELLSENSOR          "Sensor Cell"
 #define TR_GPSSENSOR           "Sensor GPS"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR       "Sensor"
 #define TR_AUTOOFFSET          "Auto Ofset"
 #define TR_ONLYPOSITIVE        "Dodatni"
diff --git a/radio/src/translations/i18n/pt.h b/radio/src/translations/i18n/pt.h
index 0d72cefb6..3f56949d4 100644
--- a/radio/src/translations/i18n/pt.h
+++ b/radio/src/translations/i18n/pt.h
@@ -1203,6 +1203,7 @@
 #define TR_ALTSENSOR                   "Alt sensor"
 #define TR_CELLSENSOR                  "Cell sensor"
 #define TR_GPSSENSOR                   "GPS sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Sensor"
 #define TR_AUTOOFFSET                  "Auto Offset"
 #define TR_ONLYPOSITIVE                "Positive"
diff --git a/radio/src/translations/i18n/ru.h b/radio/src/translations/i18n/ru.h
index f9493725a..fa731828f 100644
--- a/radio/src/translations/i18n/ru.h
+++ b/radio/src/translations/i18n/ru.h
@@ -1204,6 +1204,7 @@
 #define TR_ALTSENSOR                   "Датчик высот"
 #define TR_CELLSENSOR                  "Датчик АКБ"
 #define TR_GPSSENSOR                   "Датчик GPS"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Датчик тока"
 #define TR_AUTOOFFSET                  "Авто смещ"
 #define TR_ONLYPOSITIVE                "Положител"
diff --git a/radio/src/translations/i18n/se.h b/radio/src/translations/i18n/se.h
index f81049069..f8798164f 100644
--- a/radio/src/translations/i18n/se.h
+++ b/radio/src/translations/i18n/se.h
@@ -1213,6 +1213,7 @@
 #define TR_ALTSENSOR                    "Höjdsensor"
 #define TR_CELLSENSOR                   "Cellsensor"
 #define TR_GPSSENSOR                    "GPS-sensor"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR                "Sensor"
 #define TR_AUTOOFFSET                   "Auto offset"
 #define TR_ONLYPOSITIVE                 "Positiv"
diff --git a/radio/src/translations/i18n/tw.h b/radio/src/translations/i18n/tw.h
index f9d2630aa..9530fcd89 100644
--- a/radio/src/translations/i18n/tw.h
+++ b/radio/src/translations/i18n/tw.h
@@ -1200,6 +1200,7 @@
 #define TR_ALTSENSOR                   "Alt 傳感器"
 #define TR_CELLSENSOR                  "Cell 傳感器"
 #define TR_GPSSENSOR                   "GPS 傳感器"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "傳感器"
 #define TR_AUTOOFFSET                  "自動偏移值"
 #define TR_ONLYPOSITIVE                "正向"
diff --git a/radio/src/translations/i18n/ua.h b/radio/src/translations/i18n/ua.h
index 5490ff1cc..f80771fc2 100644
--- a/radio/src/translations/i18n/ua.h
+++ b/radio/src/translations/i18n/ua.h
@@ -1203,6 +1203,7 @@
 #define TR_ALTSENSOR                   "Сенсор висоти"
 #define TR_CELLSENSOR                  "Сенсор комірки"
 #define TR_GPSSENSOR                   "GPS сенсор"
+#define TR_GYRO                        "Gyro"
 #define TR_CURRENTSENSOR               "Сенсор"
 #define TR_AUTOOFFSET                  "Авто зсув"
 #define TR_ONLYPOSITIVE                "Позитив"
diff --git a/radio/src/translations/sim_string_list.h b/radio/src/translations/sim_string_list.h
index 6301b3e2d..2d132e9ec 100644
--- a/radio/src/translations/sim_string_list.h
+++ b/radio/src/translations/sim_string_list.h
@@ -586,6 +586,7 @@
 #define STR_GPS_COORDS_FORMAT currentLangStrings->STR_GPS_COORDS_FORMAT
 #define STR_GPS currentLangStrings->STR_GPS
 #define STR_GPSSENSOR currentLangStrings->STR_GPSSENSOR
+#define STR_GYRO currentLangStrings->STR_GYRO
 #define STR_GV currentLangStrings->STR_GV
 #define STR_GVARS currentLangStrings->STR_GVARS
 #define STR_HARDWARE currentLangStrings->STR_HARDWARE
diff --git a/radio/src/translations/string_list.h b/radio/src/translations/string_list.h
index 96ff7295a..8a4258d5d 100644
--- a/radio/src/translations/string_list.h
+++ b/radio/src/translations/string_list.h
@@ -585,6 +585,7 @@ STR(GLOBALVAR)
 STR(GPS_COORDS_FORMAT)
 STR(GPS)
 STR(GPSSENSOR)
+STR(GYRO)
 STR(GV)
 STR(GVARS)
 STR(HARDWARE)