diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 0c1eae8bcd..8c60a64171 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -127,8 +127,9 @@ mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
 static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 {
 #ifdef USE_GYRO_SPI_MPU6500
-    if (mpu6500SpiDetect()) {
-        gyro->mpuDetectionResult.sensor = MPU_65xx_SPI;
+    uint8_t mpu6500Sensor = mpu6500SpiDetect();
+    if (mpu6500Sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = mpu6500Sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
         gyro->mpuConfiguration.read = mpu6500ReadRegister;
         gyro->mpuConfiguration.write = mpu6500WriteRegister;
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 1a52f423d3..bf15fcd4b2 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -168,7 +168,9 @@ typedef enum {
     MPU_65xx_I2C,
     MPU_65xx_SPI,
     MPU_9250_SPI,
-    ICM_20689_SPI
+    ICM_20689_SPI,
+    ICM_20608_SPI,
+    ICM_20602_SPI
 } detectedMPUSensor_e;
 
 typedef enum {
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index fa8d97d9b8..f76733d4dc 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -76,7 +76,8 @@ static void mpu6500SpiInit(void)
     hardwareInitialised = true;
 }
 
-bool mpu6500SpiDetect(void)
+static uint8_t mpuDetected = MPU_NONE;
+uint8_t mpu6500SpiDetect(void)
 {
     uint8_t tmp;
 
@@ -84,14 +85,23 @@ bool mpu6500SpiDetect(void)
 
     mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
 
-    if (tmp == MPU6500_WHO_AM_I_CONST ||
-        tmp == MPU9250_WHO_AM_I_CONST ||
-        tmp == ICM20608G_WHO_AM_I_CONST ||
-        tmp == ICM20602_WHO_AM_I_CONST) {
-        return true;
+    switch (tmp) {
+    case MPU6500_WHO_AM_I_CONST:
+        mpuDetected = MPU_65xx_SPI;
+        break;
+    case MPU9250_WHO_AM_I_CONST:
+        mpuDetected = MPU_9250_SPI;
+        break;
+    case ICM20608G_WHO_AM_I_CONST:
+        mpuDetected = ICM_20608_SPI;
+        break;
+    case ICM20602_WHO_AM_I_CONST:
+        mpuDetected = ICM_20602_SPI;
+        break;
+    default:
+        mpuDetected = MPU_NONE;
     }
-
-    return false;
+    return mpuDetected;
 }
 
 void mpu6500SpiAccInit(accDev_t *acc)
@@ -116,7 +126,7 @@ void mpu6500SpiGyroInit(gyroDev_t *gyro)
 
 bool mpu6500SpiAccDetect(accDev_t *acc)
 {
-    if (acc->mpuDetectionResult.sensor != MPU_65xx_SPI) {
+    if (acc->mpuDetectionResult.sensor != mpuDetected || !mpuDetected) {
         return false;
     }
 
@@ -128,10 +138,10 @@ bool mpu6500SpiAccDetect(accDev_t *acc)
 
 bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (gyro->mpuDetectionResult.sensor != MPU_65xx_SPI) {
+    if (gyro->mpuDetectionResult.sensor != mpuDetected || !mpuDetected) {
         return false;
     }
-
+    
     gyro->init = mpu6500SpiGyroInit;
     gyro->read = mpuGyroRead;
     gyro->intStatus = mpuCheckDataReady;
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index b5c2758fc9..25335743f7 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -17,7 +17,7 @@
 
 #pragma once
 
-bool mpu6500SpiDetect(void);
+uint8_t mpu6500SpiDetect(void);
 
 void mpu6500SpiAccInit(accDev_t *acc);
 void mpu6500SpiGyroInit(gyroDev_t *gyro);
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 32f9a05d58..82dd2d74fd 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -253,9 +253,9 @@ static const char * const sensorTypeNames[] = {
 
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
-static const char * const sensorHardwareNames[4][12] = {
-    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "FAKE", NULL },
-    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "FAKE", NULL },
+static const char * const sensorHardwareNames[4][15] = {
+    { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "ICM20689", "ICM20608G", "ICM20602", "FAKE", NULL },
+    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "ICM20689", "MPU9250", "ICM20608G", "ICM20602", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
     { "", "None", "HMC5883", "AK8975", "AK8963", NULL }
 };
@@ -3678,7 +3678,7 @@ static void cliVersion(char *cmdline)
 {
     UNUSED(cmdline);
 
-    cliPrintf("# %s/%s %s %s / %s (%s)\r\n",
+    cliPrintf("# %s / %s %s %s / %s (%s)\r\n",
         FC_FIRMWARE_NAME,
         targetName,
         FC_VERSION_STRING,
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 14a474f2f3..325de5988d 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -169,6 +169,9 @@ retry:
 #endif
         ; // fallthrough
     case ACC_MPU6500:
+    case ACC_ICM20608G:
+    case ACC_ICM20602:
+    case ACC_MPU9250:
 #if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
         if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
@@ -179,7 +182,19 @@ retry:
 #ifdef ACC_MPU6500_ALIGN
             dev->accAlign = ACC_MPU6500_ALIGN;
 #endif
-            accHardware = ACC_MPU6500;
+            switch(dev->mpuDetectionResult.sensor) {
+            case MPU_9250_SPI:
+                accHardware = ACC_MPU9250;
+                break;
+            case ICM_20608_SPI:
+                accHardware = ACC_ICM20608G;
+                break;
+            case ICM_20602_SPI:
+                accHardware = ACC_ICM20602;
+                break;
+            default:        
+                accHardware = ACC_MPU6500;
+            }            
             break;
         }
 #endif
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 0cc1020ae9..b91db0ee16 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -22,17 +22,20 @@
 
 // Type of accelerometer used/detected
 typedef enum {
-    ACC_DEFAULT = 0,
-    ACC_NONE = 1,
-    ACC_ADXL345 = 2,
-    ACC_MPU6050 = 3,
-    ACC_MMA8452 = 4,
-    ACC_BMA280 = 5,
-    ACC_LSM303DLHC = 6,
-    ACC_MPU6000 = 7,
-    ACC_MPU6500 = 8,
-    ACC_ICM20689 = 9,
-    ACC_FAKE = 10
+    ACC_DEFAULT,
+    ACC_NONE,
+    ACC_ADXL345,
+    ACC_MPU6050,
+    ACC_MMA8452,
+    ACC_BMA280,
+    ACC_LSM303DLHC,
+    ACC_MPU6000,
+    ACC_MPU6500,
+    ACC_ICM20689,
+    ACC_MPU9250,
+    ACC_ICM20608G,
+    ACC_ICM20602,    
+    ACC_FAKE
 } accelerationSensor_e;
 
 typedef struct acc_s {
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 811e3a9ddd..8400c0f28e 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -97,9 +97,8 @@ static bool gyroDetect(gyroDev_t *dev)
 
     switch(gyroHardware) {
     case GYRO_DEFAULT:
-        ; // fallthrough
-    case GYRO_MPU6050:
 #ifdef USE_GYRO_MPU6050
+    case GYRO_MPU6050:
         if (mpu6050GyroDetect(dev)) {
             gyroHardware = GYRO_MPU6050;
 #ifdef GYRO_MPU6050_ALIGN
@@ -108,9 +107,9 @@ static bool gyroDetect(gyroDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
-    case GYRO_L3G4200D:
+
 #ifdef USE_GYRO_L3G4200D
+    case GYRO_L3G4200D:
         if (l3g4200dDetect(dev)) {
             gyroHardware = GYRO_L3G4200D;
 #ifdef GYRO_L3G4200D_ALIGN
@@ -119,10 +118,9 @@ static bool gyroDetect(gyroDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
 
-    case GYRO_MPU3050:
 #ifdef USE_GYRO_MPU3050
+    case GYRO_MPU3050:
         if (mpu3050Detect(dev)) {
             gyroHardware = GYRO_MPU3050;
 #ifdef GYRO_MPU3050_ALIGN
@@ -131,10 +129,9 @@ static bool gyroDetect(gyroDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
 
-    case GYRO_L3GD20:
 #ifdef USE_GYRO_L3GD20
+    case GYRO_L3GD20:
         if (l3gd20Detect(dev)) {
             gyroHardware = GYRO_L3GD20;
 #ifdef GYRO_L3GD20_ALIGN
@@ -143,10 +140,9 @@ static bool gyroDetect(gyroDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
 
-    case GYRO_MPU6000:
 #ifdef USE_GYRO_SPI_MPU6000
+    case GYRO_MPU6000:
         if (mpu6000SpiGyroDetect(dev)) {
             gyroHardware = GYRO_MPU6000;
 #ifdef GYRO_MPU6000_ALIGN
@@ -155,64 +151,69 @@ static bool gyroDetect(gyroDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
 
-    case GYRO_MPU6500:
 #if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
+    case GYRO_MPU6500:
+    case GYRO_ICM20608G:
+    case GYRO_ICM20602:
 #ifdef USE_GYRO_SPI_MPU6500
-        if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
+        if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev)) {
 #else
-        if (mpu6500GyroDetect(dev))
+        if (mpu6500GyroDetect(dev)) {
 #endif
-        {
-            gyroHardware = GYRO_MPU6500;
+            switch(dev->mpuDetectionResult.sensor) {
+            case MPU_9250_SPI:
+                gyroHardware = GYRO_MPU9250;
+                break;
+            case ICM_20608_SPI:
+                gyroHardware = GYRO_ICM20608G;
+                break;
+            case ICM_20602_SPI:
+                gyroHardware = GYRO_ICM20602;
+                break;
+            default:        
+                gyroHardware = GYRO_MPU6500;
+            }
 #ifdef GYRO_MPU6500_ALIGN
             dev->gyroAlign = GYRO_MPU6500_ALIGN;
 #endif
-
             break;
         }
 #endif
-        ; // fallthrough
 
-case GYRO_MPU9250:
 #ifdef USE_GYRO_SPI_MPU9250
+    case GYRO_MPU9250:
 
-    if (mpu9250SpiGyroDetect(dev))
-    {
-        gyroHardware = GYRO_MPU9250;
+        if (mpu9250SpiGyroDetect(dev))
+        {
+            gyroHardware = GYRO_MPU9250;
 #ifdef GYRO_MPU9250_ALIGN
-        dev->gyroAlign = GYRO_MPU9250_ALIGN;
+            dev->gyroAlign = GYRO_MPU9250_ALIGN;
 #endif
-
         break;
     }
 #endif
-    ; // fallthrough
 
-    case GYRO_ICM20689:
 #ifdef USE_GYRO_SPI_ICM20689
+    case GYRO_ICM20689:
         if (icm20689SpiGyroDetect(dev))
         {
             gyroHardware = GYRO_ICM20689;
 #ifdef GYRO_ICM20689_ALIGN
             dev->gyroAlign = GYRO_ICM20689_ALIGN;
 #endif
-
             break;
         }
 #endif
-        ; // fallthrough
 
-    case GYRO_FAKE:
 #ifdef USE_FAKE_GYRO
+    case GYRO_FAKE:
         if (fakeGyroDetect(dev)) {
             gyroHardware = GYRO_FAKE;
             break;
         }
 #endif
-        ; // fallthrough
-    case GYRO_NONE:
+    default:
         gyroHardware = GYRO_NONE;
     }
 
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 1cd410f147..9244fcc638 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -31,6 +31,8 @@ typedef enum {
     GYRO_MPU6500,
     GYRO_MPU9250,
     GYRO_ICM20689,
+    GYRO_ICM20608G,
+    GYRO_ICM20602,
     GYRO_FAKE
 } gyroSensor_e;