diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 4de9e75062..342e028efc 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1280,8 +1280,8 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
         break;
 
     case MSP_SENSOR_ALIGNMENT:
-        sbufWriteU8(dst, gyroConfig()->gyro_align);
-        sbufWriteU8(dst, accelerometerConfig()->acc_align);
+        sbufWriteU8(dst, 0); // gyro_align
+        sbufWriteU8(dst, 0); // acc_align
         sbufWriteU8(dst, compassConfig()->mag_align);
         break;
 
@@ -1838,8 +1838,8 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         resetPidProfile(currentPidProfile);
         break;
     case MSP_SET_SENSOR_ALIGNMENT:
-        gyroConfigMutable()->gyro_align = sbufReadU8(src);
-        accelerometerConfigMutable()->acc_align = sbufReadU8(src);
+        sbufReadU8(src); // gyro_align
+        sbufReadU8(src); // acc_align
         compassConfigMutable()->mag_align = sbufReadU8(src);
         break;
 
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index fb8349340f..b83367816b 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -100,7 +100,7 @@ static flightDynamicsTrims_t *accelerationTrims;
 static uint16_t accLpfCutHz = 0;
 static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
 
-PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 0);
+PG_REGISTER_WITH_RESET_FN(accelerometerConfig_t, accelerometerConfig, PG_ACCELEROMETER_CONFIG, 1);
 
 void resetRollAndPitchTrims(rollAndPitchTrims_t *rollAndPitchTrims)
 {
@@ -131,7 +131,6 @@ void pgResetFn_accelerometerConfig(accelerometerConfig_t *instance)
 {
     RESET_CONFIG_2(accelerometerConfig_t, instance,
         .acc_lpf_hz = 10,
-        .acc_align = ALIGN_DEFAULT,
         .acc_hardware = ACC_DEFAULT,
         .acc_high_fsr = false,
     );
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 55c970f75f..8d4de72a1e 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -68,7 +68,6 @@ typedef union rollAndPitchTrims_u {
 
 typedef struct accelerometerConfig_s {
     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
-    sensor_align_e acc_align;               // acc alignment
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     bool acc_high_fsr;
     flightDynamicsTrims_t accZero;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index e6114309e0..861acf2c72 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -189,7 +189,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
 #define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980  // 97.5% full scale (1950dps for 2000dps gyro)
 #define GYRO_OVERFLOW_RESET_THRESHOLD 30340    // 92.5% full scale (1850dps for 2000dps gyro)
 
-PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6);
+PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 7);
 
 #ifndef GYRO_CONFIG_USE_GYRO_DEFAULT
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
@@ -197,7 +197,6 @@ PG_REGISTER_WITH_RESET_FN(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 6);
 
 void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
 { 
-    gyroConfig->gyro_align = ALIGN_DEFAULT;
     gyroConfig->gyroCalibrationDuration = 125;        // 1.25 seconds
     gyroConfig->gyroMovementCalibrationThreshold = 48;
     gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index d9e5577ac9..d4fc9123df 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -69,7 +69,6 @@ typedef enum {
 } filterSlots;
 
 typedef struct gyroConfig_s {
-    uint8_t  gyro_align;                       // gyro alignment
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
     uint8_t  gyro_sync_denom;                  // Gyro sample divider
     uint8_t  gyro_hardware_lpf;                // gyro DLPF setting
diff --git a/src/main/target/BLUEJAYF4/config.c b/src/main/target/BLUEJAYF4/config.c
index fa3903df10..c02b7cd269 100644
--- a/src/main/target/BLUEJAYF4/config.c
+++ b/src/main/target/BLUEJAYF4/config.c
@@ -32,11 +32,11 @@
 #include "drivers/adc.h"
 #include "drivers/io.h"
 
-#include "sensors/acceleration.h"
 #include "sensors/gyro.h"
 
 #include "pg/adc.h"
 #include "pg/beeper_dev.h"
+#include "pg/gyrodev.h"
 
 #include "hardware_revision.h"
 
@@ -47,8 +47,7 @@
 void targetConfiguration(void)
 {
     if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
-        gyroConfigMutable()->gyro_align = CW180_DEG;
-        accelerometerConfigMutable()->acc_align  = CW180_DEG;
+        gyroDeviceConfigMutable(0)->align = CW180_DEG;
         beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
     }