diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index ad59c02410..2c347dc5cd 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1272,7 +1272,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(currentProfile->pidProfile.yaw_lpf_hz);
         break;
     case MSP_ADVANCED_TUNING:
-        headSerialReply(3 * 3);
+        headSerialReply(3 * 2);
         serialize16(currentProfile->pidProfile.rollPitchItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yawItermIgnoreRate);
         serialize16(currentProfile->pidProfile.yaw_p_limit);
@@ -1281,6 +1281,12 @@ static bool processOutCommand(uint8_t cmdMSP)
         headSerialReply(1);
         serialize8(currentControlRateProfile->rcYawRate8);
         break;
+    case MSP_SENSOR_CONFIG:
+        headSerialReply(3);
+        serialize8(masterConfig.acc_hardware);
+        serialize8(masterConfig.baro_hardware);
+        serialize8(masterConfig.mag_hardware);
+        break;
 
     default:
         return false;
@@ -1848,6 +1854,11 @@ static bool processInCommand(void)
     case MSP_SET_TEMPORARY_COMMANDS:
         currentControlRateProfile->rcYawRate8 = read8();
         break;
+    case MSP_SET_SENSOR_CONFIG:
+        masterConfig.acc_hardware = read8();
+        masterConfig.baro_hardware = read8();
+        masterConfig.mag_hardware = read8();
+        break;
     default:
         // we do not know how to handle the (valid) message, indicate error MSP $M!
         return false;
diff --git a/src/main/io/serial_msp.h b/src/main/io/serial_msp.h
index 15a73bab18..7acb92a252 100644
--- a/src/main/io/serial_msp.h
+++ b/src/main/io/serial_msp.h
@@ -203,6 +203,9 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_ADVANCED_TUNING             94
 #define MSP_SET_ADVANCED_TUNING         95
 
+#define MSP_SENSOR_CONFIG               96
+#define MSP_SET_SENSOR_CONFIG           97
+
 #define MSP_TEMPORARY_COMMANDS          98 // Temporary Commands before cleanup
 #define MSP_SET_TEMPORARY_COMMANDS      99 // Temporary Commands before cleanup