diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 7f5150c0b4..2323a095eb 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -240,6 +240,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 {
     UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
 
+    uint8_t sensor = MPU_NONE;
+    UNUSED(sensor);
+
 #ifdef USE_GYRO_SPI_MPU6000
 #ifdef MPU6000_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
@@ -247,8 +250,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #ifdef MPU6000_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
-    if (mpu6000SpiDetect(&gyro->bus)) {
-        gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
+    sensor = mpu6000SpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
         gyro->mpuConfiguration.writeFn = spiWriteRegister;
@@ -263,10 +267,10 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #ifdef MPU6500_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
-    const uint8_t mpu6500Sensor = mpu6500SpiDetect(&gyro->bus);
+    sensor = mpu6500SpiDetect(&gyro->bus);
     // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
-    if (mpu6500Sensor != MPU_NONE) {
-        gyro->mpuDetectionResult.sensor = mpu6500Sensor;
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
         gyro->mpuConfiguration.writeFn = spiWriteRegister;
@@ -281,8 +285,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #ifdef MPU9250_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
-    if (mpu9250SpiDetect(&gyro->bus)) {
-        gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
+    sensor = mpu9250SpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
         gyro->mpuConfiguration.writeFn = spiWriteRegister;
@@ -298,8 +303,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #ifdef ICM20689_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
-    if (icm20689SpiDetect(&gyro->bus)) {
-        gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
+    sensor = icm20689SpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
         gyro->mpuConfiguration.writeFn = spiWriteRegister;
@@ -314,8 +320,9 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 #ifdef BMI160_CS_PIN
     gyro->bus.spi.csnPin = gyro->bus.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.spi.csnPin;
 #endif
-    if (bmi160Detect(&gyro->bus)) {
-        gyro->mpuDetectionResult.sensor = BMI_160_SPI;
+    sensor = bmi160Detect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
         gyro->mpuConfiguration.readFn = spiReadRegisterBuffer;
         gyro->mpuConfiguration.writeFn = spiWriteRegister;
         return true;
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.c b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
index d6d65a15c1..9f90b536fd 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi160.c
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.c
@@ -93,10 +93,10 @@ static int32_t BMI160_do_foc(const busDevice_t *bus);
 static int32_t BMI160_WriteReg(const busDevice_t *bus, uint8_t reg, uint8_t data);
 
 
-bool bmi160Detect(const busDevice_t *bus)
+uint8_t bmi160Detect(const busDevice_t *bus)
 {
     if (BMI160Detected) {
-        return true;
+        return BMI_160_SPI;
     }
 
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
@@ -111,11 +111,11 @@ bool bmi160Detect(const busDevice_t *bus)
 
     /* Check the chip ID */
     if (spiReadRegister(bus, BMI160_REG_CHIPID) != 0xd1) {
-        return false;
+        return MPU_NONE;
     }
 
     BMI160Detected = true;
-    return true;
+    return BMI_160_SPI;
 }
 
 
@@ -381,7 +381,7 @@ void bmi160SpiAccInit(accDev_t *acc)
 
 bool bmi160SpiAccDetect(accDev_t *acc)
 {
-    if (!bmi160Detect(acc->bus.spi.csnPin)) {
+    if (bmi160Detect(acc->bus.spi.csnPin) == MPU_NONE) {
         return false;
     }
 
@@ -394,7 +394,7 @@ bool bmi160SpiAccDetect(accDev_t *acc)
 
 bool bmi160SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (!bmi160Detect(gyro->bus.spi.csnPin)) {
+    if (bmi160Detect(gyro->bus.spi.csnPin) == MPU_NONE) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi160.h b/src/main/drivers/accgyro/accgyro_spi_bmi160.h
index ad5c6e1e24..d1a9ea6601 100644
--- a/src/main/drivers/accgyro/accgyro_spi_bmi160.h
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi160.h
@@ -68,6 +68,6 @@ enum bmi160_gyro_range {
     BMI160_RANGE_2000DPS = 0x00,
 };
 
-bool bmi160Detect(const busDevice_t *bus);
+uint8_t bmi160Detect(const busDevice_t *bus);
 bool bmi160SpiAccDetect(accDev_t *acc);
 bool bmi160SpiGyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
index 2f2c80cf10..a6ef57f9ab 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
@@ -53,7 +53,7 @@ static void icm20689SpiInit(const busDevice_t *bus)
     hardwareInitialised = true;
 }
 
-bool icm20689SpiDetect(const busDevice_t *bus)
+uint8_t icm20689SpiDetect(const busDevice_t *bus)
 {
     icm20689SpiInit(bus);
 
@@ -69,13 +69,13 @@ bool icm20689SpiDetect(const busDevice_t *bus)
             break;
         }
         if (!attemptsRemaining) {
-            return false;
+            return MPU_NONE;
         }
     } while (attemptsRemaining--);
 
     spiSetDivisor(bus->spi.instance, SPI_CLOCK_STANDARD);
 
-    return true;
+    return ICM_20689_SPI;
 
 }
 
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.h b/src/main/drivers/accgyro/accgyro_spi_icm20689.h
index 164f51decf..57cc827f89 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm20689.h
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.h
@@ -27,7 +27,7 @@ bool icm20689GyroDetect(gyroDev_t *gyro);
 void icm20689AccInit(accDev_t *acc);
 void icm20689GyroInit(gyroDev_t *gyro);
 
-bool icm20689SpiDetect(const busDevice_t *bus);
+uint8_t icm20689SpiDetect(const busDevice_t *bus);
 
 bool icm20689SpiAccDetect(accDev_t *acc);
 bool icm20689SpiGyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
index e23c5fe18c..a4976e02fb 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
@@ -125,7 +125,7 @@ void mpu6000SpiAccInit(accDev_t *acc)
     acc->acc_1G = 512 * 8;
 }
 
-bool mpu6000SpiDetect(const busDevice_t *bus)
+uint8_t mpu6000SpiDetect(const busDevice_t *bus)
 {
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
@@ -144,7 +144,7 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
             break;
         }
         if (!attemptsRemaining) {
-            return false;
+            return MPU_NONE;
         }
     } while (attemptsRemaining--);
 
@@ -166,10 +166,10 @@ bool mpu6000SpiDetect(const busDevice_t *bus)
     case MPU6000_REV_D8:
     case MPU6000_REV_D9:
     case MPU6000_REV_D10:
-        return true;
+        return MPU_60x0_SPI;
     }
 
-    return false;
+    return MPU_NONE;
 }
 
 static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6000.h b/src/main/drivers/accgyro/accgyro_spi_mpu6000.h
index 8435cebad0..7682a28726 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6000.h
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6000.h
@@ -17,7 +17,7 @@
 // RF = Register Flag
 #define MPU_RF_DATA_RDY_EN (1 << 0)
 
-bool mpu6000SpiDetect(const busDevice_t *bus);
+uint8_t mpu6000SpiDetect(const busDevice_t *bus);
 
 bool mpu6000SpiAccDetect(accDev_t *acc);
 bool mpu6000SpiGyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
index 8df48ff8dd..b397c2bb7c 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
@@ -96,8 +96,8 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
 
     mpuGyroRead(gyro);
 
-    if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(MPU9250_SPI_INSTANCE) != 0) {
-        spiResetErrorCounter(MPU9250_SPI_INSTANCE);
+    if ((((int8_t)gyro->gyroADCRaw[1]) == -1 && ((int8_t)gyro->gyroADCRaw[0]) == -1) || spiGetErrorCounter(gyro->bus.spi.instance) != 0) {
+        spiResetErrorCounter(gyro->bus.spi.instance);
         failureMode(FAILURE_GYRO_INIT_FAILED);
     }
 }
@@ -166,7 +166,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
     mpuSpi9250InitDone = true; //init done
 }
 
-bool mpu9250SpiDetect(const busDevice_t *bus)
+uint8_t mpu9250SpiDetect(const busDevice_t *bus)
 {
     IOInit(bus->spi.csnPin, OWNER_MPU_CS, 0);
     IOConfigGPIO(bus->spi.csnPin, SPI_IO_CS_CFG);
@@ -182,13 +182,13 @@ bool mpu9250SpiDetect(const busDevice_t *bus)
             break;
         }
         if (!attemptsRemaining) {
-            return false;
+            return MPU_NONE;
         }
     } while (attemptsRemaining--);
 
     spiSetDivisor(bus->spi.instance, SPI_CLOCK_FAST);
 
-    return true;
+    return MPU_9250_SPI;
 }
 
 bool mpu9250SpiAccDetect(accDev_t *acc)
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.h b/src/main/drivers/accgyro/accgyro_spi_mpu9250.h
index a9d9b1b0d6..e7d3958c62 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.h
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.h
@@ -28,7 +28,7 @@
 
 void mpu9250SpiResetGyro(void);
 
-bool mpu9250SpiDetect(const busDevice_t *bus);
+uint8_t mpu9250SpiDetect(const busDevice_t *bus);
 
 bool mpu9250SpiAccDetect(accDev_t *acc);
 bool mpu9250SpiGyroDetect(gyroDev_t *gyro);