diff --git a/lib/main/STM32F3/Drivers/STM32F30x_StdPeriph_Driver/src/stm32f30x_hrtim.c b/lib/main/STM32F3/Drivers/STM32F30x_StdPeriph_Driver/src/stm32f30x_hrtim.c
index 591295dea4..06c2d33080 100644
--- a/lib/main/STM32F3/Drivers/STM32F30x_StdPeriph_Driver/src/stm32f30x_hrtim.c
+++ b/lib/main/STM32F3/Drivers/STM32F30x_StdPeriph_Driver/src/stm32f30x_hrtim.c
@@ -123,6 +123,8 @@
   */ 
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f30x_hrtim.h"
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wimplicit-fallthrough"
 
 /** @addtogroup STM32F30x_StdPeriph_Driver
   * @{
@@ -4104,3 +4106,4 @@ void HRTIM_TIM_ResetConfig(HRTIM_TypeDef * HRTIMx,
 
 
 
+#pragma GCC diagnostic pop
diff --git a/make/mcu/STM32F1.mk b/make/mcu/STM32F1.mk
index a333d0f2de..fd30a52114 100644
--- a/make/mcu/STM32F1.mk
+++ b/make/mcu/STM32F1.mk
@@ -40,7 +40,7 @@ DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC) \
 endif
 
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m3 -Wimplicit-fallthrough=0
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m3
 
 ifeq ($(DEVICE_FLAGS),)
 DEVICE_FLAGS    = -DSTM32F10X_MD
diff --git a/make/mcu/STM32F3.mk b/make/mcu/STM32F3.mk
index 17774e8fab..08fad13beb 100644
--- a/make/mcu/STM32F3.mk
+++ b/make/mcu/STM32F3.mk
@@ -53,7 +53,7 @@ endif
 
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion -Wimplicit-fallthrough=0
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 DEVICE_FLAGS    = -DSTM32F303xC -DSTM32F303
 
 VCP_SRC = \
diff --git a/make/mcu/STM32F4.mk b/make/mcu/STM32F4.mk
index d96bd3229b..199152f8e9 100644
--- a/make/mcu/STM32F4.mk
+++ b/make/mcu/STM32F4.mk
@@ -133,7 +133,7 @@ VPATH           := $(VPATH):$(FATFS_DIR)
 endif
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion -Wimplicit-fallthrough=0
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 
 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F411xE
diff --git a/make/mcu/STM32F7.mk b/make/mcu/STM32F7.mk
index 4fea1ed437..16aa520f1f 100644
--- a/make/mcu/STM32F7.mk
+++ b/make/mcu/STM32F7.mk
@@ -109,7 +109,7 @@ VPATH           := $(VPATH):$(FATFS_DIR)
 endif
 
 #Flags
-ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion -Wimplicit-fallthrough=0
+ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -Wdouble-promotion
 
 DEVICE_FLAGS    = -DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER
 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index e6893269b8..df798c32e1 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -880,12 +880,10 @@ void blackboxFinish(void)
     case BLACKBOX_STATE_SHUTTING_DOWN:
         // We're already stopped/shutting down
         break;
-
     case BLACKBOX_STATE_RUNNING:
     case BLACKBOX_STATE_PAUSED:
         blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
-
-        // Fall through
+        FALLTHROUGH;
     default:
         blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
     }
diff --git a/src/main/common/utils.h b/src/main/common/utils.h
index 1cf72c520c..568ae0f24b 100644
--- a/src/main/common/utils.h
+++ b/src/main/common/utils.h
@@ -107,3 +107,9 @@ void * memcpy_fn ( void * destination, const void * source, size_t num ) asm("me
 
 
 #endif
+
+#if __GNUC__ > 6
+#define FALLTHROUGH __attribute__ ((fallthrough))
+#else
+#define FALLTHROUGH do {} while(0)
+#endif
diff --git a/src/main/drivers/sdcard.c b/src/main/drivers/sdcard.c
index e2e8dd5f1c..ae301b0bce 100644
--- a/src/main/drivers/sdcard.c
+++ b/src/main/drivers/sdcard.c
@@ -912,6 +912,7 @@ bool sdcard_poll(void)
                         break; // Timeout not reached yet so keep waiting
                     }
                     // Timeout has expired, so fall through to convert to a fatal error
+                    FALLTHROUGH;
 
                 case SDCARD_RECEIVE_ERROR:
                     sdcard_deselect();
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
index dcdaf8cdea..27c7e06309 100644
--- a/src/main/fc/rc_adjustments.c
+++ b/src/main/fc/rc_adjustments.c
@@ -279,7 +279,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
             break;
         }
-        // follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
+        // fall through for combined ADJUSTMENT_PITCH_ROLL_RATE
+        FALLTHROUGH;
     case ADJUSTMENT_ROLL_RATE:
         newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
         controlRateConfig->rates[FD_ROLL] = newValue;
@@ -299,7 +300,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
             break;
         }
-        // follow though for combined ADJUSTMENT_PITCH_ROLL_P
+        // fall through for combined ADJUSTMENT_PITCH_ROLL_P
+        FALLTHROUGH;
     case ADJUSTMENT_ROLL_P:
         newValue = constrain((int)pidProfile->pid[PID_ROLL].P + delta, 0, 200); // FIXME magic numbers repeated in cli.c
         pidProfile->pid[PID_ROLL].P = newValue;
@@ -313,7 +315,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
             break;
         }
-        // fall though for combined ADJUSTMENT_PITCH_ROLL_I
+        // fall through for combined ADJUSTMENT_PITCH_ROLL_I
+        FALLTHROUGH;
     case ADJUSTMENT_ROLL_I:
         newValue = constrain((int)pidProfile->pid[PID_ROLL].I + delta, 0, 200); // FIXME magic numbers repeated in cli.c
         pidProfile->pid[PID_ROLL].I = newValue;
@@ -327,7 +330,8 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
             break;
         }
-        // fall though for combined ADJUSTMENT_PITCH_ROLL_D
+        // fall through for combined ADJUSTMENT_PITCH_ROLL_D
+        FALLTHROUGH;
     case ADJUSTMENT_ROLL_D:
         newValue = constrain((int)pidProfile->pid[PID_ROLL].D + delta, 0, 200); // FIXME magic numbers repeated in cli.c
         pidProfile->pid[PID_ROLL].D = newValue;
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index 7ea4ed8703..e89e35ebf5 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -204,6 +204,7 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
 
             break;
         }
+        FALLTHROUGH;
 #endif
     default:
         sbufWriteU8(dst, 0);
diff --git a/src/main/io/asyncfatfs/asyncfatfs.c b/src/main/io/asyncfatfs/asyncfatfs.c
index 17d08198a8..1773b22e4e 100644
--- a/src/main/io/asyncfatfs/asyncfatfs.c
+++ b/src/main/io/asyncfatfs/asyncfatfs.c
@@ -30,6 +30,7 @@
 #include "drivers/sdcard.h"
 #include "common/maths.h"
 #include "common/time.h"
+#include "common/utils.h"
 
 #ifdef AFATFS_DEBUG
     #define ONLY_EXPOSE_FOR_TESTING
@@ -935,14 +936,14 @@ static afatfsOperationStatus_e afatfs_cacheSector(uint32_t physicalSectorIndex,
             afatfs.cacheDescriptor[cacheSectorIndex].consecutiveEraseBlockCount = eraseCount;
 #endif
 
-            // Fall through
+            FALLTHROUGH;
 
         case AFATFS_CACHE_STATE_WRITING:
         case AFATFS_CACHE_STATE_IN_SYNC:
             if ((sectorFlags & AFATFS_CACHE_WRITE) != 0) {
                 afatfs_cacheSectorMarkDirty(&afatfs.cacheDescriptor[cacheSectorIndex]);
             }
-            // Fall through
+            FALLTHROUGH;
 
         case AFATFS_CACHE_STATE_DIRTY:
             if ((sectorFlags & AFATFS_CACHE_LOCK) != 0) {
@@ -1456,7 +1457,7 @@ static afatfsOperationStatus_e afatfs_saveDirectoryEntry(afatfsFilePtr_t file, a
                break;
                case AFATFS_SAVE_DIRECTORY_DELETED:
                    entry->filename[0] = FAT_DELETED_FILE_MARKER;
-                   //Fall through
+                   FALLTHROUGH;
 
                case AFATFS_SAVE_DIRECTORY_FOR_CLOSE:
                    // We write the true length of the file on close.
@@ -2098,8 +2099,7 @@ afatfsOperationStatus_e afatfs_fseek(afatfsFilePtr_t file, int32_t offset, afatf
         break;
 
         case AFATFS_SEEK_SET:
-            ;
-            // Fall through
+            FALLTHROUGH;
     }
 
     // Now we have a SEEK_SET with a positive offset. Begin by seeking to the start of the file
diff --git a/src/main/rx/cc2500_frsky_d.c b/src/main/rx/cc2500_frsky_d.c
index 2522f76546..5bf78d1142 100644
--- a/src/main/rx/cc2500_frsky_d.c
+++ b/src/main/rx/cc2500_frsky_d.c
@@ -222,6 +222,7 @@ rx_spi_received_e frSkyDDataReceived(uint8_t *packet)
 
             break;
         }
+        FALLTHROUGH; //!!TODO -check this fall through is correct
     // here FS code could be
     case STATE_DATA:
         if (IORead(gdoPin)) {
diff --git a/src/main/rx/cc2500_frsky_x.c b/src/main/rx/cc2500_frsky_x.c
index 4d0288eff9..031454d3b0 100644
--- a/src/main/rx/cc2500_frsky_x.c
+++ b/src/main/rx/cc2500_frsky_x.c
@@ -365,6 +365,7 @@ rx_spi_received_e frSkyXDataReceived(uint8_t *packet)
             protocolState = STATE_INIT;
             break;
         }
+        FALLTHROUGH; //!!TODO -check this fall through is correct
         // here FS code could be
     case STATE_DATA:	
         if ((IORead(gdoPin)) &&(frame_received==false)){
diff --git a/src/main/rx/spektrum.c b/src/main/rx/spektrum.c
index 0d6dafb203..03f0983857 100644
--- a/src/main/rx/spektrum.c
+++ b/src/main/rx/spektrum.c
@@ -299,6 +299,7 @@ bool spektrumInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
     case SERIALRX_SRXL:
 #ifdef USE_TELEMETRY
         srxlEnabled = (feature(FEATURE_TELEMETRY) && !portShared);
+        FALLTHROUGH;
 #endif
     case SERIALRX_SPEKTRUM2048:
         // 11 bit frames
diff --git a/src/main/rx/xbus.c b/src/main/rx/xbus.c
index 46ae9af573..2ffc0cc3ea 100644
--- a/src/main/rx/xbus.c
+++ b/src/main/rx/xbus.c
@@ -220,6 +220,7 @@ static void xBusDataReceive(uint16_t c, void *data)
         switch (xBusProvider) {
         case SERIALRX_XBUS_MODE_B:
             xBusUnpackModeBFrame(0);
+            FALLTHROUGH; //!!TODO - check this fall through is correct
         case SERIALRX_XBUS_MODE_B_RJ01:
             xBusUnpackRJ01Frame();
         }
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index c935c44bcd..736ef86610 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -26,6 +26,7 @@
 
 #include "common/axis.h"
 #include "common/filter.h"
+#include "common/utils.h"
 
 #include "config/config_reset.h"
 #include "config/feature.h"
@@ -136,9 +137,10 @@ retry:
 
     switch (accHardwareToUse) {
     case ACC_DEFAULT:
-        ; // fallthrough
-    case ACC_ADXL345: // ADXL345
+        FALLTHROUGH;
+
 #ifdef USE_ACC_ADXL345
+    case ACC_ADXL345: // ADXL345
         acc_params.useFifo = false;
         acc_params.dataRate = 800; // unused currently
         if (adxl345Detect(&acc_params, dev)) {
@@ -148,10 +150,11 @@ retry:
             accHardware = ACC_ADXL345;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_LSM303DLHC:
+
 #ifdef USE_ACC_LSM303DLHC
+    case ACC_LSM303DLHC:
         if (lsm303dlhcAccDetect(dev)) {
 #ifdef ACC_LSM303DLHC_ALIGN
             dev->accAlign = ACC_LSM303DLHC_ALIGN;
@@ -159,10 +162,11 @@ retry:
             accHardware = ACC_LSM303DLHC;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_MPU6050: // MPU6050
+
 #ifdef USE_ACC_MPU6050
+    case ACC_MPU6050: // MPU6050
         if (mpu6050AccDetect(dev)) {
 #ifdef ACC_MPU6050_ALIGN
             dev->accAlign = ACC_MPU6050_ALIGN;
@@ -170,10 +174,11 @@ retry:
             accHardware = ACC_MPU6050;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_MMA8452: // MMA8452
+
 #ifdef USE_ACC_MMA8452
+    case ACC_MMA8452: // MMA8452
         if (mma8452Detect(dev)) {
 #ifdef ACC_MMA8452_ALIGN
             dev->accAlign = ACC_MMA8452_ALIGN;
@@ -181,10 +186,11 @@ retry:
             accHardware = ACC_MMA8452;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_BMA280: // BMA280
+
 #ifdef USE_ACC_BMA280
+    case ACC_BMA280: // BMA280
         if (bma280Detect(dev)) {
 #ifdef ACC_BMA280_ALIGN
             dev->accAlign = ACC_BMA280_ALIGN;
@@ -192,10 +198,11 @@ retry:
             accHardware = ACC_BMA280;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_MPU6000:
+
 #ifdef USE_ACC_SPI_MPU6000
+    case ACC_MPU6000:
         if (mpu6000SpiAccDetect(dev)) {
 #ifdef ACC_MPU6000_ALIGN
             dev->accAlign = ACC_MPU6000_ALIGN;
@@ -203,10 +210,11 @@ retry:
             accHardware = ACC_MPU6000;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_MPU9250:
+
 #ifdef USE_ACC_SPI_MPU9250
+    case ACC_MPU9250:
         if (mpu9250SpiAccDetect(dev)) {
 #ifdef ACC_MPU9250_ALIGN
             dev->accAlign = ACC_MPU9250_ALIGN;
@@ -214,8 +222,9 @@ retry:
             accHardware = ACC_MPU9250;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
+
     case ACC_MPU6500:
     case ACC_ICM20601:
     case ACC_ICM20602:
@@ -249,9 +258,10 @@ retry:
             break;
         }
 #endif
-        ; // fallthrough
-    case ACC_ICM20649:
+        FALLTHROUGH;
+
 #ifdef USE_ACC_SPI_ICM20649
+    case ACC_ICM20649:
         if (icm20649SpiAccDetect(dev)) {
             accHardware = ACC_ICM20649;
 #ifdef ACC_ICM20649_ALIGN
@@ -259,10 +269,11 @@ retry:
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_ICM20689:
+
 #ifdef USE_ACC_SPI_ICM20689
+    case ACC_ICM20689:
         if (icm20689SpiAccDetect(dev)) {
             accHardware = ACC_ICM20689;
 #ifdef ACC_ICM20689_ALIGN
@@ -270,10 +281,11 @@ retry:
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_BMI160:
+
 #ifdef USE_ACCGYRO_BMI160
+    case ACC_BMI160:
         if (bmi160SpiAccDetect(dev)) {
             accHardware = ACC_BMI160;
 #ifdef ACC_BMI160_ALIGN
@@ -281,20 +293,22 @@ retry:
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
-    case ACC_FAKE:
+
 #ifdef USE_FAKE_ACC
+    case ACC_FAKE:
         if (fakeAccDetect(dev)) {
             accHardware = ACC_FAKE;
             break;
         }
+        FALLTHROUGH;
 #endif
-        ; // fallthrough
+
+    default:
     case ACC_NONE: // disable ACC
         accHardware = ACC_NONE;
         break;
-
     }
 
     // Found anything? Check if error or ACC is really missing.
@@ -304,7 +318,6 @@ retry:
         goto retry;
     }
 
-
     if (accHardware == ACC_NONE) {
         return false;
     }
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 9591bfde54..eeffbc92a6 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -154,7 +154,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
 
     switch (baroHardware) {
     case BARO_DEFAULT:
-        ; // fallthough
+        FALLTHROUGH;
 
     case BARO_BMP085:
 #ifdef USE_BARO_BMP085
@@ -175,7 +175,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
             }
         }
 #endif
-        ; // fallthough
+        FALLTHROUGH;
 
     case BARO_MS5611:
 #if defined(USE_BARO_MS5611) || defined(USE_BARO_SPI_MS5611)
@@ -184,7 +184,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
             break;
         }
 #endif
-        ; // fallthough
+        FALLTHROUGH;
 
     case BARO_BMP280:
 #if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
@@ -193,7 +193,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
             break;
         }
 #endif
-        ; // fallthough
+        FALLTHROUGH;
 
     case BARO_NONE:
         baroHardware = BARO_NONE;
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index f31f95e782..691b56f0d6 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -162,7 +162,7 @@ bool compassDetect(magDev_t *dev)
 
     switch (compassConfig()->mag_hardware) {
     case MAG_DEFAULT:
-        ; // fallthrough
+        FALLTHROUGH;
 
     case MAG_HMC5883:
 #if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
@@ -178,7 +178,7 @@ bool compassDetect(magDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
+        FALLTHROUGH;
 
     case MAG_AK8975:
 #ifdef USE_MAG_AK8975
@@ -194,7 +194,7 @@ bool compassDetect(magDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
+        FALLTHROUGH;
 
     case MAG_AK8963:
 #if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
@@ -215,7 +215,7 @@ bool compassDetect(magDev_t *dev)
             break;
         }
 #endif
-        ; // fallthrough
+        FALLTHROUGH;
 
     case MAG_NONE:
         magHardware = MAG_NONE;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 90a2a4f1e7..eaec195631 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -175,6 +175,8 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 
     switch (gyroHardware) {
     case GYRO_DEFAULT:
+        FALLTHROUGH;
+
 #ifdef USE_GYRO_MPU6050
     case GYRO_MPU6050:
         if (mpu6050GyroDetect(dev)) {
@@ -184,6 +186,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_L3G4200D
@@ -195,6 +198,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_MPU3050
@@ -206,6 +210,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_L3GD20
@@ -217,6 +222,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_SPI_MPU6000
@@ -228,6 +234,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
@@ -261,19 +268,19 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_SPI_MPU9250
     case GYRO_MPU9250:
-
-        if (mpu9250SpiGyroDetect(dev))
-        {
+        if (mpu9250SpiGyroDetect(dev)) {
             gyroHardware = GYRO_MPU9250;
 #ifdef GYRO_MPU9250_ALIGN
             dev->gyroAlign = GYRO_MPU9250_ALIGN;
 #endif
-        break;
-    }
+            break;
+        }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_SPI_ICM20649
@@ -285,6 +292,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_GYRO_SPI_ICM20689
@@ -296,6 +304,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_ACCGYRO_BMI160
@@ -307,6 +316,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 #endif
             break;
         }
+        FALLTHROUGH;
 #endif
 
 #ifdef USE_FAKE_GYRO
@@ -315,7 +325,9 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
             gyroHardware = GYRO_FAKE;
             break;
         }
+        FALLTHROUGH;
 #endif
+
     default:
         gyroHardware = GYRO_NONE;
     }
diff --git a/src/main/sensors/gyroanalyse.c b/src/main/sensors/gyroanalyse.c
index 278280b2b3..528961815a 100644
--- a/src/main/sensors/gyroanalyse.c
+++ b/src/main/sensors/gyroanalyse.c
@@ -234,7 +234,7 @@ void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
             arm_bitreversal_32((uint32_t*) fftData, Sint->bitRevLength, Sint->pBitRevTable);
             DEBUG_SET(DEBUG_FFT_TIME, 1, micros() - startTime);
             step++;
-            // fall through
+            FALLTHROUGH;
         }
         case STEP_STAGE_RFFT_F32:
         {
@@ -250,7 +250,7 @@ void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
             arm_cmplx_mag_f32(rfftData, fftData, fftBinCount);
             DEBUG_SET(DEBUG_FFT_TIME, 2, micros() - startTime);
             step++;
-            // fall through
+            FALLTHROUGH;
         }
         case STEP_CALC_FREQUENCIES:
         {
@@ -301,7 +301,7 @@ void gyroDataAnalyseUpdate(biquadFilter_t *notchFilterDyn)
 
             axis = (axis + 1) % 3;
             step++;
-            // fall through
+            FALLTHROUGH;
         }
         case STEP_HANNING:
         {