diff --git a/src/main/drivers/barometer_bmp085.h b/src/main/drivers/barometer_bmp085.h
index f6c6dece76..02fc0d8eb3 100644
--- a/src/main/drivers/barometer_bmp085.h
+++ b/src/main/drivers/barometer_bmp085.h
@@ -17,6 +17,8 @@
 
 #pragma once
 
+#include "io_types.h"
+
 typedef struct bmp085Config_s {
     ioTag_t xclrIO;
     ioTag_t eocIO;
diff --git a/src/main/drivers/compass_ak8963.c b/src/main/drivers/compass_ak8963.c
index b90abf1bd0..fb280f8ae3 100644
--- a/src/main/drivers/compass_ak8963.c
+++ b/src/main/drivers/compass_ak8963.c
@@ -42,6 +42,9 @@
 #include "accgyro_spi_mpu9250.h"
 #include "compass_ak8963.h"
 
+void ak8963Init(void);
+bool ak8963Read(int16_t *magData);
+
 // This sensor is available in MPU-9250.
 
 // AK8963, mag sensor address
diff --git a/src/main/drivers/compass_ak8963.h b/src/main/drivers/compass_ak8963.h
index 34a4922257..9a13b17943 100644
--- a/src/main/drivers/compass_ak8963.h
+++ b/src/main/drivers/compass_ak8963.h
@@ -18,5 +18,3 @@
 #pragma once
 
 bool ak8963Detect(magDev_t *mag);
-void ak8963Init(void);
-bool ak8963Read(int16_t *magData);
diff --git a/src/main/drivers/compass_ak8975.c b/src/main/drivers/compass_ak8975.c
index b86218f8a9..579c7118cb 100644
--- a/src/main/drivers/compass_ak8975.c
+++ b/src/main/drivers/compass_ak8975.c
@@ -37,6 +37,9 @@
 
 #include "compass_ak8975.h"
 
+void ak8975Init(void);
+bool ak8975Read(int16_t *magData);
+
 // This sensor is available in MPU-9150.
 
 // AK8975, mag sensor address
diff --git a/src/main/drivers/compass_ak8975.h b/src/main/drivers/compass_ak8975.h
index 5a7d729bed..05f5367f7d 100644
--- a/src/main/drivers/compass_ak8975.h
+++ b/src/main/drivers/compass_ak8975.h
@@ -18,5 +18,3 @@
 #pragma once
 
 bool ak8975Detect(magDev_t *mag);
-void ak8975Init(void);
-bool ak8975Read(int16_t *magData);
diff --git a/src/main/drivers/compass_fake.c b/src/main/drivers/compass_fake.c
index cb8098c77d..20b58b1a16 100644
--- a/src/main/drivers/compass_fake.c
+++ b/src/main/drivers/compass_fake.c
@@ -32,13 +32,12 @@
 
 static int16_t fakeMagData[XYZ_AXIS_COUNT];
 
-static bool fakeMagInit(void)
+static void fakeMagInit(void)
 {
     // initially point north
     fakeMagData[X] = 4096;
     fakeMagData[Y] = 0;
     fakeMagData[Z] = 0;
-    return true;
 }
 
 void fakeMagSet(int16_t x, int16_t y, int16_t z)
diff --git a/src/main/drivers/compass_hmc5883l.c b/src/main/drivers/compass_hmc5883l.c
index 0514d3cad0..d4e802597b 100644
--- a/src/main/drivers/compass_hmc5883l.c
+++ b/src/main/drivers/compass_hmc5883l.c
@@ -41,6 +41,9 @@
 
 #include "compass_hmc5883l.h"
 
+void hmc5883lInit(void);
+bool hmc5883lRead(int16_t *magData);
+
 //#define DEBUG_MAG_DATA_READY_INTERRUPT
 
 // HMC5883L, default address 0x1E
diff --git a/src/main/drivers/compass_hmc5883l.h b/src/main/drivers/compass_hmc5883l.h
index 215bc84afa..9028143afc 100644
--- a/src/main/drivers/compass_hmc5883l.h
+++ b/src/main/drivers/compass_hmc5883l.h
@@ -24,5 +24,3 @@ typedef struct hmc5883Config_s {
 } hmc5883Config_t;
 
 bool hmc5883lDetect(magDev_t* mag, const hmc5883Config_t *hmc5883ConfigToUse);
-void hmc5883lInit(void);
-bool hmc5883lRead(int16_t *magData);
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 13484e40c7..6061341630 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -26,9 +26,27 @@
 #include "common/axis.h"
 #include "common/filter.h"
 
+#include "drivers/accgyro.h"
+#include "drivers/accgyro_adxl345.h"
+#include "drivers/accgyro_bma280.h"
+#include "drivers/accgyro_fake.h"
+#include "drivers/accgyro_l3g4200d.h"
+#include "drivers/accgyro_mma845x.h"
+#include "drivers/accgyro_mpu.h"
+#include "drivers/accgyro_mpu3050.h"
+#include "drivers/accgyro_mpu6050.h"
+#include "drivers/accgyro_mpu6500.h"
+#include "drivers/accgyro_l3gd20.h"
+#include "drivers/accgyro_lsm303dlhc.h"
+#include "drivers/bus_spi.h"
+#include "drivers/accgyro_spi_icm20689.h"
+#include "drivers/accgyro_spi_mpu6000.h"
+#include "drivers/accgyro_spi_mpu6500.h"
+#include "drivers/accgyro_spi_mpu9250.h"
 #include "drivers/system.h"
 
 #include "fc/config.h"
+#include "fc/runtime_config.h"
 
 #include "io/beeper.h"
 
@@ -38,6 +56,10 @@
 
 #include "config/feature.h"
 
+#ifdef USE_HARDWARE_REVISION_DETECTION
+#include "hardware_revision.h"
+#endif
+
 
 acc_t acc;                       // acc access functions
 
@@ -53,8 +75,161 @@ static flightDynamicsTrims_t *accelerationTrims;
 static uint16_t accLpfCutHz = 0;
 static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
 
+bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
+{
+    accelerationSensor_e accHardware;
+
+#ifdef USE_ACC_ADXL345
+    drv_adxl345_config_t acc_params;
+#endif
+
+retry:
+    dev->accAlign = ALIGN_DEFAULT;
+
+    switch (accHardwareToUse) {
+    case ACC_DEFAULT:
+        ; // fallthrough
+    case ACC_ADXL345: // ADXL345
+#ifdef USE_ACC_ADXL345
+        acc_params.useFifo = false;
+        acc_params.dataRate = 800; // unused currently
+#ifdef NAZE
+        if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, dev)) {
+#else
+        if (adxl345Detect(&acc_params, dev)) {
+#endif
+#ifdef ACC_ADXL345_ALIGN
+            dev->accAlign = ACC_ADXL345_ALIGN;
+#endif
+            accHardware = ACC_ADXL345;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_LSM303DLHC:
+#ifdef USE_ACC_LSM303DLHC
+        if (lsm303dlhcAccDetect(dev)) {
+#ifdef ACC_LSM303DLHC_ALIGN
+            dev->accAlign = ACC_LSM303DLHC_ALIGN;
+#endif
+            accHardware = ACC_LSM303DLHC;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_MPU6050: // MPU6050
+#ifdef USE_ACC_MPU6050
+        if (mpu6050AccDetect(dev)) {
+#ifdef ACC_MPU6050_ALIGN
+            dev->accAlign = ACC_MPU6050_ALIGN;
+#endif
+            accHardware = ACC_MPU6050;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_MMA8452: // MMA8452
+#ifdef USE_ACC_MMA8452
+#ifdef NAZE
+        // Not supported with this frequency
+        if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
+#else
+        if (mma8452Detect(dev)) {
+#endif
+#ifdef ACC_MMA8452_ALIGN
+            dev->accAlign = ACC_MMA8452_ALIGN;
+#endif
+            accHardware = ACC_MMA8452;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_BMA280: // BMA280
+#ifdef USE_ACC_BMA280
+        if (bma280Detect(dev)) {
+#ifdef ACC_BMA280_ALIGN
+            dev->accAlign = ACC_BMA280_ALIGN;
+#endif
+            accHardware = ACC_BMA280;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_MPU6000:
+#ifdef USE_ACC_SPI_MPU6000
+        if (mpu6000SpiAccDetect(dev)) {
+#ifdef ACC_MPU6000_ALIGN
+            dev->accAlign = ACC_MPU6000_ALIGN;
+#endif
+            accHardware = ACC_MPU6000;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_MPU6500:
+#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
+#ifdef USE_ACC_SPI_MPU6500
+        if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
+#else
+        if (mpu6500AccDetect(dev))
+#endif
+        {
+#ifdef ACC_MPU6500_ALIGN
+            dev->accAlign = ACC_MPU6500_ALIGN;
+#endif
+            accHardware = ACC_MPU6500;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_ICM20689:
+#ifdef USE_ACC_SPI_ICM20689
+
+        if (icm20689SpiAccDetect(dev))
+        {
+#ifdef ACC_ICM20689_ALIGN
+            dev->accAlign = ACC_ICM20689_ALIGN;
+#endif
+            accHardware = ACC_ICM20689;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_FAKE:
+#ifdef USE_FAKE_ACC
+        if (fakeAccDetect(dev)) {
+            accHardware = ACC_FAKE;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case ACC_NONE: // disable ACC
+        accHardware = ACC_NONE;
+        break;
+
+    }
+
+    // Found anything? Check if error or ACC is really missing.
+    if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
+        // Nothing was found and we have a forced sensor that isn't present.
+        accHardwareToUse = ACC_DEFAULT;
+        goto retry;
+    }
+
+
+    if (accHardware == ACC_NONE) {
+        return false;
+    }
+
+    detectedSensors[SENSOR_INDEX_ACC] = accHardware;
+    sensorsSet(SENSOR_ACC);
+    return true;
+}
+
 void accInit(uint32_t gyroSamplingInverval)
 {
+    acc.dev.acc_1G = 256; // set default
+    acc.dev.init(&acc.dev); // driver initialisation
     // set the acc sampling interval according to the gyro sampling interval
     switch (gyroSamplingInverval) {  // Switch statement kept in place to change acc sampling interval in the future
     case 500:
@@ -205,7 +380,7 @@ void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
     }
 
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        if (debugMode == DEBUG_ACCELEROMETER) debug[axis] = accADCRaw[axis];
+        DEBUG_SET(DEBUG_ACCELEROMETER, axis, accADCRaw[axis]);
         acc.accSmooth[axis] = accADCRaw[axis];
     }
 
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 88f391a5c8..1a4b05b3f3 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -61,6 +61,7 @@ typedef struct accelerometerConfig_s {
     flightDynamicsTrims_t accZero;
 } accelerometerConfig_t;
 
+bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse);
 void accInit(uint32_t gyroTargetLooptime);
 bool isAccelerationCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
diff --git a/src/main/sensors/barometer.c b/src/main/sensors/barometer.c
index 7534efaf85..bac86ad16c 100644
--- a/src/main/sensors/barometer.c
+++ b/src/main/sensors/barometer.c
@@ -24,9 +24,20 @@
 #include "common/maths.h"
 
 #include "drivers/barometer.h"
+#include "drivers/barometer_bmp085.h"
+#include "drivers/barometer_bmp280.h"
+#include "drivers/barometer_fake.h"
+#include "drivers/barometer_ms5611.h"
 #include "drivers/system.h"
 
+#include "fc/runtime_config.h"
+
 #include "sensors/barometer.h"
+#include "sensors/sensors.h"
+
+#ifdef USE_HARDWARE_REVISION_DETECTION
+#include "hardware_revision.h"
+#endif
 
 baro_t baro;                        // barometer access functions
 
@@ -40,9 +51,75 @@ static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 0;
 static uint32_t baroPressureSum = 0;
 
-static barometerConfig_t *barometerConfig;
+static const barometerConfig_t *barometerConfig;
 
-void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
+bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
+{
+    // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
+
+    baroSensor_e baroHardware = baroHardwareToUse;
+
+#ifdef USE_BARO_BMP085
+    const bmp085Config_t *bmp085Config = NULL;
+
+#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
+    static const bmp085Config_t defaultBMP085Config = {
+        .xclrIO = IO_TAG(BARO_XCLR_PIN),
+        .eocIO = IO_TAG(BARO_EOC_PIN),
+    };
+    bmp085Config = &defaultBMP085Config;
+#endif
+
+#ifdef NAZE
+    if (hardwareRevision == NAZE32) {
+        bmp085Disable(bmp085Config);
+    }
+#endif
+
+#endif
+
+    switch (baroHardware) {
+    case BARO_DEFAULT:
+        ; // fallthough
+    case BARO_BMP085:
+#ifdef USE_BARO_BMP085
+        if (bmp085Detect(bmp085Config, dev)) {
+            baroHardware = BARO_BMP085;
+            break;
+        }
+#endif
+        ; // fallthough
+    case BARO_MS5611:
+#ifdef USE_BARO_MS5611
+        if (ms5611Detect(dev)) {
+            baroHardware = BARO_MS5611;
+            break;
+        }
+#endif
+        ; // fallthough
+    case BARO_BMP280:
+#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
+        if (bmp280Detect(dev)) {
+            baroHardware = BARO_BMP280;
+            break;
+        }
+#endif
+        ; // fallthough
+    case BARO_NONE:
+        baroHardware = BARO_NONE;
+        break;
+    }
+
+    if (baroHardware == BARO_NONE) {
+        return false;
+    }
+
+    detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
+    sensorsSet(SENSOR_BARO);
+    return true;
+}
+
+void useBarometerConfig(const barometerConfig_t *barometerConfigToUse)
 {
     barometerConfig = barometerConfigToUse;
 }
diff --git a/src/main/sensors/barometer.h b/src/main/sensors/barometer.h
index 53025fc4cd..536e6c453a 100644
--- a/src/main/sensors/barometer.h
+++ b/src/main/sensors/barometer.h
@@ -45,7 +45,8 @@ typedef struct baro_s {
 
 extern baro_t baro;
 
-void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
+bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
+void useBarometerConfig(const barometerConfig_t *barometerConfigToUse);
 bool isBaroCalibrationComplete(void);
 void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
 uint32_t baroUpdate(void);
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 050baf7b0b..9cc1e29fc3 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -22,6 +22,12 @@
 
 #include "common/axis.h"
 
+#include "drivers/compass.h"
+#include "drivers/compass_ak8975.h"
+#include "drivers/compass_ak8963.h"
+#include "drivers/compass_fake.h"
+#include "drivers/compass_hmc5883l.h"
+#include "drivers/io.h"
 #include "drivers/light_led.h"
 
 #include "fc/config.h"
@@ -42,9 +48,108 @@ mag_t mag;                   // mag access functions
 static int16_t magADCRaw[XYZ_AXIS_COUNT];
 static uint8_t magInit = 0;
 
-void compassInit(void)
+bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
+{
+    magSensor_e magHardware;
+
+#ifdef USE_MAG_HMC5883
+    const hmc5883Config_t *hmc5883Config = 0;
+
+#ifdef NAZE // TODO remove this target specific define
+    static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
+            .intTag = IO_TAG(PB12) /* perhaps disabled? */
+    };
+    static const hmc5883Config_t nazeHmc5883Config_v5 = {
+            .intTag = IO_TAG(MAG_INT_EXTI)
+    };
+    if (hardwareRevision < NAZE32_REV5) {
+        hmc5883Config = &nazeHmc5883Config_v1_v4;
+    } else {
+        hmc5883Config = &nazeHmc5883Config_v5;
+    }
+#endif
+
+#ifdef MAG_INT_EXTI
+    static const hmc5883Config_t extiHmc5883Config = {
+        .intTag = IO_TAG(MAG_INT_EXTI)
+    };
+
+    hmc5883Config = &extiHmc5883Config;
+#endif
+
+#endif
+
+retry:
+
+    dev->magAlign = ALIGN_DEFAULT;
+
+    switch(magHardwareToUse) {
+    case MAG_DEFAULT:
+        ; // fallthrough
+
+    case MAG_HMC5883:
+#ifdef USE_MAG_HMC5883
+        if (hmc5883lDetect(dev, hmc5883Config)) {
+#ifdef MAG_HMC5883_ALIGN
+            dev->magAlign = MAG_HMC5883_ALIGN;
+#endif
+            magHardware = MAG_HMC5883;
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case MAG_AK8975:
+#ifdef USE_MAG_AK8975
+        if (ak8975Detect(dev)) {
+#ifdef MAG_AK8975_ALIGN
+            dev->magAlign = MAG_AK8975_ALIGN;
+#endif
+            magHardware = MAG_AK8975;
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case MAG_AK8963:
+#ifdef USE_MAG_AK8963
+        if (ak8963Detect(dev)) {
+#ifdef MAG_AK8963_ALIGN
+            dev->magAlign = MAG_AK8963_ALIGN;
+#endif
+            magHardware = MAG_AK8963;
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case MAG_NONE:
+        magHardware = MAG_NONE;
+        break;
+    }
+
+    if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
+        // Nothing was found and we have a forced sensor that isn't present.
+        magHardwareToUse = MAG_DEFAULT;
+        goto retry;
+    }
+
+    if (magHardware == MAG_NONE) {
+        return false;
+    }
+
+    detectedSensors[SENSOR_INDEX_MAG] = magHardware;
+    sensorsSet(SENSOR_MAG);
+    return true;
+}
+
+void compassInit(const compassConfig_t *compassConfig)
 {
     // initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
+    // calculate magnetic declination
+    const int16_t deg = compassConfig->mag_declination / 100;
+    const int16_t min = compassConfig->mag_declination % 100;
+    mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
     LED1_ON;
     mag.dev.init();
     LED1_OFF;
@@ -56,15 +161,16 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
     static uint32_t tCal = 0;
     static flightDynamicsTrims_t magZeroTempMin;
     static flightDynamicsTrims_t magZeroTempMax;
-    uint32_t axis;
 
     mag.dev.read(magADCRaw);
-    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) mag.magADC[axis] = magADCRaw[axis];  // int32_t copy to work with
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        mag.magADC[axis] = magADCRaw[axis];
+    }
     alignSensors(mag.magADC, mag.dev.magAlign);
 
     if (STATE(CALIBRATE_MAG)) {
         tCal = currentTime;
-        for (axis = 0; axis < 3; axis++) {
+        for (int axis = 0; axis < 3; axis++) {
             magZero->raw[axis] = 0;
             magZeroTempMin.raw[axis] = mag.magADC[axis];
             magZeroTempMax.raw[axis] = mag.magADC[axis];
@@ -81,7 +187,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
     if (tCal != 0) {
         if ((currentTime - tCal) < 30000000) {    // 30s: you have 30s to turn the multi in all directions
             LED0_TOGGLE;
-            for (axis = 0; axis < 3; axis++) {
+            for (int axis = 0; axis < 3; axis++) {
                 if (mag.magADC[axis] < magZeroTempMin.raw[axis])
                     magZeroTempMin.raw[axis] = mag.magADC[axis];
                 if (mag.magADC[axis] > magZeroTempMax.raw[axis])
@@ -89,7 +195,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
             }
         } else {
             tCal = 0;
-            for (axis = 0; axis < 3; axis++) {
+            for (int axis = 0; axis < 3; axis++) {
                 magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
             }
 
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index 08ce80b300..4e534fea08 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -47,7 +47,8 @@ typedef struct compassConfig_s {
     flightDynamicsTrims_t magZero;
 } compassConfig_t;
 
-void compassInit(void);
+bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse);
+void compassInit(const compassConfig_t *compassConfig);
 union flightDynamicsTrims_u;
 void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index e6a0a4d7d3..98c78bd7eb 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -27,8 +27,28 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "drivers/accgyro.h"
+#include "drivers/accgyro_adxl345.h"
+#include "drivers/accgyro_bma280.h"
+#include "drivers/accgyro_fake.h"
+#include "drivers/accgyro_l3g4200d.h"
+#include "drivers/accgyro_mma845x.h"
+#include "drivers/accgyro_mpu.h"
+#include "drivers/accgyro_mpu3050.h"
+#include "drivers/accgyro_mpu6050.h"
+#include "drivers/accgyro_mpu6500.h"
+#include "drivers/accgyro_l3gd20.h"
+#include "drivers/accgyro_lsm303dlhc.h"
+#include "drivers/bus_spi.h"
+#include "drivers/accgyro_spi_icm20689.h"
+#include "drivers/accgyro_spi_mpu6000.h"
+#include "drivers/accgyro_spi_mpu6500.h"
+#include "drivers/accgyro_spi_mpu9250.h"
+#include "drivers/gyro_sync.h"
 #include "drivers/system.h"
 
+#include "fc/runtime_config.h"
+
 #include "io/beeper.h"
 #include "io/statusindicator.h"
 
@@ -51,6 +71,143 @@ static void *notchFilter1[3];
 static filterApplyFnPtr notchFilter2ApplyFn;
 static void *notchFilter2[3];
 
+bool gyroDetect(gyroDev_t *dev)
+{
+    gyroSensor_e gyroHardware = GYRO_DEFAULT;
+
+    dev->gyroAlign = ALIGN_DEFAULT;
+
+    switch(gyroHardware) {
+    case GYRO_DEFAULT:
+        ; // fallthrough
+    case GYRO_MPU6050:
+#ifdef USE_GYRO_MPU6050
+        if (mpu6050GyroDetect(dev)) {
+            gyroHardware = GYRO_MPU6050;
+#ifdef GYRO_MPU6050_ALIGN
+            dev->gyroAlign = GYRO_MPU6050_ALIGN;
+#endif
+            break;
+        }
+#endif
+        ; // fallthrough
+    case GYRO_L3G4200D:
+#ifdef USE_GYRO_L3G4200D
+        if (l3g4200dDetect(dev)) {
+            gyroHardware = GYRO_L3G4200D;
+#ifdef GYRO_L3G4200D_ALIGN
+            dev->gyroAlign = GYRO_L3G4200D_ALIGN;
+#endif
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case GYRO_MPU3050:
+#ifdef USE_GYRO_MPU3050
+        if (mpu3050Detect(dev)) {
+            gyroHardware = GYRO_MPU3050;
+#ifdef GYRO_MPU3050_ALIGN
+            dev->gyroAlign = GYRO_MPU3050_ALIGN;
+#endif
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case GYRO_L3GD20:
+#ifdef USE_GYRO_L3GD20
+        if (l3gd20Detect(dev)) {
+            gyroHardware = GYRO_L3GD20;
+#ifdef GYRO_L3GD20_ALIGN
+            dev->gyroAlign = GYRO_L3GD20_ALIGN;
+#endif
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case GYRO_MPU6000:
+#ifdef USE_GYRO_SPI_MPU6000
+        if (mpu6000SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_MPU6000;
+#ifdef GYRO_MPU6000_ALIGN
+            dev->gyroAlign = GYRO_MPU6000_ALIGN;
+#endif
+            break;
+        }
+#endif
+        ; // fallthrough
+
+    case GYRO_MPU6500:
+#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
+#ifdef USE_GYRO_SPI_MPU6500
+        if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
+#else
+        if (mpu6500GyroDetect(dev))
+#endif
+        {
+            gyroHardware = GYRO_MPU6500;
+#ifdef GYRO_MPU6500_ALIGN
+            dev->gyroAlign = GYRO_MPU6500_ALIGN;
+#endif
+
+            break;
+        }
+#endif
+        ; // fallthrough
+
+case GYRO_MPU9250:
+#ifdef USE_GYRO_SPI_MPU9250
+
+    if (mpu9250SpiGyroDetect(dev))
+    {
+        gyroHardware = GYRO_MPU9250;
+#ifdef GYRO_MPU9250_ALIGN
+        dev->gyroAlign = GYRO_MPU9250_ALIGN;
+#endif
+
+        break;
+    }
+#endif
+    ; // fallthrough
+
+    case GYRO_ICM20689:
+#ifdef USE_GYRO_SPI_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
+        if (fakeGyroDetect(dev)) {
+            gyroHardware = GYRO_FAKE;
+            break;
+        }
+#endif
+        ; // fallthrough
+    case GYRO_NONE:
+        gyroHardware = GYRO_NONE;
+    }
+
+    if (gyroHardware == GYRO_NONE) {
+        return false;
+    }
+
+    detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
+    sensorsSet(SENSOR_GYRO);
+
+    return true;
+}
+
 void gyroInit(const gyroConfig_t *gyroConfigToUse)
 {
     static biquadFilter_t gyroFilterLPF[XYZ_AXIS_COUNT];
@@ -59,6 +216,9 @@ void gyroInit(const gyroConfig_t *gyroConfigToUse)
     static biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
     static biquadFilter_t gyroFilterNotch_2[XYZ_AXIS_COUNT];
 
+    gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom);    // Set gyro sample rate before initialisation
+    gyro.dev.lpf = gyroConfig->gyro_lpf;
+    gyro.dev.init(&gyro.dev);
     gyroConfig = gyroConfigToUse;
 
     softLpfFilterApplyFn = nullFilterApply;
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index a532a016a7..5d45d917c6 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -55,6 +55,7 @@ typedef struct gyroConfig_s {
     uint16_t gyro_soft_notch_cutoff_2;
 } gyroConfig_t;
 
+bool gyroDetect(gyroDev_t *dev);
 void gyroSetCalibrationCycles(void);
 void gyroInit(const gyroConfig_t *gyroConfigToUse);
 void gyroUpdate(void);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 9116c18374..4e43b50ba1 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -26,44 +26,14 @@
 
 #include "config/feature.h"
 
+#include "drivers/accgyro_mpu.h"
 #include "drivers/io.h"
 #include "drivers/system.h"
 #include "drivers/exti.h"
-
 #include "drivers/sensor.h"
-
 #include "drivers/accgyro.h"
-#include "drivers/accgyro_adxl345.h"
-#include "drivers/accgyro_bma280.h"
-#include "drivers/accgyro_fake.h"
-#include "drivers/accgyro_l3g4200d.h"
-#include "drivers/accgyro_mma845x.h"
-#include "drivers/accgyro_mpu.h"
-#include "drivers/accgyro_mpu3050.h"
-#include "drivers/accgyro_mpu6050.h"
-#include "drivers/accgyro_mpu6500.h"
-#include "drivers/accgyro_l3gd20.h"
-#include "drivers/accgyro_lsm303dlhc.h"
-
-#include "drivers/bus_spi.h"
-#include "drivers/accgyro_spi_icm20689.h"
-#include "drivers/accgyro_spi_mpu6000.h"
-#include "drivers/accgyro_spi_mpu6500.h"
-#include "drivers/accgyro_spi_mpu9250.h"
-#include "drivers/gyro_sync.h"
-
 #include "drivers/barometer.h"
-#include "drivers/barometer_bmp085.h"
-#include "drivers/barometer_bmp280.h"
-#include "drivers/barometer_fake.h"
-#include "drivers/barometer_ms5611.h"
-
 #include "drivers/compass.h"
-#include "drivers/compass_ak8975.h"
-#include "drivers/compass_ak8963.h"
-#include "drivers/compass_fake.h"
-#include "drivers/compass_hmc5883l.h"
-
 #include "drivers/sonar_hcsr04.h"
 
 #include "fc/config.h"
@@ -97,459 +67,6 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
 #endif
 }
 
-bool gyroDetect(gyroDev_t *dev)
-{
-    gyroSensor_e gyroHardware = GYRO_DEFAULT;
-
-    gyro.dev.gyroAlign = ALIGN_DEFAULT;
-
-    switch(gyroHardware) {
-        case GYRO_DEFAULT:
-            ; // fallthrough
-        case GYRO_MPU6050:
-#ifdef USE_GYRO_MPU6050
-            if (mpu6050GyroDetect(dev)) {
-                gyroHardware = GYRO_MPU6050;
-#ifdef GYRO_MPU6050_ALIGN
-                gyro.dev.gyroAlign = GYRO_MPU6050_ALIGN;
-#endif
-                break;
-            }
-#endif
-            ; // fallthrough
-        case GYRO_L3G4200D:
-#ifdef USE_GYRO_L3G4200D
-            if (l3g4200dDetect(dev)) {
-                gyroHardware = GYRO_L3G4200D;
-#ifdef GYRO_L3G4200D_ALIGN
-                gyro.dev.gyroAlign = GYRO_L3G4200D_ALIGN;
-#endif
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case GYRO_MPU3050:
-#ifdef USE_GYRO_MPU3050
-            if (mpu3050Detect(dev)) {
-                gyroHardware = GYRO_MPU3050;
-#ifdef GYRO_MPU3050_ALIGN
-                gyro.dev.gyroAlign = GYRO_MPU3050_ALIGN;
-#endif
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case GYRO_L3GD20:
-#ifdef USE_GYRO_L3GD20
-            if (l3gd20Detect(dev)) {
-                gyroHardware = GYRO_L3GD20;
-#ifdef GYRO_L3GD20_ALIGN
-                gyro.dev.gyroAlign = GYRO_L3GD20_ALIGN;
-#endif
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case GYRO_MPU6000:
-#ifdef USE_GYRO_SPI_MPU6000
-            if (mpu6000SpiGyroDetect(dev)) {
-                gyroHardware = GYRO_MPU6000;
-#ifdef GYRO_MPU6000_ALIGN
-                gyro.dev.gyroAlign = GYRO_MPU6000_ALIGN;
-#endif
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case GYRO_MPU6500:
-#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
-#ifdef USE_GYRO_SPI_MPU6500
-            if (mpu6500GyroDetect(dev) || mpu6500SpiGyroDetect(dev))
-#else
-            if (mpu6500GyroDetect(dev))
-#endif
-            {
-                gyroHardware = GYRO_MPU6500;
-#ifdef GYRO_MPU6500_ALIGN
-                gyro.dev.gyroAlign = GYRO_MPU6500_ALIGN;
-#endif
-
-                break;
-            }
-#endif
-            ; // fallthrough
-
-    case GYRO_MPU9250:
-#ifdef USE_GYRO_SPI_MPU9250
-
-        if (mpu9250SpiGyroDetect(dev))
-        {
-            gyroHardware = GYRO_MPU9250;
-#ifdef GYRO_MPU9250_ALIGN
-            gyro.dev.gyroAlign = GYRO_MPU9250_ALIGN;
-#endif
-
-            break;
-        }
-#endif
-        ; // fallthrough
-
-        case GYRO_ICM20689:
-#ifdef USE_GYRO_SPI_ICM20689
-            if (icm20689SpiGyroDetect(dev))
-            {
-                gyroHardware = GYRO_ICM20689;
-#ifdef GYRO_ICM20689_ALIGN
-                gyro.dev.gyroAlign = GYRO_ICM20689_ALIGN;
-#endif
-
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case GYRO_FAKE:
-#ifdef USE_FAKE_GYRO
-            if (fakeGyroDetect(dev)) {
-                gyroHardware = GYRO_FAKE;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case GYRO_NONE:
-            gyroHardware = GYRO_NONE;
-    }
-
-    if (gyroHardware == GYRO_NONE) {
-        return false;
-    }
-
-    detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
-    sensorsSet(SENSOR_GYRO);
-
-    return true;
-}
-
-static bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse)
-{
-    accelerationSensor_e accHardware;
-
-#ifdef USE_ACC_ADXL345
-    drv_adxl345_config_t acc_params;
-#endif
-
-retry:
-    acc.dev.accAlign = ALIGN_DEFAULT;
-
-    switch (accHardwareToUse) {
-        case ACC_DEFAULT:
-            ; // fallthrough
-        case ACC_ADXL345: // ADXL345
-#ifdef USE_ACC_ADXL345
-            acc_params.useFifo = false;
-            acc_params.dataRate = 800; // unused currently
-#ifdef NAZE
-            if (hardwareRevision < NAZE32_REV5 && adxl345Detect(&acc_params, dev)) {
-#else
-            if (adxl345Detect(&acc_params, dev)) {
-#endif
-#ifdef ACC_ADXL345_ALIGN
-                acc.dev.accAlign = ACC_ADXL345_ALIGN;
-#endif
-                accHardware = ACC_ADXL345;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_LSM303DLHC:
-#ifdef USE_ACC_LSM303DLHC
-            if (lsm303dlhcAccDetect(dev)) {
-#ifdef ACC_LSM303DLHC_ALIGN
-                acc.dev.accAlign = ACC_LSM303DLHC_ALIGN;
-#endif
-                accHardware = ACC_LSM303DLHC;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_MPU6050: // MPU6050
-#ifdef USE_ACC_MPU6050
-            if (mpu6050AccDetect(dev)) {
-#ifdef ACC_MPU6050_ALIGN
-                acc.dev.accAlign = ACC_MPU6050_ALIGN;
-#endif
-                accHardware = ACC_MPU6050;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_MMA8452: // MMA8452
-#ifdef USE_ACC_MMA8452
-#ifdef NAZE
-            // Not supported with this frequency
-            if (hardwareRevision < NAZE32_REV5 && mma8452Detect(dev)) {
-#else
-            if (mma8452Detect(dev)) {
-#endif
-#ifdef ACC_MMA8452_ALIGN
-                acc.dev.accAlign = ACC_MMA8452_ALIGN;
-#endif
-                accHardware = ACC_MMA8452;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_BMA280: // BMA280
-#ifdef USE_ACC_BMA280
-            if (bma280Detect(dev)) {
-#ifdef ACC_BMA280_ALIGN
-                acc.dev.accAlign = ACC_BMA280_ALIGN;
-#endif
-                accHardware = ACC_BMA280;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_MPU6000:
-#ifdef USE_ACC_SPI_MPU6000
-            if (mpu6000SpiAccDetect(dev)) {
-#ifdef ACC_MPU6000_ALIGN
-                acc.dev.accAlign = ACC_MPU6000_ALIGN;
-#endif
-                accHardware = ACC_MPU6000;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_MPU6500:
-#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
-#ifdef USE_ACC_SPI_MPU6500
-            if (mpu6500AccDetect(dev) || mpu6500SpiAccDetect(dev))
-#else
-            if (mpu6500AccDetect(dev))
-#endif
-            {
-#ifdef ACC_MPU6500_ALIGN
-                acc.dev.accAlign = ACC_MPU6500_ALIGN;
-#endif
-                accHardware = ACC_MPU6500;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_ICM20689:
-#ifdef USE_ACC_SPI_ICM20689
-
-            if (icm20689SpiAccDetect(dev))
-            {
-#ifdef ACC_ICM20689_ALIGN
-                acc.dev.accAlign = ACC_ICM20689_ALIGN;
-#endif
-                accHardware = ACC_ICM20689;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_FAKE:
-#ifdef USE_FAKE_ACC
-            if (fakeAccDetect(dev)) {
-                accHardware = ACC_FAKE;
-                break;
-            }
-#endif
-            ; // fallthrough
-        case ACC_NONE: // disable ACC
-            accHardware = ACC_NONE;
-            break;
-
-    }
-
-    // Found anything? Check if error or ACC is really missing.
-    if (accHardware == ACC_NONE && accHardwareToUse != ACC_DEFAULT && accHardwareToUse != ACC_NONE) {
-        // Nothing was found and we have a forced sensor that isn't present.
-        accHardwareToUse = ACC_DEFAULT;
-        goto retry;
-    }
-
-
-    if (accHardware == ACC_NONE) {
-        return false;
-    }
-
-    detectedSensors[SENSOR_INDEX_ACC] = accHardware;
-    sensorsSet(SENSOR_ACC);
-    return true;
-}
-
-#ifdef BARO
-static bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
-{
-    // Detect what pressure sensors are available. baro->update() is set to sensor-specific update function
-
-    baroSensor_e baroHardware = baroHardwareToUse;
-
-#ifdef USE_BARO_BMP085
-    const bmp085Config_t *bmp085Config = NULL;
-
-#if defined(BARO_XCLR_GPIO) && defined(BARO_EOC_GPIO)
-    static const bmp085Config_t defaultBMP085Config = {
-        .xclrIO = IO_TAG(BARO_XCLR_PIN),
-        .eocIO = IO_TAG(BARO_EOC_PIN),
-    };
-    bmp085Config = &defaultBMP085Config;
-#endif
-
-#ifdef NAZE
-    if (hardwareRevision == NAZE32) {
-        bmp085Disable(bmp085Config);
-    }
-#endif
-
-#endif
-
-    switch (baroHardware) {
-        case BARO_DEFAULT:
-            ; // fallthough
-        case BARO_BMP085:
-#ifdef USE_BARO_BMP085
-            if (bmp085Detect(bmp085Config, dev)) {
-                baroHardware = BARO_BMP085;
-                break;
-            }
-#endif
-            ; // fallthough
-        case BARO_MS5611:
-#ifdef USE_BARO_MS5611
-            if (ms5611Detect(dev)) {
-                baroHardware = BARO_MS5611;
-                break;
-            }
-#endif
-            ; // fallthough
-        case BARO_BMP280:
-#if defined(USE_BARO_BMP280) || defined(USE_BARO_SPI_BMP280)
-            if (bmp280Detect(dev)) {
-                baroHardware = BARO_BMP280;
-                break;
-            }
-#endif
-            ; // fallthough
-        case BARO_NONE:
-            baroHardware = BARO_NONE;
-            break;
-    }
-
-    if (baroHardware == BARO_NONE) {
-        return false;
-    }
-
-    detectedSensors[SENSOR_INDEX_BARO] = baroHardware;
-    sensorsSet(SENSOR_BARO);
-    return true;
-}
-#endif
-
-#ifdef MAG
-static bool compassDetect(magDev_t *dev, magSensor_e magHardwareToUse)
-{
-    magSensor_e magHardware;
-
-#ifdef USE_MAG_HMC5883
-    const hmc5883Config_t *hmc5883Config = 0;
-
-#ifdef NAZE // TODO remove this target specific define
-    static const hmc5883Config_t nazeHmc5883Config_v1_v4 = {
-            .intTag = IO_TAG(PB12) /* perhaps disabled? */
-    };
-    static const hmc5883Config_t nazeHmc5883Config_v5 = {
-            .intTag = IO_TAG(MAG_INT_EXTI)
-    };
-    if (hardwareRevision < NAZE32_REV5) {
-        hmc5883Config = &nazeHmc5883Config_v1_v4;
-    } else {
-        hmc5883Config = &nazeHmc5883Config_v5;
-    }
-#endif
-
-#ifdef MAG_INT_EXTI
-    static const hmc5883Config_t extiHmc5883Config = {
-        .intTag = IO_TAG(MAG_INT_EXTI)
-    };
-
-    hmc5883Config = &extiHmc5883Config;
-#endif
-
-#endif
-
-retry:
-
-    mag.dev.magAlign = ALIGN_DEFAULT;
-
-    switch(magHardwareToUse) {
-        case MAG_DEFAULT:
-            ; // fallthrough
-
-        case MAG_HMC5883:
-#ifdef USE_MAG_HMC5883
-            if (hmc5883lDetect(dev, hmc5883Config)) {
-#ifdef MAG_HMC5883_ALIGN
-                mag.dev.magAlign = MAG_HMC5883_ALIGN;
-#endif
-                magHardware = MAG_HMC5883;
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case MAG_AK8975:
-#ifdef USE_MAG_AK8975
-            if (ak8975Detect(dev)) {
-#ifdef MAG_AK8975_ALIGN
-                mag.dev.magAlign = MAG_AK8975_ALIGN;
-#endif
-                magHardware = MAG_AK8975;
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case MAG_AK8963:
-#ifdef USE_MAG_AK8963
-            if (ak8963Detect(dev)) {
-#ifdef MAG_AK8963_ALIGN
-                mag.dev.magAlign = MAG_AK8963_ALIGN;
-#endif
-                magHardware = MAG_AK8963;
-                break;
-            }
-#endif
-            ; // fallthrough
-
-        case MAG_NONE:
-            magHardware = MAG_NONE;
-            break;
-    }
-
-    if (magHardware == MAG_NONE && magHardwareToUse != MAG_DEFAULT && magHardwareToUse != MAG_NONE) {
-        // Nothing was found and we have a forced sensor that isn't present.
-        magHardwareToUse = MAG_DEFAULT;
-        goto retry;
-    }
-
-    if (magHardware == MAG_NONE) {
-        return false;
-    }
-
-    detectedSensors[SENSOR_INDEX_MAG] = magHardware;
-    sensorsSet(SENSOR_MAG);
-    return true;
-}
-#endif
-
 #ifdef SONAR
 static bool sonarDetect(void)
 {
@@ -569,8 +86,6 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
         const barometerConfig_t *barometerConfig,
         const sonarConfig_t *sonarConfig)
 {
-    memset(&acc, 0, sizeof(acc));
-    memset(&gyro, 0, sizeof(gyro));
 
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
 
@@ -580,33 +95,22 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
     UNUSED(mpuDetectionResult);
 #endif
 
+    memset(&gyro, 0, sizeof(gyro));
     if (!gyroDetect(&gyro.dev)) {
         return false;
     }
+    // gyro must be initialised before accelerometer
+    gyroInit(gyroConfig);
 
-    // Now time to init things
-    // this is safe because either mpu6050 or mpu3050 or lg3d20 sets it, and in case of fail, we never get here.
-    gyro.targetLooptime = gyroSetSampleRate(gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom);    // Set gyro sample rate before initialisation
-    gyro.dev.lpf = gyroConfig->gyro_lpf;
-    gyro.dev.init(&gyro.dev); // driver initialisation
-    gyroInit(gyroConfig); // sensor initialisation
-
+    memset(&acc, 0, sizeof(acc));
     if (accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
-        acc.dev.acc_1G = 256; // set default
-        acc.dev.init(&acc.dev); // driver initialisation
-        accInit(gyro.targetLooptime); // sensor initialisation
+        accInit(gyro.targetLooptime);
     }
 
-
     mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
 #ifdef MAG
-    // FIXME extract to a method to reduce dependencies, maybe move to sensors_compass.c
     if (compassDetect(&mag.dev, compassConfig->mag_hardware)) {
-        // calculate magnetic declination
-        const int16_t deg = compassConfig->mag_declination / 100;
-        const int16_t min = compassConfig->mag_declination % 100;
-        mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
-        compassInit();
+        compassInit(compassConfig);
     }
 #else
     UNUSED(compassConfig);