diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h
index 32d0cefcc5..f761c835d3 100644
--- a/src/main/drivers/accgyro_mpu6500.h
+++ b/src/main/drivers/accgyro_mpu6500.h
@@ -15,9 +15,12 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
+
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
+#define ICM20602_WHO_AM_I_CONST             (0x12)
 
 #define MPU6500_BIT_RESET                   (0x80)
 #define MPU6500_BIT_INT_ANYRD_2CLEAR        (1 << 4)
@@ -25,8 +28,6 @@
 #define MPU6500_BIT_I2C_IF_DIS              (1 << 4)
 #define MPU6500_BIT_RAW_RDY_EN              (0x01)
 
-#pragma once
-
 bool mpu6500AccDetect(acc_t *acc);
 bool mpu6500GyroDetect(gyro_t *gyro);
 
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index 9c2b7a45df..bfbba6dce5 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -84,7 +84,10 @@ bool mpu6500SpiDetect(void)
 
     mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
 
-    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
+    if (tmp == MPU6500_WHO_AM_I_CONST || 
+        tmp == MPU9250_WHO_AM_I_CONST || 
+        tmp == ICM20608G_WHO_AM_I_CONST || 
+        tmp == ICM20602_WHO_AM_I_CONST) {
         return true;
     }
 
diff --git a/src/main/drivers/dma.h b/src/main/drivers/dma.h
index ea2c3484f5..cd6ecc10be 100644
--- a/src/main/drivers/dma.h
+++ b/src/main/drivers/dma.h
@@ -15,6 +15,7 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#pragma once
 
 struct dmaChannelDescriptor_s;
 typedef void (*dmaCallbackHandlerFuncPtr)(struct dmaChannelDescriptor_s *channelDescriptor);
diff --git a/src/main/target/REVO/AIRBOTF4.mk b/src/main/target/REVO/AIRBOTF4.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/REVO/REVOLT.mk b/src/main/target/REVO/REVOLT.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 4d73c99355..f3a065f73b 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -17,20 +17,33 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "REVO"
-
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
+#if defined(AIRBOTF4)
+#define TARGET_BOARD_IDENTIFIER "AIR4"
+#define USBD_PRODUCT_STRING     "AirbotF4"
+
+#elif defined(REVOLT)
+#define TARGET_BOARD_IDENTIFIER "RVLT"
+#define USBD_PRODUCT_STRING     "Revolt"
+
+#else
+#define TARGET_BOARD_IDENTIFIER "REVO"
 #define USBD_PRODUCT_STRING     "Revolution"
+
 #ifdef OPBL
 #define USBD_SERIALNUMBER_STRING "0x8020000"
 #endif
 
+#endif
+
 #define USE_DSHOT
 
 #define LED0                    PB5
 // Disable LED1, conflicts with AirbotF4/Flip32F4 beeper
-//#define LED1                    PB4
+#if !defined(AIRBOTF4)
+#define LED1                    PB4
+#endif
 
 #define BEEPER                  PB4
 #define BEEPER_INVERTED
@@ -41,19 +54,31 @@
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
 
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+
 #define ACC
 #define USE_ACC_SPI_MPU6000
 #define GYRO_MPU6000_ALIGN      CW270_DEG
 
+#define USE_ACC_MPU6500
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG
+
 #define GYRO
 #define USE_GYRO_SPI_MPU6000
 #define ACC_MPU6000_ALIGN       CW270_DEG
 
+#define USE_GYRO_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+
 // MPU6000 interrupts
 #define USE_EXTI
 #define MPU_INT_EXTI            PC4
 #define USE_MPU_DATA_READY_SIGNAL
 
+#if !defined(AIRBOTF4) && !defined(REVOLT)
 #define MAG
 #define USE_MAG_HMC5883
 #define MAG_HMC5883_ALIGN       CW90_DEG
@@ -67,6 +92,7 @@
 //#define PITOT
 //#define USE_PITOT_MS4525
 //#define MS4525_BUS I2C_DEVICE_EXT
+#endif
 
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_INSTANCE     SPI3
@@ -78,8 +104,8 @@
 #define VBUS_SENSING_PIN        PC5
 
 #define USE_UART1
-#define UART1_RX_PIN PA10
-#define UART1_TX_PIN PA9
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
 #define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
 
 #define USE_UART3
@@ -106,7 +132,7 @@
 #define SPI3_MOSI_PIN           PC12
 
 #define USE_I2C
-#define I2C_DEVICE (I2CDEV_1)
+#define I2C_DEVICE              (I2CDEV_1)
 
 #define USE_ADC
 #define CURRENT_METER_ADC_PIN   PC1
@@ -126,7 +152,7 @@
 #define WS2811_DMA_FLAG                 DMA_FLAG_TCIF4
 #define WS2811_DMA_IT                   DMA_IT_TCIF4
 
-#define SENSORS_SET (SENSOR_ACC)
+#define SENSORS_SET             (SENSOR_ACC)
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
 #define DEFAULT_FEATURES        (FEATURE_BLACKBOX)
diff --git a/src/main/target/REVO/target.mk b/src/main/target/REVO/target.mk
index 2711b19dac..3d8b57a8a6 100644
--- a/src/main/target/REVO/target.mk
+++ b/src/main/target/REVO/target.mk
@@ -3,5 +3,7 @@ FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6000.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
             drivers/barometer_ms5611.c \
             drivers/compass_hmc5883l.c