diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 0b7a0d0424..b38569a8c8 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -103,7 +103,6 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c
 extern uint16_t rssi; // FIXME dependency on mw.c
 extern void resetPidProfile(pidProfile_t *pidProfile);
 
-
 void setGyroSamplingSpeed(uint16_t looptime) {
     uint16_t gyroSampleRate = 1000;
     uint8_t maxDivider = 1;
@@ -116,43 +115,44 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             gyroSampleRate = 125;
             maxDivider = 8;
             masterConfig.pid_process_denom = 1;
-            masterConfig.acc_hardware = 0;
-            masterConfig.baro_hardware = 0;
-            masterConfig.mag_hardware = 0;
+            masterConfig.acc_hardware = ACC_DEFAULT;
+            masterConfig.baro_hardware = BARO_DEFAULT;
+            masterConfig.mag_hardware = MAG_DEFAULT;
             if (looptime < 250) {
-                masterConfig.acc_hardware = 1;
-                masterConfig.baro_hardware = 1;
-                masterConfig.mag_hardware = 1;
+                masterConfig.acc_hardware = ACC_NONE;
+                masterConfig.baro_hardware = BARO_NONE;
+                masterConfig.mag_hardware = MAG_NONE;
                 masterConfig.pid_process_denom = 2;
             } else if (looptime < 375) {
-	            masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
-                masterConfig.acc_hardware = 1;
-                masterConfig.baro_hardware = 1;
-                masterConfig.mag_hardware = 1;
+                masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
+                masterConfig.baro_hardware = BARO_NONE;
+                masterConfig.mag_hardware = MAG_NONE;
                 masterConfig.pid_process_denom = 2;
             }
             masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
         } else {
             masterConfig.gyro_lpf = 0;
             masterConfig.gyro_sync_denom = 8;
-            masterConfig.acc_hardware = 0;
-            masterConfig.baro_hardware = 0;
-            masterConfig.mag_hardware = 0;
+            masterConfig.acc_hardware = ACC_DEFAULT;
+            masterConfig.baro_hardware = BARO_DEFAULT;
+            masterConfig.mag_hardware = MAG_DEFAULT;
         }
 #else
         if (looptime < 1000) {
             masterConfig.gyro_lpf = 0;
-            masterConfig.acc_hardware = 1;
-            masterConfig.baro_hardware = 1;
-            masterConfig.mag_hardware = 1;
+            masterConfig.acc_hardware = ACC_NONE;
+            masterConfig.baro_hardware = BARO_NONE;
+            masterConfig.mag_hardware = MAG_NONE;
             gyroSampleRate = 125;
             maxDivider = 8;
             masterConfig.pid_process_denom = 1;
-            if (currentProfile->pidProfile.pidController == 2) masterConfig.pid_process_denom = 2;
+            if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
+                masterConfig.pid_process_denom = 2;
+            }
             if (looptime < 250) {
                 masterConfig.pid_process_denom = 4;
             } else if (looptime < 375) {
-                if (currentProfile->pidProfile.pidController == 2) {
+                if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LUX_FLOAT) {
                     masterConfig.pid_process_denom = 3;
                 } else {
                     masterConfig.pid_process_denom = 2;
@@ -161,11 +161,10 @@ void setGyroSamplingSpeed(uint16_t looptime) {
             masterConfig.gyro_sync_denom = constrain(looptime / gyroSampleRate, 1, maxDivider);
         } else {
             masterConfig.gyro_lpf = 0;
-
             masterConfig.gyro_sync_denom = 8;
-            masterConfig.acc_hardware = 0;
-            masterConfig.baro_hardware = 0;
-            masterConfig.mag_hardware = 0;
+            masterConfig.acc_hardware = ACC_DEFAULT;
+            masterConfig.baro_hardware = BARO_DEFAULT;
+            masterConfig.mag_hardware = MAG_DEFAULT;
             masterConfig.pid_process_denom = 1;
         }
 #endif
diff --git a/src/main/target/ALIENFLIGHTF3/target.h b/src/main/target/ALIENFLIGHTF3/target.h
index ef803639d0..23c4a59199 100644
--- a/src/main/target/ALIENFLIGHTF3/target.h
+++ b/src/main/target/ALIENFLIGHTF3/target.h
@@ -20,7 +20,8 @@
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
 #define ALIENFLIGHT
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
+
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN      PB2
 
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 180009523f..8ec0b6b6df 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "CHF3" // Chebuzz F3
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define LED0    PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED
diff --git a/src/main/target/COLIBRI_RACE/target.h b/src/main/target/COLIBRI_RACE/target.h
index 4177031151..26af72c17d 100755
--- a/src/main/target/COLIBRI_RACE/target.h
+++ b/src/main/target/COLIBRI_RACE/target.h
@@ -21,7 +21,7 @@
 #define BST_DEVICE_NAME "COLIBRI RACE"
 #define BST_DEVICE_NAME_LENGTH 12
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
 #define LED0    PC15
 #define LED1    PC14
diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h
index 188118ccc2..0fca6bf1e6 100644
--- a/src/main/target/DOGE/target.h
+++ b/src/main/target/DOGE/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "DOGE"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
 // tqfp48 pin 34
 #define LED0    PA13
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 9d12cf6321..19ce0801af 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "FURY"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
 #define MPU_INT_EXTI PC4
 #define USE_EXTI
diff --git a/src/main/target/LUX_RACE/target.h b/src/main/target/LUX_RACE/target.h
index 033e151ed8..125a081f95 100644
--- a/src/main/target/LUX_RACE/target.h
+++ b/src/main/target/LUX_RACE/target.h
@@ -20,7 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "LUX"
 #define BOARD_HAS_VOLTAGE_DIVIDER
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
 #define LED0    PC15
 #define LED1    PC14
diff --git a/src/main/target/MOTOLAB/target.h b/src/main/target/MOTOLAB/target.h
index 6a873bf287..09a94f4897 100644
--- a/src/main/target/MOTOLAB/target.h
+++ b/src/main/target/MOTOLAB/target.h
@@ -20,7 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "MOTO" // MotoLab
 #define USE_CLI
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
 #define LED0    PB5 // Blue LEDs - PB5
 //#define LED1    PB9 // Green LEDs - PB9
diff --git a/src/main/target/NAZE32PRO/target.h b/src/main/target/NAZE32PRO/target.h
index 127108c2ae..192153e6e4 100644
--- a/src/main/target/NAZE32PRO/target.h
+++ b/src/main/target/NAZE32PRO/target.h
@@ -17,7 +17,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AFro F3
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #pragma once
 
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 1b940966d2..3e53243b52 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -19,8 +19,6 @@
 
 #define TARGET_BOARD_IDENTIFIER "REVO"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
-
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 #define CONFIG_SERIALRX_PROVIDER SERIALRX_SBUS
 #define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
diff --git a/src/main/target/SINGULARITY/target.h b/src/main/target/SINGULARITY/target.h
index 34b4f83240..77320ee905 100644
--- a/src/main/target/SINGULARITY/target.h
+++ b/src/main/target/SINGULARITY/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SING"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define LED0    PB3
 
diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h
index e5bc096ff2..7e3e2ed9dd 100644
--- a/src/main/target/SPARKY/target.h
+++ b/src/main/target/SPARKY/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SPKY" // SParKY
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define LED0    PB4  // Blue (Rev 1 & 2) - PB4
 #define LED1    PB5  // Green (Rev 1) / Red (Rev 2) - PB5
diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h
index d0bc6c26e3..c041b54d92 100644
--- a/src/main/target/SPRACINGF3/target.h
+++ b/src/main/target/SPRACINGF3/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SRF3"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define LED0    PB3
 
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
index 0b65d6b036..36852eb174 100755
--- a/src/main/target/SPRACINGF3EVO/target.h
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SPEV"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 0
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  
 #define LED0    PB8
 
diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h
index d53010cb75..5272a49030 100644
--- a/src/main/target/SPRACINGF3MINI/target.h
+++ b/src/main/target/SPRACINGF3MINI/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SRFM"
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 // early prototype had slightly different pin mappings.
 //#define SPRACINGF3MINI_MKII_REVA
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index d502f9f221..1295b8edf4 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -19,7 +19,7 @@
 
 #define TARGET_BOARD_IDENTIFIER "SDF3" // STM Discovery F3
 
-#define CONFIG_FASTLOOP_PREFERRED_ACC 1
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
 
 #define LED0    PE8 // Blue LEDs - PE8/PE12
 #define LED0_INVERTED