diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index 9dbd6f6dd2..c9d23dac3e 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include "common/axis.h"
+#include "drivers/exti.h"
 #include "drivers/sensor.h"
 
 #ifndef MPU_I2C_INSTANCE
@@ -35,9 +36,10 @@
 
 typedef struct gyroDev_s {
     sensorGyroInitFuncPtr init;                             // initialize function
-    sensorGyroReadFuncPtr read;                                 // read 3 axis data function
+    sensorGyroReadFuncPtr read;                             // read 3 axis data function
     sensorReadFuncPtr temperature;                          // read temperature if available
     sensorGyroInterruptStatusFuncPtr intStatus;
+    extiCallbackRec_t exti;
     float scale;                                            // scalefactor
     volatile bool dataReady;
     uint16_t lpf;
@@ -46,7 +48,7 @@ typedef struct gyroDev_s {
 } gyroDev_t;
 
 typedef struct accDev_s {
-    sensorAccInitFuncPtr init;                                 // initialize function
+    sensorAccInitFuncPtr init;                              // initialize function
     sensorReadFuncPtr read;                                 // read 3 axis data function
     uint16_t acc_1G;
     char revisionCode;                                      // a revision code for the sensor, if known
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 7c87b8fddd..77ac0b8c2c 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -221,21 +221,13 @@ static void mpu6050FindRevision(void)
     }
 }
 
-typedef struct mpuIntRec_s {
-   extiCallbackRec_t exti;
-   gyroDev_t *gyro;
-} mpuIntRec_t;
-
-mpuIntRec_t mpuIntRec;
-
 /*
  * Gyro interrupt service routine
  */
 #if defined(MPU_INT_EXTI)
 static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 {
-    mpuIntRec_t *rec = container_of(cb, mpuIntRec_t, exti);
-    gyroDev_t *gyro = rec->gyro;
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
     gyro->dataReady = true;
 
 #ifdef DEBUG_MPU_DATA_READY_INTERRUPT
@@ -250,7 +242,6 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 
 static void mpuIntExtiInit(gyroDev_t *gyro)
 {
-    mpuIntRec.gyro = gyro;
 #if defined(MPU_INT_EXTI)
     static bool mpuExtiInitDone = false;
 
@@ -269,19 +260,21 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
 
 #if defined (STM32F7)
     IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
-    EXTIHandlerInit(&mpuIntRec.exti, mpuIntExtiHandler);
-    EXTIConfig(mpuIntIO, &mpuIntRec.exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));   // TODO - maybe pullup / pulldown ?
+    EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL));   // TODO - maybe pullup / pulldown ?
 #else
 
     IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
     IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING);   // TODO - maybe pullup / pulldown ?
 
-    EXTIHandlerInit(&mpuIntRec.exti, mpuIntExtiHandler);
-    EXTIConfig(mpuIntIO, &mpuIntRec.exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
+    EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
     EXTIEnable(mpuIntIO, true);
 #endif
 
     mpuExtiInitDone = true;
+#else
+    UNUSED(gyro);
 #endif
 }
 
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 691597a5b6..cd033cdcf3 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -39,12 +39,13 @@
 #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/bus_spi.h"
 #include "drivers/gyro_sync.h"
+#include "drivers/io.h"
 #include "drivers/system.h"
 
 #include "fc/runtime_config.h"
@@ -56,6 +57,10 @@
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
 
+#ifdef USE_HARDWARE_REVISION_DETECTION
+#include "hardware_revision.h"
+#endif
+
 gyro_t gyro;                      // gyro access functions
 
 static int32_t gyroADC[XYZ_AXIS_COUNT];
@@ -71,8 +76,25 @@ static void *notchFilter1[3];
 static filterApplyFnPtr notchFilter2ApplyFn;
 static void *notchFilter2[3];
 
+static const extiConfig_t *selectMPUIntExtiConfig(void)
+{
+#if defined(MPU_INT_EXTI)
+    static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
+    return &mpuIntExtiConfig;
+#elif defined(USE_HARDWARE_REVISION_DETECTION)
+    return selectMPUIntExtiConfigByHardwareRevision();
+#else
+    return NULL;
+#endif
+}
+
 bool gyroDetect(gyroDev_t *dev)
 {
+#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)
+    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
+    mpuDetect(extiConfig);
+#endif
+
     gyroSensor_e gyroHardware = GYRO_DEFAULT;
 
     dev->gyroAlign = ALIGN_DEFAULT;
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 341ca113eb..4075e2bdd0 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -20,14 +20,12 @@
 
 #include "platform.h"
 
-#include "build/build_config.h"
-
 #include "common/axis.h"
+#include "common/utils.h"
 
 #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"
@@ -55,18 +53,6 @@
 uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
 
 
-const extiConfig_t *selectMPUIntExtiConfig(void)
-{
-#if defined(MPU_INT_EXTI)
-    static const extiConfig_t mpuIntExtiConfig = { .tag = IO_TAG(MPU_INT_EXTI) };
-    return &mpuIntExtiConfig;
-#elif defined(USE_HARDWARE_REVISION_DETECTION)
-    return selectMPUIntExtiConfigByHardwareRevision();
-#else
-    return NULL;
-#endif
-}
-
 #ifdef SONAR
 static bool sonarDetect(void)
 {
@@ -86,15 +72,6 @@ bool sensorsAutodetect(const gyroConfig_t *gyroConfig,
         const barometerConfig_t *barometerConfig,
         const sonarConfig_t *sonarConfig)
 {
-
-#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)
-
-    const extiConfig_t *extiConfig = selectMPUIntExtiConfig();
-
-    mpuDetectionResult_t *mpuDetectionResult = mpuDetect(extiConfig);
-    UNUSED(mpuDetectionResult);
-#endif
-
     memset(&gyro, 0, sizeof(gyro));
     if (!gyroDetect(&gyro.dev)) {
         return false;