diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index ff90dd06c1..32f480f619 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -28,6 +28,7 @@
 #include "sensor.h"
 #include "accgyro.h"
 #include "accgyro_mpu3050.h"
+#include "gyro_sync.h"
 
 
 
@@ -60,6 +61,7 @@ static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;
 static void mpu3050Init(void);
 static void mpu3050Read(int16_t *gyroADC);
 static void mpu3050ReadTemp(int16_t *tempData);
+static void checkMPU3050Interrupt(bool *gyroIsUpdated);
 
 bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
 {
@@ -74,6 +76,7 @@ bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
     gyro->init = mpu3050Init;
     gyro->read = mpu3050Read;
     gyro->temperature = mpu3050ReadTemp;
+    gyro->intStatus = checkMPU3050Interrupt;
 
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
@@ -139,3 +142,7 @@ static void mpu3050ReadTemp(int16_t *tempData)
 
     *tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
 }
+
+void checkMPU3050Interrupt(bool *gyroIsUpdated) {
+    // TODO - Without interrupt looptime watchdog will still make it work
+}
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index e83c5d8889..4e51273060 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -31,6 +31,7 @@
 #include "sensor.h"
 #include "accgyro.h"
 #include "accgyro_spi_mpu6500.h"
+#include "gyro_sync.h"
 
 enum lpf_e {
     INV_FILTER_256HZ_NOLPF2 = 0,
@@ -75,6 +76,7 @@ static void mpu6500AccInit(void);
 static void mpu6500AccRead(int16_t *accData);
 static void mpu6500GyroInit(void);
 static void mpu6500GyroRead(int16_t *gyroADC);
+static void checkMPU6500Interrupt(bool *gyroIsUpdated);
 
 extern uint16_t acc_1G;
 
@@ -167,6 +169,7 @@ bool mpu6500SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
 
     gyro->init = mpu6500GyroInit;
     gyro->read = mpu6500GyroRead;
+    gyro->intStatus = checkMPU6500Interrupt;
 
     // 16.4 dps/lsb scalefactor
     gyro->scale = 1.0f / 16.4f;
@@ -239,3 +242,11 @@ static void mpu6500GyroRead(int16_t *gyroADC)
     gyroADC[Y] = (int16_t)((buf[2] << 8) | buf[3]);
     gyroADC[Z] = (int16_t)((buf[4] << 8) | buf[5]);
 }
+
+void checkMPU6500Interrupt(bool *gyroIsUpdated) {
+	uint8_t mpuIntStatus;
+
+	mpu6500ReadRegister(MPU6500_INT_STATUS, &mpuIntStatus, 1);
+
+	(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
+}
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index 20f4e06b96..6e9ec78b94 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -25,6 +25,7 @@
 #define MPU6500_RA_ACCEL_CFG                (0x1C)
 #define MPU6500_RA_LPF                      (0x1A)
 #define MPU6500_RA_RATE_DIV                 (0x19)
+#define MPU6500_INT_STATUS                  (0x38)
 
 #define MPU6500_WHO_AM_I_CONST              (0x70)