diff --git a/make/source.mk b/make/source.mk
index cefd2a1700..eca14161c8 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -75,7 +75,7 @@ FC_SRC = \
             fc/fc_init.c \
             fc/controlrate_profile.c \
             drivers/camera_control.c \
-            drivers/gyro_sync.c \
+            drivers/accgyro/gyro_sync.c \
             drivers/rx_nrf24l01.c \
             drivers/rx_spi.c \
             drivers/rx_xn297.c \
diff --git a/src/main/drivers/accgyro/accgyro_mpu6050.c b/src/main/drivers/accgyro/accgyro_mpu6050.c
index 1bdeb73c44..6f235fe01d 100644
--- a/src/main/drivers/accgyro/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro/accgyro_mpu6050.c
@@ -28,7 +28,6 @@
 
 #include "drivers/bus_i2c.h"
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/nvic.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
@@ -80,7 +79,7 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
     busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
     busWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
     delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
     busWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     busWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
diff --git a/src/main/drivers/accgyro/accgyro_mpu6500.c b/src/main/drivers/accgyro/accgyro_mpu6500.c
index f211c98b50..453ea1dc1e 100644
--- a/src/main/drivers/accgyro/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_mpu6500.c
@@ -25,7 +25,6 @@
 #include "common/maths.h"
 
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
 
@@ -69,7 +68,7 @@ void mpu6500GyroInit(gyroDev_t *gyro)
     delay(15);
     busWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    busWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20649.c b/src/main/drivers/accgyro/accgyro_spi_icm20649.c
index c5e9ac65bc..61754d8196 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm20649.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20649.c
@@ -24,16 +24,15 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/bus_spi.h"
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/io.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
 
-#include "accgyro.h"
-#include "accgyro_mpu.h"
-#include "accgyro_spi_icm20649.h"
 
 static void icm20649SpiInit(const busDevice_t *bus)
 {
@@ -136,7 +135,7 @@ void icm20649GyroInit(gyroDev_t *gyro)
     raGyroConfigData |= gyro_fsr << 1 | gyro->lpf << 3;
     spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_CONFIG_1, raGyroConfigData);
     delay(15);
-    spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    spiBusWriteRegister(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
index 1fe8f2fd5a..a76c0a0e27 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
@@ -24,16 +24,15 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/bus_spi.h"
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/io.h"
 #include "drivers/sensor.h"
 #include "drivers/time.h"
 
-#include "accgyro.h"
-#include "accgyro_mpu.h"
-#include "accgyro_spi_icm20689.h"
 
 static void icm20689SpiInit(const busDevice_t *bus)
 {
@@ -134,7 +133,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
     delay(15);
     spiBusWriteRegister(&gyro->bus, MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
index 9ccac7e483..c32d228c4d 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu6000.c
@@ -27,23 +27,21 @@
 
 #include "platform.h"
 
+#if defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_SPI_MPU6000)
+
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/bus_spi.h"
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/io.h"
 #include "drivers/time.h"
 #include "drivers/sensor.h"
 #include "drivers/system.h"
 
-#include "accgyro.h"
-#include "accgyro_mpu.h"
-
-#if defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_SPI_MPU6000)
-
-#include "accgyro_spi_mpu6000.h"
 
 static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
 
@@ -200,7 +198,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
 
     // Accel Sample Rate 1kHz
     // Gyroscope Output Rate =  1kHz when the DLPF is enabled
-    spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
+    spiBusWriteRegister(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
     delayMicroseconds(15);
 
     // Gyro +/- 1000 DPS Full Scale
diff --git a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
index ba846b1385..d5551f7ec3 100644
--- a/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro/accgyro_spi_mpu9250.c
@@ -38,7 +38,6 @@
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
 #include "drivers/bus_spi.h"
 #include "drivers/exti.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/io.h"
 #include "drivers/light_led.h"
 #include "drivers/sensor.h"
@@ -155,7 +154,7 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
         mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_CONFIG, 0); //8KHz, 250DLPF
     }
 
-    mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro));
+    mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
 
     mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
     mpu9250SpiWriteRegisterVerify(&gyro->bus, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
similarity index 93%
rename from src/main/drivers/gyro_sync.c
rename to src/main/drivers/accgyro/gyro_sync.c
index e32754cec8..292120e174 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -12,7 +12,7 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/gyro_sync.h"
+#include "drivers/accgyro/gyro_sync.h"
 
 
 bool gyroSyncCheckUpdate(gyroDev_t *gyro)
@@ -70,8 +70,3 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
     const uint32_t targetLooptime = (uint32_t)(gyroSyncDenominator * gyroSamplePeriod);
     return targetLooptime;
 }
-
-uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro)
-{
-    return gyro->mpuDividerDrops;
-}
diff --git a/src/main/drivers/gyro_sync.h b/src/main/drivers/accgyro/gyro_sync.h
similarity index 82%
rename from src/main/drivers/gyro_sync.h
rename to src/main/drivers/accgyro/gyro_sync.h
index 335e1c279c..33633af0e1 100644
--- a/src/main/drivers/gyro_sync.h
+++ b/src/main/drivers/accgyro/gyro_sync.h
@@ -10,5 +10,4 @@
 #include "drivers/accgyro/accgyro.h"
 
 bool gyroSyncCheckUpdate(gyroDev_t *gyro);
-uint8_t gyroMPU6xxxGetDividerDrops(const gyroDev_t *gyro);
 uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenominator, bool gyro_use_32khz);
diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 48eeb52530..f731745e29 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -34,7 +34,6 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "drivers/gyro_sync.h"
 #include "drivers/light_led.h"
 #include "drivers/system.h"
 #include "drivers/time.h"
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 59d31a7508..2e4447f116 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -50,8 +50,8 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+#include "drivers/accgyro/gyro_sync.h"
 #include "drivers/bus_spi.h"
-#include "drivers/gyro_sync.h"
 #include "drivers/io.h"
 
 #include "fc/runtime_config.h"
diff --git a/src/test/Makefile b/src/test/Makefile
index ec0243f4e5..79af7e1ade 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -74,7 +74,7 @@ blackbox_unittest_SRC :=  \
 		$(USER_DIR)/common/printf.c \
 		$(USER_DIR)/common/maths.c \
 		$(USER_DIR)/common/typeconversion.c \
-		$(USER_DIR)/drivers/gyro_sync.c
+		$(USER_DIR)/drivers/accgyro/gyro_sync.c
 
 blackbox_encoding_unittest_SRC :=  \
 		$(USER_DIR)/blackbox/blackbox_encoding.c \
diff --git a/src/test/unit/blackbox_unittest.cc b/src/test/unit/blackbox_unittest.cc
index a85c52eae2..c35fcbb231 100644
--- a/src/test/unit/blackbox_unittest.cc
+++ b/src/test/unit/blackbox_unittest.cc
@@ -27,7 +27,7 @@ extern "C" {
     #include "config/parameter_group_ids.h"
 
     #include "drivers/accgyro/accgyro.h"
-    #include "drivers/gyro_sync.h"
+    #include "drivers/accgyro/gyro_sync.h"
     #include "drivers/serial.h"
 
     #include "flight/failsafe.h"