diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index 8af8f1c762..fe7560e136 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -27,6 +27,7 @@
 #include "drivers/bus.h"
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
+#include "sensors/gyro.h"
 #pragma GCC diagnostic push
 #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
 #include <pthread.h>
@@ -81,7 +82,7 @@ typedef struct gyroDev_s {
     uint8_t mpuDividerDrops;
     ioTag_t mpuIntExtiTag;
     uint8_t gyroHasOverflowProtection;
-    uint8_t filler[1];
+    gyroSensor_e gyroHardware;
 } gyroDev_t;
 
 typedef struct accDev_s {
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 8c903c721a..38eb04f356 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -437,6 +437,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
 #endif
 
     const gyroSensor_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
+    gyroSensor->gyroDev.gyroHardware = gyroHardware;
     if (gyroHardware == GYRO_NONE) {
         return false;
     }
@@ -603,7 +604,21 @@ bool gyroInit(void)
         }
         gyroHasOverflowProtection =  gyroHasOverflowProtection && gyroSensor2.gyroDev.gyroHasOverflowProtection;
     }
-#endif
+#endif // USE_DUAL_GYRO
+
+#ifdef USE_DUAL_GYRO
+    // Only allow using both gyros simultaneously if they are the same hardware type.
+    // If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.
+    if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
+        if (gyroSensor1.gyroDev.gyroHardware != gyroSensor2.gyroDev.gyroHardware) {
+            gyroToUse = GYRO_CONFIG_USE_GYRO_1;
+            gyroConfigMutable()->gyro_to_use = GYRO_CONFIG_USE_GYRO_1;
+            detectedSensors[SENSOR_INDEX_GYRO] = gyroSensor1.gyroDev.gyroHardware;
+            sensorsSet(SENSOR_GYRO);
+
+        }
+    }
+#endif // USE_DUAL_GYRO
     return ret;
 }
 
diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc
index e498b70e33..3efcb7bbb5 100644
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@@ -697,7 +697,10 @@ void initRcProcessing(void) {}
 void changePidProfile(uint8_t) {}
 void pidInitConfig(const pidProfile_t *) {}
 void accSetCalibrationCycles(uint16_t) {}
-void gyroStartCalibration(void) {}
+void gyroStartCalibration(bool isFirstArmingCalibration)
+{
+    UNUSED(isFirstArmingCalibration);
+}
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t*) {}
 void handleInflightCalibrationStickPosition(void) {}
 bool feature(uint32_t) { return false;}