diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index e3a89383b..ab535e2bd 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -172,19 +172,19 @@ typedef enum {
 
 static mpu6050Resolution_e mpuAccelTrim;
 
-static mpu6050Config_t *config = NULL;
+static const mpu6050Config_t *mpu6050Config = NULL;
 
 void mpu6050GpioInit(void) {
     gpio_config_t gpio;
 
-    if (config->gpioAPB2Peripherals) {
-        RCC_APB2PeriphClockCmd(config->gpioAPB2Peripherals, ENABLE);
+    if (mpu6050Config->gpioAPB2Peripherals) {
+        RCC_APB2PeriphClockCmd(mpu6050Config->gpioAPB2Peripherals, ENABLE);
     }
 
-    gpio.pin = config->gpioPin;
+    gpio.pin = mpu6050Config->gpioPin;
     gpio.speed = Speed_2MHz;
     gpio.mode = Mode_IN_FLOATING;
-    gpioInit(config->gpioPort, &gpio);
+    gpioInit(mpu6050Config->gpioPort, &gpio);
 }
 
 static bool mpu6050Detect(void)
@@ -209,13 +209,13 @@ static bool mpu6050Detect(void)
     return true;
 }
 
-bool mpu6050AccDetect(mpu6050Config_t *configToUse, acc_t *acc)
+bool mpu6050AccDetect(const mpu6050Config_t *configToUse, acc_t *acc)
 {
     uint8_t readBuffer[6];
     uint8_t revision;
     uint8_t productId;
 
-    config = configToUse;
+    mpu6050Config = configToUse;
 
     if (!mpu6050Detect()) {
         return false;
@@ -255,9 +255,9 @@ bool mpu6050AccDetect(mpu6050Config_t *configToUse, acc_t *acc)
     return true;
 }
 
-bool mpu6050GyroDetect(mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
+bool mpu6050GyroDetect(const mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
 {
-    config = configToUse;
+    mpu6050Config = configToUse;
 
     if (!mpu6050Detect()) {
         return false;
@@ -288,9 +288,9 @@ bool mpu6050GyroDetect(mpu6050Config_t *configToUse, gyro_t *gyro, uint16_t lpf)
 
 static void mpu6050AccInit(void)
 {
-    if (config) {
+    if (mpu6050Config) {
         mpu6050GpioInit();
-        config = NULL; // avoid re-initialisation of GPIO;
+        mpu6050Config = NULL; // avoid re-initialisation of GPIO;
     }
 
     switch (mpuAccelTrim) {
@@ -315,9 +315,9 @@ static void mpu6050AccRead(int16_t *accData)
 
 static void mpu6050GyroInit(void)
 {
-    if (config) {
+    if (mpu6050Config) {
         mpu6050GpioInit();
-        config = NULL; // avoid re-initialisation of GPIO;
+        mpu6050Config = NULL; // avoid re-initialisation of GPIO;
     }
 
     i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
diff --git a/src/main/drivers/accgyro_mpu6050.h b/src/main/drivers/accgyro_mpu6050.h
index 5067769ac..b05a61156 100644
--- a/src/main/drivers/accgyro_mpu6050.h
+++ b/src/main/drivers/accgyro_mpu6050.h
@@ -23,7 +23,7 @@ typedef struct mpu6050Config_s {
     GPIO_TypeDef *gpioPort;
 } mpu6050Config_t;
 
-bool mpu6050AccDetect(mpu6050Config_t *config,acc_t *acc);
-bool mpu6050GyroDetect(mpu6050Config_t *config, gyro_t *gyro, uint16_t lpf);
+bool mpu6050AccDetect(const mpu6050Config_t *config,acc_t *acc);
+bool mpu6050GyroDetect(const mpu6050Config_t *config, gyro_t *gyro, uint16_t lpf);
 void mpu6050DmpLoop(void);
 void mpu6050DmpResetFifo(void);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index 347c97dc1..6044c79fc 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -67,23 +67,27 @@ extern gyro_t gyro;
 extern baro_t baro;
 extern acc_t acc;
 
-mpu6050Config_t *generateMPU6050Config(void)
+const mpu6050Config_t *selectMPU6050Config(void)
 {
 #ifdef NAZE
-    static mpu6050Config_t nazeMPU6050Config;
-
     // MPU_INT output on rev4/5 hardware (PB13, PC13)
-    nazeMPU6050Config.gpioPin = Pin_13;
+    static const mpu6050Config_t nazeRev4MPU6050Config = {
+            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOB,
+            .gpioPort = GPIOB,
+            .gpioPin = Pin_13
+    };
+    static const mpu6050Config_t nazeRev5MPU6050Config = {
+            .gpioAPB2Peripherals = RCC_APB2Periph_GPIOC,
+            .gpioPort = GPIOC,
+            .gpioPin = Pin_13
+    };
 
 
     if (hardwareRevision < NAZE32_REV5) {
-        nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOB;
-        nazeMPU6050Config.gpioPort = GPIOB;
+        return &nazeRev4MPU6050Config;
     } else {
-        nazeMPU6050Config.gpioAPB2Peripherals = RCC_APB2Periph_GPIOC;
-        nazeMPU6050Config.gpioPort = GPIOC;
+        return &nazeRev5MPU6050Config;
     }
-    return &nazeMPU6050Config;
 #endif
     return NULL;
 }
@@ -127,7 +131,7 @@ bool detectGyro(uint16_t gyroLpf)
     gyroAlign = ALIGN_DEFAULT;
 
 #ifdef USE_GYRO_MPU6050
-    if (mpu6050GyroDetect(generateMPU6050Config(), &gyro, gyroLpf)) {
+    if (mpu6050GyroDetect(selectMPU6050Config(), &gyro, gyroLpf)) {
 #ifdef NAZE
         gyroAlign = CW0_DEG;
 #endif
@@ -231,7 +235,7 @@ retry:
 #endif
 #ifdef USE_ACC_MPU6050
         case ACC_MPU6050: // MPU6050
-            if (mpu6050AccDetect(generateMPU6050Config(), &acc)) {
+            if (mpu6050AccDetect(selectMPU6050Config(), &acc)) {
                 accHardware = ACC_MPU6050;
 #ifdef NAZE
                 accAlign = CW0_DEG;