diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index 746279a45..9661b3a71 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -20,6 +20,7 @@
 #include "common/axis.h"
 #include "drivers/exti.h"
 #include "drivers/sensor.h"
+#include "drivers/accgyro_mpu.h"
 
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
@@ -37,7 +38,7 @@
 typedef struct gyroDev_s {
     sensorGyroInitFuncPtr init;                             // initialize function
     sensorGyroReadFuncPtr read;                             // read 3 axis data function
-    sensorGyroReadDataFuncPtr temperature;                          // read temperature if available
+    sensorGyroReadDataFuncPtr temperature;                  // read temperature if available
     sensorGyroInterruptStatusFuncPtr intStatus;
     extiCallbackRec_t exti;
     float scale;                                            // scalefactor
@@ -45,6 +46,9 @@ typedef struct gyroDev_s {
     uint16_t lpf;
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
     sensor_align_e gyroAlign;
+    const extiConfig_t *mpuIntExtiConfig;
+    mpuDetectionResult_t mpuDetectionResult;
+    mpuConfiguration_t mpuConfiguration;
 } gyroDev_t;
 
 typedef struct accDev_s {
@@ -54,4 +58,6 @@ typedef struct accDev_s {
     int16_t ADCRaw[XYZ_AXIS_COUNT];
     char revisionCode;                                      // a revision code for the sensor, if known
     sensor_align_e accAlign;
+    mpuDetectionResult_t mpuDetectionResult;
+    mpuConfiguration_t mpuConfiguration;
 } accDev_t;
diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index d1ee898ee..0c1eae8bc 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -25,7 +25,6 @@
 #include "build/build_config.h"
 #include "build/debug.h"
 
-#include "common/filter.h"
 #include "common/maths.h"
 #include "common/utils.h"
 
@@ -49,24 +48,21 @@
 
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
+mpuResetFuncPtr mpuReset;
+
 static bool mpuReadRegisterI2C(uint8_t reg, uint8_t length, uint8_t* data);
 static bool mpuWriteRegisterI2C(uint8_t reg, uint8_t data);
 
-static void mpu6050FindRevision(void);
+static void mpu6050FindRevision(gyroDev_t *gyro);
 
 #ifdef USE_SPI
-static bool detectSPISensorsAndUpdateDetectionResult(void);
+static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro);
 #endif
 
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
-mpuDetectionResult_t mpuDetectionResult;
-
-mpuConfiguration_t mpuConfiguration;
-static const extiConfig_t *mpuIntExtiConfig = NULL;
-
 #define MPU_ADDRESS             0x68
 
 // WHO_AM_I register contents for MPU3050, 6050 and 6500
@@ -75,13 +71,8 @@ static const extiConfig_t *mpuIntExtiConfig = NULL;
 
 #define MPU_INQUIRY_MASK   0x7E
 
-mpuDetectionResult_t *mpuDetect(const extiConfig_t *configToUse)
+mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
 {
-    memset(&mpuDetectionResult, 0, sizeof(mpuDetectionResult));
-    memset(&mpuConfiguration, 0, sizeof(mpuConfiguration));
-
-    mpuIntExtiConfig = configToUse;
-
     bool ack;
     uint8_t sig;
     uint8_t inquiryResult;
@@ -96,93 +87,94 @@ mpuDetectionResult_t *mpuDetect(const extiConfig_t *configToUse)
     ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
 #endif
     if (ack) {
-        mpuConfiguration.read = mpuReadRegisterI2C;
-        mpuConfiguration.write = mpuWriteRegisterI2C;
+        gyro->mpuConfiguration.read = mpuReadRegisterI2C;
+        gyro->mpuConfiguration.write = mpuWriteRegisterI2C;
     } else {
 #ifdef USE_SPI
-        bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult();
+        bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult(gyro);
         UNUSED(detectedSpiSensor);
 #endif
 
-        return &mpuDetectionResult;
+        return &gyro->mpuDetectionResult;
     }
 
-    mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+    gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
 
     // If an MPU3050 is connected sig will contain 0.
     ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
     inquiryResult &= MPU_INQUIRY_MASK;
     if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
-        mpuDetectionResult.sensor = MPU_3050;
-        mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
-        return &mpuDetectionResult;
+        gyro->mpuDetectionResult.sensor = MPU_3050;
+        gyro->mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
+        return &gyro->mpuDetectionResult;
     }
 
     sig &= MPU_INQUIRY_MASK;
 
     if (sig == MPUx0x0_WHO_AM_I_CONST) {
 
-        mpuDetectionResult.sensor = MPU_60x0;
+        gyro->mpuDetectionResult.sensor = MPU_60x0;
 
-        mpu6050FindRevision();
+        mpu6050FindRevision(gyro);
     } else if (sig == MPU6500_WHO_AM_I_CONST) {
-        mpuDetectionResult.sensor = MPU_65xx_I2C;
+        gyro->mpuDetectionResult.sensor = MPU_65xx_I2C;
     }
 
-    return &mpuDetectionResult;
+    return &gyro->mpuDetectionResult;
 }
 
 #ifdef USE_SPI
-static bool detectSPISensorsAndUpdateDetectionResult(void)
+static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 {
 #ifdef USE_GYRO_SPI_MPU6500
     if (mpu6500SpiDetect()) {
-        mpuDetectionResult.sensor = MPU_65xx_SPI;
-        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        mpuConfiguration.read = mpu6500ReadRegister;
-        mpuConfiguration.write = mpu6500WriteRegister;
+        gyro->mpuDetectionResult.sensor = MPU_65xx_SPI;
+        gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+        gyro->mpuConfiguration.read = mpu6500ReadRegister;
+        gyro->mpuConfiguration.write = mpu6500WriteRegister;
         return true;
     }
 #endif
 
 #ifdef USE_GYRO_SPI_ICM20689
     if (icm20689SpiDetect()) {
-        mpuDetectionResult.sensor = ICM_20689_SPI;
-        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        mpuConfiguration.read = icm20689ReadRegister;
-        mpuConfiguration.write = icm20689WriteRegister;
+        gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
+        gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+        gyro->mpuConfiguration.read = icm20689ReadRegister;
+        gyro->mpuConfiguration.write = icm20689WriteRegister;
         return true;
     }
 #endif
 
 #ifdef USE_GYRO_SPI_MPU6000
     if (mpu6000SpiDetect()) {
-        mpuDetectionResult.sensor = MPU_60x0_SPI;
-        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        mpuConfiguration.read = mpu6000ReadRegister;
-        mpuConfiguration.write = mpu6000WriteRegister;
+        gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
+        gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+        gyro->mpuConfiguration.read = mpu6000ReadRegister;
+        gyro->mpuConfiguration.write = mpu6000WriteRegister;
         return true;
     }
 #endif
 
 #ifdef  USE_GYRO_SPI_MPU9250
     if (mpu9250SpiDetect()) {
-        mpuDetectionResult.sensor = MPU_9250_SPI;
-        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        mpuConfiguration.read = mpu9250ReadRegister;
-        mpuConfiguration.slowread = mpu9250SlowReadRegister;
-        mpuConfiguration.verifywrite = verifympu9250WriteRegister;
-        mpuConfiguration.write = mpu9250WriteRegister;
-        mpuConfiguration.reset = mpu9250ResetGyro;
+        gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
+        gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
+        gyro->mpuConfiguration.read = mpu9250ReadRegister;
+        gyro->mpuConfiguration.slowread = mpu9250SlowReadRegister;
+        gyro->mpuConfiguration.verifywrite = verifympu9250WriteRegister;
+        gyro->mpuConfiguration.write = mpu9250WriteRegister;
+        gyro->mpuConfiguration.reset = mpu9250ResetGyro;
         return true;
     }
 #endif
 
+    UNUSED(gyro);
     return false;
 }
 #endif
 
-static void mpu6050FindRevision(void)
+static void mpu6050FindRevision(gyroDev_t *gyro)
 {
     bool ack;
     UNUSED(ack);
@@ -195,28 +187,28 @@ static void mpu6050FindRevision(void)
     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
 
     // determine product ID and accel revision
-    ack = mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
+    ack = gyro->mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
     revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
     if (revision) {
         /* Congrats, these parts are better. */
         if (revision == 1) {
-            mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
+            gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
         } else if (revision == 2) {
-            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
+            gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
         } else if ((revision == 3) || (revision == 7)) {
-            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
+            gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
         } else {
             failureMode(FAILURE_ACC_INCOMPATIBLE);
         }
     } else {
-        ack = mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
+        ack = gyro->mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
         revision = productId & 0x0F;
         if (!revision) {
             failureMode(FAILURE_ACC_INCOMPATIBLE);
         } else if (revision == 4) {
-            mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
+            gyro->mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
         } else {
-            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
+            gyro->mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
         }
     }
 }
@@ -243,13 +235,11 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 static void mpuIntExtiInit(gyroDev_t *gyro)
 {
 #if defined(MPU_INT_EXTI)
-    static bool mpuExtiInitDone = false;
-
-    if (mpuExtiInitDone || !mpuIntExtiConfig) {
+    if (!gyro->mpuIntExtiConfig) {
         return;
     }
 
-    IO_t mpuIntIO = IOGetByTag(mpuIntExtiConfig->tag);
+    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiConfig->tag);
 
 #ifdef ENSURE_MPU_DATA_READY_IS_LOW
     uint8_t status = IORead(mpuIntIO);
@@ -272,7 +262,6 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
     EXTIEnable(mpuIntIO, true);
 #endif
 
-    mpuExtiInitDone = true;
 #else
     UNUSED(gyro);
 #endif
@@ -294,7 +283,7 @@ bool mpuAccRead(accDev_t *acc)
 {
     uint8_t data[6];
 
-    bool ack = mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
+    bool ack = acc->mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
     if (!ack) {
         return false;
     }
@@ -310,7 +299,7 @@ bool mpuGyroRead(gyroDev_t *gyro)
 {
     uint8_t data[6];
 
-    const bool ack = mpuConfiguration.read(mpuConfiguration.gyroReadXRegister, 6, data);
+    const bool ack = gyro->mpuConfiguration.read(gyro->mpuConfiguration.gyroReadXRegister, 6, data);
     if (!ack) {
         return false;
     }
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index bca217fb2..111491598 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -121,6 +121,8 @@ typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
 typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
 typedef void(*mpuResetFuncPtr)(void);
 
+extern mpuResetFuncPtr mpuReset;
+
 typedef struct mpuConfiguration_s {
     uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
     mpuReadRegisterFunc read;
@@ -130,8 +132,6 @@ typedef struct mpuConfiguration_s {
     mpuResetFuncPtr reset;
 } mpuConfiguration_t;
 
-extern mpuConfiguration_t mpuConfiguration;
-
 enum gyro_fsr_e {
     INV_FSR_250DPS = 0,
     INV_FSR_500DPS,
@@ -181,13 +181,10 @@ typedef struct mpuDetectionResult_s {
     mpu6050Resolution_e resolution;
 } mpuDetectionResult_t;
 
-extern mpuDetectionResult_t mpuDetectionResult;
-
-void mpuConfigureDataReadyInterruptHandling(void);
 struct gyroDev_s;
 void mpuGyroInit(struct gyroDev_s *gyro);
 struct accDev_s;
 bool mpuAccRead(struct accDev_s *acc);
 bool mpuGyroRead(struct gyroDev_s *gyro);
-mpuDetectionResult_t *mpuDetect(const extiConfig_t *configToUse);
+mpuDetectionResult_t *mpuDetect(struct gyroDev_s *gyro);
 bool mpuCheckDataReady(struct gyroDev_s *gyro);
diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index baf605e57..15728d9e1 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -53,21 +53,21 @@ static void mpu3050Init(gyroDev_t *gyro)
 
     delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
 
-    ack = mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
+    ack = gyro->mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
     if (!ack)
         failureMode(FAILURE_ACC_INIT);
 
-    mpuConfiguration.write(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
-    mpuConfiguration.write(MPU3050_INT_CFG, 0);
-    mpuConfiguration.write(MPU3050_USER_CTRL, MPU3050_USER_RESET);
-    mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
+    gyro->mpuConfiguration.write(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
+    gyro->mpuConfiguration.write(MPU3050_INT_CFG, 0);
+    gyro->mpuConfiguration.write(MPU3050_USER_CTRL, MPU3050_USER_RESET);
+    gyro->mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
 }
 
 static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
 {
     UNUSED(gyro);
     uint8_t buf[2];
-    if (!mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
+    if (!gyro->mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
         return false;
     }
 
@@ -78,7 +78,7 @@ static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
 
 bool mpu3050Detect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_3050) {
+    if (gyro->mpuDetectionResult.sensor != MPU_3050) {
         return false;
     }
     gyro->init = mpu3050Init;
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index 35d475a3a..ccbcc4e58 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -52,7 +52,7 @@
 
 static void mpu6050AccInit(accDev_t *acc)
 {
-    switch (mpuDetectionResult.resolution) {
+    switch (acc->mpuDetectionResult.resolution) {
         case MPU_HALF_RESOLUTION:
             acc->acc_1G = 256 * 4;
             break;
@@ -64,13 +64,13 @@ static void mpu6050AccInit(accDev_t *acc)
 
 bool mpu6050AccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != MPU_60x0) {
+    if (acc->mpuDetectionResult.sensor != MPU_60x0) {
         return false;
     }
 
     acc->init = mpu6050AccInit;
     acc->read = mpuAccRead;
-    acc->revisionCode = (mpuDetectionResult.resolution == MPU_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
+    acc->revisionCode = (acc->mpuDetectionResult.resolution == MPU_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
 
     return true;
 }
@@ -79,29 +79,29 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); //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
-    mpuConfiguration.write(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)
-    mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+    gyro->mpuConfiguration.write(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)
+    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 
     // ACC Init stuff.
     // Accel scale 8g (4096 LSB/g)
-    mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
 
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
+    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
             0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG   -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
+    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
 #endif
 }
 
 bool mpu6050GyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_60x0) {
+    if (gyro->mpuDetectionResult.sensor != MPU_60x0) {
         return false;
     }
     gyro->init = mpu6050GyroInit;
diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c
index a5254ba59..74521e81f 100644
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@@ -41,7 +41,7 @@ void mpu6500AccInit(accDev_t *acc)
 
 bool mpu6500AccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
+    if (acc->mpuDetectionResult.sensor != MPU_65xx_I2C) {
         return false;
     }
 
@@ -55,40 +55,40 @@ void mpu6500GyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
     delay(100);
-    mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
+    gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
     delay(100);
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
     delay(100);
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
     delay(15);
-    mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
-    mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
+    gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
 #ifdef USE_MPU9250_MAG
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
 #else
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
+    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
 #endif
     delay(15);
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
+    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
 #endif
     delay(15);
 }
 
 bool mpu6500GyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_65xx_I2C) {
+    if (gyro->mpuDetectionResult.sensor != MPU_65xx_I2C) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_spi_icm20689.c b/src/main/drivers/accgyro_spi_icm20689.c
index 286e2171e..69af5cb01 100644
--- a/src/main/drivers/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro_spi_icm20689.c
@@ -114,7 +114,7 @@ void icm20689AccInit(accDev_t *acc)
 
 bool icm20689SpiAccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+    if (acc->mpuDetectionResult.sensor != ICM_20689_SPI) {
         return false;
     }
 
@@ -130,31 +130,31 @@ void icm20689GyroInit(gyroDev_t *gyro)
 
     spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
 
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
     delay(100);
-    mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
+    gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
     delay(100);
-//    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+//    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
 //    delay(100);
-    mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
     delay(15);
-    mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
-    mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
+    gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
+    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
-//    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
-    mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10);  // INT_ANYRD_2CLEAR, BYPASS_EN
+//    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10);  // INT_ANYRD_2CLEAR, BYPASS_EN
 
     delay(15);
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
 #endif
 
     spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
@@ -162,7 +162,7 @@ void icm20689GyroInit(gyroDev_t *gyro)
 
 bool icm20689SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != ICM_20689_SPI) {
+    if (gyro->mpuDetectionResult.sensor != ICM_20689_SPI) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index 67192ecef..44ba01262 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -256,7 +256,7 @@ static void mpu6000AccAndGyroInit(void)
 
 bool mpu6000SpiAccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != MPU_60x0_SPI) {
+    if (acc->mpuDetectionResult.sensor != MPU_60x0_SPI) {
         return false;
     }
 
@@ -268,7 +268,7 @@ bool mpu6000SpiAccDetect(accDev_t *acc)
 
 bool mpu6000SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_60x0_SPI) {
+    if (gyro->mpuDetectionResult.sensor != MPU_60x0_SPI) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index a6a19f7ad..fa8d97d9b 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -116,7 +116,7 @@ void mpu6500SpiGyroInit(gyroDev_t *gyro)
 
 bool mpu6500SpiAccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
+    if (acc->mpuDetectionResult.sensor != MPU_65xx_SPI) {
         return false;
     }
 
@@ -128,7 +128,7 @@ bool mpu6500SpiAccDetect(accDev_t *acc)
 
 bool mpu6500SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_65xx_SPI) {
+    if (gyro->mpuDetectionResult.sensor != MPU_65xx_SPI) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_spi_mpu9250.c b/src/main/drivers/accgyro_spi_mpu9250.c
index 8e9253a71..d7e4d6482 100644
--- a/src/main/drivers/accgyro_spi_mpu9250.c
+++ b/src/main/drivers/accgyro_spi_mpu9250.c
@@ -211,7 +211,7 @@ bool mpu9250SpiDetect(void)
 
 bool mpu9250SpiAccDetect(accDev_t *acc)
 {
-    if (mpuDetectionResult.sensor != MPU_9250_SPI) {
+    if (acc->mpuDetectionResult.sensor != MPU_9250_SPI) {
         return false;
     }
 
@@ -223,7 +223,7 @@ bool mpu9250SpiAccDetect(accDev_t *acc)
 
 bool mpu9250SpiGyroDetect(gyroDev_t *gyro)
 {
-    if (mpuDetectionResult.sensor != MPU_9250_SPI) {
+    if (gyro->mpuDetectionResult.sensor != MPU_9250_SPI) {
         return false;
     }
 
diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index b65f3829a..55d570eec 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -31,8 +31,9 @@ void SetSysClock(void);
 
 void systemReset(void)
 {
-    if (mpuConfiguration.reset)
-        mpuConfiguration.reset();
+    if (mpuReset) {
+        mpuReset();
+    }
 
     __disable_irq();
     NVIC_SystemReset();
@@ -40,8 +41,9 @@ void systemReset(void)
 
 void systemResetToBootloader(void)
 {
-    if (mpuConfiguration.reset)
-        mpuConfiguration.reset();
+    if (mpuReset) {
+        mpuReset();
+    }
 
     *((uint32_t *)0x2001FFFC) = 0xDEADBEEF; // 128KB SRAM STM32F4XX
 
diff --git a/src/main/drivers/system_stm32f7xx.c b/src/main/drivers/system_stm32f7xx.c
index 93a6c9e8d..831498cde 100644
--- a/src/main/drivers/system_stm32f7xx.c
+++ b/src/main/drivers/system_stm32f7xx.c
@@ -33,8 +33,9 @@ void SystemClock_Config(void);
 
 void systemReset(void)
 {
-    if (mpuConfiguration.reset)
-        mpuConfiguration.reset();
+    if (mpuReset) {
+        mpuReset();
+    }
 
     __disable_irq();
     NVIC_SystemReset();
@@ -42,9 +43,9 @@ void systemReset(void)
 
 void systemResetToBootloader(void)
 {
-    if (mpuConfiguration.reset)
-        mpuConfiguration.reset();
-
+    if (mpuReset) {
+        mpuReset();
+    }
 
     (*(__IO uint32_t *) (BKPSRAM_BASE + 4)) = 0xDEADBEEF;   // flag that will be readable after reboot
 
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 0b2017d3d..bd0fc664f 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -51,9 +51,10 @@
 
 #include "io/beeper.h"
 
-#include "sensors/sensors.h"
 #include "sensors/acceleration.h"
 #include "sensors/boardalignment.h"
+#include "sensors/gyro.h"
+#include "sensors/sensors.h"
 
 #include "config/feature.h"
 
@@ -230,6 +231,9 @@ retry:
 bool accInit(const accelerometerConfig_t *accelerometerConfig, uint32_t gyroSamplingInverval)
 {
     memset(&acc, 0, sizeof(acc));
+    // copy over the common gyro mpu settings
+    acc.dev.mpuConfiguration = gyro.dev.mpuConfiguration;
+    acc.dev.mpuDetectionResult = gyro.dev.mpuDetectionResult;
     if (!accDetect(&acc.dev, accelerometerConfig->acc_hardware)) {
         return false;
     }
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index deea9ba34..811e3a9dd 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -231,8 +231,9 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
     gyroConfig = gyroConfigToUse;
     memset(&gyro, 0, sizeof(gyro));
 #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);
+    gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
+    mpuDetect(&gyro.dev);
+    mpuReset = gyro.dev.mpuConfiguration.reset;
 #endif
 
     if (!gyroDetect(&gyro.dev)) {