diff --git a/make/source.mk b/make/source.mk
index d1e6afdb7..0e2c9098e 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -83,10 +83,12 @@ COMMON_SRC = \
             flight/position.c \
             flight/failsafe.c \
             flight/gps_rescue.c \
+            flight/gyroanalyse.c \
             flight/imu.c \
             flight/mixer.c \
             flight/mixer_tricopter.c \
             flight/pid.c \
+            flight/rpm_filter.c \
             flight/servos.c \
             flight/servos_tricopter.c \
             io/serial_4way.c \
@@ -113,8 +115,6 @@ COMMON_SRC = \
             sensors/boardalignment.c \
             sensors/compass.c \
             sensors/gyro.c \
-            sensors/gyroanalyse.c \
-            sensors/rpm_filter.c \
             sensors/initialisation.c \
             blackbox/blackbox.c \
             blackbox/blackbox_encoding.c \
@@ -228,9 +228,11 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             fc/rc.c \
             fc/rc_controls.c \
             fc/runtime_config.c \
+            flight/gyroanalyse.c \
             flight/imu.c \
             flight/mixer.c \
             flight/pid.c \
+            flight/rpm_filter.c \
             rx/ibus.c \
             rx/rx.c \
             rx/rx_spi.c \
@@ -245,8 +247,6 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             sensors/acceleration.c \
             sensors/boardalignment.c \
             sensors/gyro.c \
-            sensors/gyroanalyse.c \
-            sensors/rpm_filter.c \
             $(CMSIS_SRC) \
             $(DEVICE_STDPERIPH_SRC) \
 
diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index bf5f26d13..056f23d48 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -52,6 +52,7 @@
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/position.h"
+#include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
 #include "io/beeper.h"
@@ -105,7 +106,6 @@
 #include "sensors/esc_sensor.h"
 #include "sensors/gyro.h"
 #include "sensors/rangefinder.h"
-#include "sensors/rpm_filter.h"
 
 #include "telemetry/frsky_hub.h"
 #include "telemetry/ibus_shared.h"
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index f4bd39411..b41457b30 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -45,29 +45,29 @@
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
+#include "flight/rpm_filter.h"
 #include "flight/servos.h"
 
 #include "io/beeper.h"
+#include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/serial.h"
-#include "io/gps.h"
 
 #include "osd/osd.h"
 
 #include "pg/beeper.h"
 #include "pg/beeper_dev.h"
-#include "pg/rx.h"
 #include "pg/pg.h"
 #include "pg/pg_ids.h"
+#include "pg/rx.h"
 
 #include "rx/rx.h"
 
+#include "scheduler/scheduler.h"
+
 #include "sensors/acceleration.h"
 #include "sensors/battery.h"
 #include "sensors/gyro.h"
-#include "sensors/rpm_filter.h"
-
-#include "scheduler/scheduler.h"
 
 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
 
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 728c77cf8..9ec9c2566 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -37,9 +37,6 @@
 #include "common/utils.h"
 
 #include "config/feature.h"
-#include "pg/pg.h"
-#include "pg/pg_ids.h"
-#include "pg/rx.h"
 
 #include "drivers/light_led.h"
 #include "drivers/sound_beeper.h"
@@ -47,17 +44,6 @@
 #include "drivers/time.h"
 #include "drivers/transponder_ir.h"
 
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/battery.h"
-#include "sensors/boardalignment.h"
-#include "sensors/gyro.h"
-#include "sensors/sensors.h"
-#if defined(USE_GYRO_DATA_ANALYSE)
-#include "sensors/gyroanalyse.h"
-#endif
-#include "sensors/rpm_filter.h"
-
 #include "fc/config.h"
 #include "fc/controlrate_profile.h"
 #include "fc/core.h"
@@ -67,37 +53,50 @@
 #include "fc/runtime_config.h"
 #include "fc/stats.h"
 
-#include "msp/msp_serial.h"
+#include "flight/failsafe.h"
+#include "flight/gps_rescue.h"
+#if defined(USE_GYRO_DATA_ANALYSE)
+#include "flight/gyroanalyse.h"
+#endif
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/position.h"
+#include "flight/rpm_filter.h"
+#include "flight/servos.h"
 
 #include "io/beeper.h"
 #include "io/gps.h"
 #include "io/motors.h"
 #include "io/pidaudio.h"
-#include "io/servos.h"
 #include "io/serial.h"
+#include "io/servos.h"
 #include "io/statusindicator.h"
 #include "io/transponder_ir.h"
 #include "io/vtx_control.h"
 #include "io/vtx_rtc6705.h"
 
+#include "msp/msp_serial.h"
+
 #include "osd/osd.h"
 
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+#include "pg/rx.h"
+
 #include "rx/rx.h"
 
 #include "scheduler/scheduler.h"
 
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/battery.h"
+#include "sensors/boardalignment.h"
+#include "sensors/gyro.h"
+#include "sensors/sensors.h"
+
 #include "telemetry/telemetry.h"
 
-#include "flight/position.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/mixer.h"
-#include "flight/pid.h"
-#include "flight/servos.h"
-#include "flight/gps_rescue.h"
-
-
-// June 2013     V2.2-dev
 
 enum {
     ALIGN_GYRO = 0,
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index f5936e92c..84489467f 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -27,8 +27,14 @@
 
 #include "blackbox/blackbox.h"
 
+#include "build/build_config.h"
+#include "build/debug.h"
+
 #include "cli/cli.h"
 
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/maths.h"
@@ -37,14 +43,7 @@
 #include "config/config_eeprom.h"
 #include "config/feature.h"
 
-#include "cms/cms.h"
-#include "cms/cms_types.h"
-
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/camera_control.h"
-#include "drivers/compass/compass.h"
-#include "drivers/pwm_esc_detect.h"
-#include "drivers/pwm_output.h"
 #include "drivers/adc.h"
 #include "drivers/bus.h"
 #include "drivers/bus_i2c.h"
@@ -74,22 +73,51 @@
 #include "drivers/time.h"
 #include "drivers/timer.h"
 #include "drivers/transponder_ir.h"
-#include "drivers/exti.h"
 #include "drivers/usb_io.h"
-#include "drivers/vtx_rtc6705.h"
-#include "drivers/vtx_common.h"
-#include "drivers/vtx_table.h"
 #ifdef USE_USB_MSC
 #include "drivers/usb_msc.h"
 #endif
+#include "drivers/vtx_common.h"
+#include "drivers/vtx_rtc6705.h"
+#include "drivers/vtx_table.h"
 
 #include "fc/board_info.h"
 #include "fc/config.h"
+#include "fc/dispatch.h"
 #include "fc/init.h"
-#include "fc/tasks.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
-#include "fc/dispatch.h"
+#include "fc/tasks.h"
+
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/rpm_filter.h"
+#include "flight/servos.h"
+
+#include "io/asyncfatfs/asyncfatfs.h"
+#include "io/beeper.h"
+#include "io/dashboard.h"
+#include "io/displayport_max7456.h"
+#include "io/displayport_msp.h"
+#include "io/displayport_srxl.h"
+#include "io/flashfs.h"
+#include "io/gimbal.h"
+#include "io/gps.h"
+#include "io/ledstrip.h"
+#include "io/motors.h"
+#include "io/pidaudio.h"
+#include "io/piniobox.h"
+#include "io/rcdevice_cam.h"
+#include "io/serial.h"
+#include "io/servos.h"
+#include "io/transponder_ir.h"
+#include "io/vtx.h"
+#include "io/vtx_control.h"
+#include "io/vtx_rtc6705.h"
+#include "io/vtx_smartaudio.h"
+#include "io/vtx_tramp.h"
 
 #ifdef USE_PERSISTENT_MSC_RTC
 #include "msc/usbd_storage.h"
@@ -98,6 +126,8 @@
 #include "msp/msp.h"
 #include "msp/msp_serial.h"
 
+#include "osd/osd.h"
+
 #include "pg/adc.h"
 #include "pg/beeper.h"
 #include "pg/beeper_dev.h"
@@ -118,30 +148,6 @@
 #include "rx/rx_spi.h"
 #include "rx/spektrum.h"
 
-#include "io/beeper.h"
-#include "io/displayport_max7456.h"
-#include "io/displayport_srxl.h"
-#include "io/serial.h"
-#include "io/flashfs.h"
-#include "io/gps.h"
-#include "io/motors.h"
-#include "io/servos.h"
-#include "io/gimbal.h"
-#include "io/ledstrip.h"
-#include "io/dashboard.h"
-#include "io/asyncfatfs/asyncfatfs.h"
-#include "io/transponder_ir.h"
-#include "io/pidaudio.h"
-#include "io/piniobox.h"
-#include "io/displayport_msp.h"
-#include "io/vtx.h"
-#include "io/vtx_rtc6705.h"
-#include "io/vtx_control.h"
-#include "io/vtx_smartaudio.h"
-#include "io/vtx_tramp.h"
-
-#include "osd/osd.h"
-
 #include "scheduler/scheduler.h"
 
 #include "sensors/acceleration.h"
@@ -152,26 +158,14 @@
 #include "sensors/esc_sensor.h"
 #include "sensors/gyro.h"
 #include "sensors/initialisation.h"
-#include "sensors/rpm_filter.h"
 #include "sensors/sensors.h"
 
 #include "telemetry/telemetry.h"
 
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/mixer.h"
-#include "flight/pid.h"
-#include "flight/servos.h"
-
-#include "io/rcdevice_cam.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
 
-#include "build/build_config.h"
-#include "build/debug.h"
-
 #ifdef TARGET_PREINIT
 void targetPreInit(void);
 #endif
diff --git a/src/main/sensors/gyroanalyse.c b/src/main/flight/gyroanalyse.c
similarity index 99%
rename from src/main/sensors/gyroanalyse.c
rename to src/main/flight/gyroanalyse.c
index d2089e2d3..3dc897040 100644
--- a/src/main/sensors/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -39,10 +39,11 @@
 #include "drivers/time.h"
 
 #include "sensors/gyro.h"
-#include "sensors/gyroanalyse.h"
 
 #include "fc/core.h"
 
+#include "gyroanalyse.h"
+
 // The FFT splits the frequency domain into an number of bins
 // A sampling frequency of 1000 and max frequency of 500 at a window size of 32 gives 16 frequency bins each 31.25Hz wide
 // Eg [0,31), [31,62), [62, 93) etc
diff --git a/src/main/sensors/gyroanalyse.h b/src/main/flight/gyroanalyse.h
similarity index 100%
rename from src/main/sensors/gyroanalyse.h
rename to src/main/flight/gyroanalyse.h
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 1efb78c2d..c400b164b 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -47,6 +47,7 @@
 #include "flight/gps_rescue.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
+#include "flight/rpm_filter.h"
 
 #include "io/gps.h"
 
@@ -56,7 +57,6 @@
 #include "sensors/acceleration.h"
 #include "sensors/battery.h"
 #include "sensors/gyro.h"
-#include "sensors/rpm_filter.h"
 
 #include "pid.h"
 
diff --git a/src/main/sensors/rpm_filter.c b/src/main/flight/rpm_filter.c
similarity index 99%
rename from src/main/sensors/rpm_filter.c
rename to src/main/flight/rpm_filter.c
index bc322c04a..aa9a962e7 100644
--- a/src/main/sensors/rpm_filter.c
+++ b/src/main/flight/rpm_filter.c
@@ -21,24 +21,34 @@
 
 #include <math.h>
 #include <stdint.h>
+
 #include "platform.h"
+
+#if defined(USE_RPM_FILTER)
+
 #include "build/debug.h"
+
 #include "common/filter.h"
 #include "common/maths.h"
+
 #include "drivers/pwm_output_counts.h"
+
 #include "flight/mixer.h"
 #include "flight/pid.h"
+
 #include "pg/pg_ids.h"
+
 #include "scheduler/scheduler.h"
-#include "sensors/rpm_filter.h"
+
 #include "sensors/gyro.h"
 
+#include "rpm_filter.h"
+
 #define RPM_FILTER_MAXHARMONICS 3
 #define SECONDS_PER_MINUTE      60.0f
 #define ERPM_PER_LSB            100.0f
 #define MIN_UPDATE_T            0.001f
 
-#if defined(USE_RPM_FILTER)
 
 static pt1Filter_t rpmFilters[MAX_SUPPORTED_MOTORS];
 
diff --git a/src/main/sensors/rpm_filter.h b/src/main/flight/rpm_filter.h
similarity index 100%
rename from src/main/sensors/rpm_filter.h
rename to src/main/flight/rpm_filter.h
diff --git a/src/main/osd/osd.c b/src/main/osd/osd.c
index e1e120d73..a37024aeb 100644
--- a/src/main/osd/osd.c
+++ b/src/main/osd/osd.c
@@ -62,8 +62,11 @@
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
 
-#include "flight/position.h"
+#if defined(USE_GYRO_DATA_ANALYSE)
+#include "flight/gyroanalyse.h"
+#endif
 #include "flight/imu.h"
+#include "flight/position.h"
 
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/beeper.h"
@@ -83,9 +86,6 @@
 #include "sensors/battery.h"
 #include "sensors/esc_sensor.h"
 #include "sensors/sensors.h"
-#if defined(USE_GYRO_DATA_ANALYSE)
-#include "sensors/gyroanalyse.h"
-#endif
 
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
diff --git a/src/main/osd/osd_elements.c b/src/main/osd/osd_elements.c
index 3d775cdc6..d85882d13 100644
--- a/src/main/osd/osd_elements.c
+++ b/src/main/osd/osd_elements.c
@@ -81,6 +81,7 @@
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
+#include "flight/rpm_filter.h"
 
 #include "io/beeper.h"
 #include "io/gps.h"
@@ -100,7 +101,6 @@
 #include "sensors/battery.h"
 #include "sensors/esc_sensor.h"
 #include "sensors/sensors.h"
-#include "sensors/rpm_filter.h"
 
 
 #define AH_SYMBOL_COUNT 9
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 88465d62c..3f89702e8 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -66,6 +66,11 @@
 #include "fc/config.h"
 #include "fc/runtime_config.h"
 
+#ifdef USE_GYRO_DATA_ANALYSE
+#include "flight/gyroanalyse.h"
+#endif
+#include "flight/rpm_filter.h"
+
 #include "io/beeper.h"
 #include "io/statusindicator.h"
 
@@ -73,10 +78,6 @@
 
 #include "sensors/boardalignment.h"
 #include "sensors/gyro.h"
-#ifdef USE_GYRO_DATA_ANALYSE
-#include "sensors/gyroanalyse.h"
-#endif
-#include "sensors/rpm_filter.h"
 #include "sensors/sensors.h"
 
 #if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6500)))