diff --git a/src/board.h b/src/board.h
index ce156221e..0c5f4259e 100755
--- a/src/board.h
+++ b/src/board.h
@@ -19,6 +19,7 @@
 
 #include "common/axis.h"
 
+#include "sensors_common.h"
 #include "drivers/accgyro_common.h"
 #include "drivers/gpio_common.h"
 #include "drivers/system_common.h"
diff --git a/src/config.c b/src/config.c
index 95b69c297..4ba626c86 100755
--- a/src/config.c
+++ b/src/config.c
@@ -7,10 +7,12 @@
 #include "common/axis.h"
 #include "flight_common.h"
 
+#include "sensors_common.h"
+
+#include "drivers/accgyro_common.h"
 #include "drivers/system_common.h"
 
 #include "statusindicator.h"
-#include "sensors_common.h"
 #include "sensors_acceleration.h"
 #include "telemetry_common.h"
 #include "gps_common.h"
diff --git a/src/drivers/accgyro_adxl345.c b/src/drivers/accgyro_adxl345.c
index 075266c74..b2e5a2d6b 100755
--- a/src/drivers/accgyro_adxl345.c
+++ b/src/drivers/accgyro_adxl345.c
@@ -3,9 +3,10 @@
 
 #include <platform.h>
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 
-#include "sensors_common.h"
 #include "system_common.h"
 #include "bus_i2c.h"
 
@@ -48,7 +49,7 @@ static void adxl345Read(int16_t *accelData);
 static bool useFifo = false;
 static sensor_align_e accAlign = CW270_DEG;
 
-bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc)
+bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
diff --git a/src/drivers/accgyro_adxl345.h b/src/drivers/accgyro_adxl345.h
index 564ccc4df..c5098fb1e 100755
--- a/src/drivers/accgyro_adxl345.h
+++ b/src/drivers/accgyro_adxl345.h
@@ -5,4 +5,4 @@ typedef struct drv_adxl345_config_t {
     uint16_t dataRate;
 } drv_adxl345_config_t;
 
-bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc);
+bool adxl345Detect(drv_adxl345_config_t *init, acc_t *acc);
diff --git a/src/drivers/accgyro_bma280.c b/src/drivers/accgyro_bma280.c
index cb690caee..b5cf4a41d 100644
--- a/src/drivers/accgyro_bma280.c
+++ b/src/drivers/accgyro_bma280.c
@@ -3,8 +3,8 @@
 
 #include <platform.h>
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include <sensors_common.h>
 
 #include "accgyro_bma280.h"
 
@@ -24,7 +24,7 @@ static void bma280Read(int16_t *accelData);
 
 static sensor_align_e accAlign = CW0_DEG;
 
-bool bma280Detect(sensor_t *acc)
+bool bma280Detect(acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
diff --git a/src/drivers/accgyro_bma280.h b/src/drivers/accgyro_bma280.h
index 258ee6351..09b3274e4 100644
--- a/src/drivers/accgyro_bma280.h
+++ b/src/drivers/accgyro_bma280.h
@@ -1,3 +1,3 @@
 #pragma once
 
-bool bma280Detect(sensor_t *acc);
+bool bma280Detect(acc_t *acc);
diff --git a/src/drivers/accgyro_common.h b/src/drivers/accgyro_common.h
index 5b790afb9..e3ee6260a 100644
--- a/src/drivers/accgyro_common.h
+++ b/src/drivers/accgyro_common.h
@@ -1,3 +1,22 @@
 #pragma once
 
 extern uint16_t acc_1G;
+
+typedef void (* sensorInitFuncPtr)(sensor_align_e align);   // sensor init prototype
+typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
+
+typedef struct gyro_s
+{
+    sensorInitFuncPtr init;                                 // initialize function
+    sensorReadFuncPtr read;                                 // read 3 axis data function
+    sensorReadFuncPtr temperature;                          // read temperature if available
+    float scale;                                            // scalefactor
+} gyro_t;
+
+typedef struct acc_s
+{
+    sensorInitFuncPtr init;                                 // initialize function
+    sensorReadFuncPtr read;                                 // read 3 axis data function
+    sensorReadFuncPtr temperature;                          // read temperature if available
+    char revisionCode;                                      // a revision code for the sensor, if known
+} acc_t;
diff --git a/src/drivers/accgyro_fy90q.c b/src/drivers/accgyro_fy90q.c
index f023db717..363572d26 100644
--- a/src/drivers/accgyro_fy90q.c
+++ b/src/drivers/accgyro_fy90q.c
@@ -5,8 +5,8 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include "sensors_common.h"
 
 #include "system_common.h"
 
diff --git a/src/drivers/accgyro_l3g4200d.c b/src/drivers/accgyro_l3g4200d.c
index 4685f00d6..09dedaee4 100644
--- a/src/drivers/accgyro_l3g4200d.c
+++ b/src/drivers/accgyro_l3g4200d.c
@@ -5,8 +5,8 @@
 
 #include "common/axis.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
 #include "accgyro_common.h"
-#include "sensors_common.h"
 
 #include "accgyro_l3g4200d.h"
 
@@ -47,7 +47,7 @@ static sensor_align_e gyroAlign = CW0_DEG;
 static void l3g4200dInit(sensor_align_e align);
 static void l3g4200dRead(int16_t *gyroData);
 
-bool l3g4200dDetect(sensor_t *gyro, uint16_t lpf)
+bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
 {
     uint8_t deviceid;
 
diff --git a/src/drivers/accgyro_l3g4200d.h b/src/drivers/accgyro_l3g4200d.h
index f7b532e90..fb47e0de8 100644
--- a/src/drivers/accgyro_l3g4200d.h
+++ b/src/drivers/accgyro_l3g4200d.h
@@ -1,3 +1,3 @@
 #pragma once
 
-bool l3g4200dDetect(sensor_t *gyro, uint16_t lpf);
+bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf);
diff --git a/src/drivers/accgyro_mma845x.c b/src/drivers/accgyro_mma845x.c
index 257f59349..9c72e4ec0 100644
--- a/src/drivers/accgyro_mma845x.c
+++ b/src/drivers/accgyro_mma845x.c
@@ -3,10 +3,11 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 #include "gpio_common.h"
-#include "sensors_common.h"
 
 #include "accgyro_mma845x.h"
 
@@ -67,7 +68,7 @@ static sensor_align_e accAlign = CW90_DEG;
 static void mma8452Init(sensor_align_e align);
 static void mma8452Read(int16_t *accelData);
 
-bool mma8452Detect(sensor_t *acc)
+bool mma8452Detect(acc_t *acc)
 {
     bool ack = false;
     uint8_t sig = 0;
diff --git a/src/drivers/accgyro_mma845x.h b/src/drivers/accgyro_mma845x.h
index 8b3354417..32f9b8e2b 100644
--- a/src/drivers/accgyro_mma845x.h
+++ b/src/drivers/accgyro_mma845x.h
@@ -1,3 +1,3 @@
 #pragma once
 
-bool mma8452Detect(sensor_t *acc);
+bool mma8452Detect(acc_t *acc);
diff --git a/src/drivers/accgyro_mpu3050.c b/src/drivers/accgyro_mpu3050.c
index 0ec8004d2..c2d27f9dc 100755
--- a/src/drivers/accgyro_mpu3050.c
+++ b/src/drivers/accgyro_mpu3050.c
@@ -5,11 +5,11 @@
 
 #include "common/maths.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 
-#include "sensors_common.h"
-
 #include "accgyro_mpu3050.h"
 
 #include "bus_i2c.h"
@@ -48,7 +48,7 @@ static void mpu3050Init(sensor_align_e align);
 static void mpu3050Read(int16_t *gyroData);
 static void mpu3050ReadTemp(int16_t *tempData);
 
-bool mpu3050Detect(sensor_t *gyro, uint16_t lpf)
+bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
 {
     bool ack;
 
diff --git a/src/drivers/accgyro_mpu3050.h b/src/drivers/accgyro_mpu3050.h
index 228c79185..439a74178 100755
--- a/src/drivers/accgyro_mpu3050.h
+++ b/src/drivers/accgyro_mpu3050.h
@@ -1,3 +1,3 @@
 #pragma once
 
-bool mpu3050Detect(sensor_t *gyro, uint16_t lpf);
+bool mpu3050Detect(gyro_t *gyro, uint16_t lpf);
diff --git a/src/drivers/accgyro_mpu6050.c b/src/drivers/accgyro_mpu6050.c
index 1325b71ab..5c2ec2da4 100644
--- a/src/drivers/accgyro_mpu6050.c
+++ b/src/drivers/accgyro_mpu6050.c
@@ -5,11 +5,12 @@
 
 #include "common/maths.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 #include "system_common.h"
 #include "gpio_common.h"
 
-#include "sensors_common.h"
 
 #include "accgyro_mpu6050.h"
 
@@ -139,7 +140,7 @@ typedef enum {
 
 static mpu6050Resolution_e mpuAccelTrim;
 
-bool mpu6050Detect(sensor_t *acc, sensor_t *gyro, uint16_t lpf)
+bool mpu6050Detect(acc_t *acc, gyro_t *gyro, uint16_t lpf)
 {
     bool ack;
     uint8_t sig, rev;
diff --git a/src/drivers/accgyro_mpu6050.h b/src/drivers/accgyro_mpu6050.h
index 902bd269d..a6cdfabca 100644
--- a/src/drivers/accgyro_mpu6050.h
+++ b/src/drivers/accgyro_mpu6050.h
@@ -1,5 +1,5 @@
 #pragma once
 
-bool mpu6050Detect(sensor_t * acc, sensor_t * gyro, uint16_t lpf);
+bool mpu6050Detect(acc_t * acc, gyro_t * gyro, uint16_t lpf);
 void mpu6050DmpLoop(void);
 void mpu6050DmpResetFifo(void);
diff --git a/src/drivers/adc_common.c b/src/drivers/adc_common.c
index 4fd809812..ab2939854 100755
--- a/src/drivers/adc_common.c
+++ b/src/drivers/adc_common.c
@@ -3,6 +3,8 @@
 
 #include "platform.h"
 
+#include "sensors_common.h" // FIXME dependency into the main code
+
 #include "accgyro_common.h"
 
 #include "adc_common.h"
diff --git a/src/flight_imu.c b/src/flight_imu.c
index 5c76e1c00..60a4d8937 100644
--- a/src/flight_imu.c
+++ b/src/flight_imu.c
@@ -5,13 +5,14 @@
 #include "common/maths.h"
 
 #include "platform.h"
-//
+
 #include "common/axis.h"
 #include "flight_common.h"
-//
+
 #include "drivers/system_common.h"
-//
+
 #include "sensors_common.h"
+#include "drivers/accgyro_common.h"
 #include "sensors_gyro.h"
 #include "sensors_compass.h"
 #include "sensors_acceleration.h"
diff --git a/src/main.c b/src/main.c
index 1bc5dcea6..6c2c43d47 100755
--- a/src/main.c
+++ b/src/main.c
@@ -7,6 +7,8 @@
 
 #include "gps_common.h"
 #include "rx_common.h"
+#include "sensors_common.h"
+#include "drivers/accgyro_common.h"
 #include "drivers/serial_common.h"
 #include "telemetry_common.h"
 #include "boardalignment.h"
diff --git a/src/sensors_acceleration.c b/src/sensors_acceleration.c
index d1087386a..c9aaae23e 100644
--- a/src/sensors_acceleration.c
+++ b/src/sensors_acceleration.c
@@ -6,7 +6,7 @@
 
 #include "sensors_acceleration.h"
 
-sensor_t acc;                       // acc access functions
+acc_t acc;                       // acc access functions
 uint8_t accHardware = ACC_DEFAULT;  // which accel chip is used/detected
 
 uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
diff --git a/src/sensors_acceleration.h b/src/sensors_acceleration.h
index 2c99c29df..600a770b8 100644
--- a/src/sensors_acceleration.h
+++ b/src/sensors_acceleration.h
@@ -11,7 +11,7 @@ typedef enum AccelSensors {
 } AccelSensors;
 
 extern uint8_t accHardware;
-extern sensor_t acc;
+extern acc_t acc;
 
 void ACC_Common(void);
 void ACC_getADC(void);
diff --git a/src/sensors_common.h b/src/sensors_common.h
index 138206383..073bbd6c2 100644
--- a/src/sensors_common.h
+++ b/src/sensors_common.h
@@ -22,16 +22,4 @@ typedef enum {
     CW270_DEG_FLIP = 8
 } sensor_align_e;
 
-typedef void (* sensorInitFuncPtr)(sensor_align_e align);   // sensor init prototype
-typedef void (* sensorReadFuncPtr)(int16_t *data);          // sensor read and align prototype
-
-typedef struct sensor_t
-{
-    sensorInitFuncPtr init;                                 // initialize function
-    sensorReadFuncPtr read;                                 // read 3 axis data function
-    sensorReadFuncPtr temperature;                          // read temperature if available
-    float scale;                                            // scalefactor (currently used for gyro only, todo for accel)
-    char revisionCode;                                      // a revision code for the sensor, if known
-} sensor_t;
-
 extern int16_t heading;
diff --git a/src/sensors_gyro.c b/src/sensors_gyro.c
index 4083ad9ff..aa8183b85 100644
--- a/src/sensors_gyro.c
+++ b/src/sensors_gyro.c
@@ -8,7 +8,7 @@
 
 uint16_t calibratingG = 0;
 uint16_t acc_1G = 256;          // this is the 1G measured acceleration.
-sensor_t gyro;                      // gyro access functions
+gyro_t gyro;                      // gyro access functions
 
 void GYRO_Common(void)
 {
diff --git a/src/sensors_gyro.h b/src/sensors_gyro.h
index 66c903ac0..2cd0ba076 100644
--- a/src/sensors_gyro.h
+++ b/src/sensors_gyro.h
@@ -1,7 +1,7 @@
 #pragma once
 
 extern uint16_t acc_1G;
-extern sensor_t gyro;
+extern gyro_t gyro;
 
 void GYRO_Common(void);
 void Gyro_getADC(void);
diff --git a/src/sensors_initialisation.c b/src/sensors_initialisation.c
index 68267046f..503fd19e5 100755
--- a/src/sensors_initialisation.c
+++ b/src/sensors_initialisation.c
@@ -13,9 +13,9 @@ extern uint16_t batteryWarningVoltage;
 extern uint8_t batteryCellCount;
 extern float magneticDeclination;
 
-extern sensor_t gyro;
+extern gyro_t gyro;
 extern baro_t baro;
-extern sensor_t acc;
+extern acc_t acc;
 
 #ifdef FY90Q
 // FY90Q analog gyro/acc