diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index c7a10665b..ed7e59451 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -44,6 +44,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -289,6 +290,22 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     }
 #endif
 
+#ifdef USE_GYRO_SPI_ICM20649
+#ifdef ICM20649_SPI_INSTANCE
+    spiBusSetInstance(&gyro->bus, ICM20649_SPI_INSTANCE);
+#endif
+#ifdef ICM20649_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20649_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = icm20649SpiDetect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        gyro->mpuConfiguration.readFn = spiBusReadRegisterBuffer;
+        gyro->mpuConfiguration.writeFn = spiBusWriteRegister;
+        return true;
+    }
+#endif
+
 #ifdef USE_GYRO_SPI_ICM20689
 #ifdef ICM20689_SPI_INSTANCE
     spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index 04d27c084..ed2f7ca97 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -23,7 +23,8 @@
 
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
-#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
+#if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
+ || defined(USE_GYRO_SPI_ICM20689)
 #define GYRO_USES_SPI
 #endif
 
@@ -40,6 +41,7 @@
 #define ICM20601_WHO_AM_I_CONST             (0xAC)
 #define ICM20602_WHO_AM_I_CONST             (0x12)
 #define ICM20608G_WHO_AM_I_CONST            (0xAF)
+#define ICM20649_WHO_AM_I_CONST             (0xE1)
 #define ICM20689_WHO_AM_I_CONST             (0x98)
 
 
@@ -189,6 +191,7 @@ typedef enum {
     ICM_20601_SPI,
     ICM_20602_SPI,
     ICM_20608_SPI,
+    ICM_20649_SPI,
     ICM_20689_SPI,
     BMI_160_SPI,
 } mpuSensor_e;
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20649.c b/src/main/drivers/accgyro/accgyro_spi_icm20649.c
new file mode 100644
index 000000000..fb0030951
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20649.c
@@ -0,0 +1,203 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/gyro_sync.h"
+#include "drivers/io.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+#include "accgyro.h"
+#include "accgyro_mpu.h"
+#include "accgyro_spi_icm20649.h"
+
+static bool use4kDps = true; // TODO: make these configurable for testing
+static bool use30g = true;
+
+static void icm20649SpiInit(const busDevice_t *bus)
+{
+    static bool hardwareInitialised = false;
+
+    if (hardwareInitialised) {
+        return;
+    }
+
+    IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
+    IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->busdev_u.spi.csnPin);
+
+    // all registers can be read/written at full speed (7MHz +-10%)
+    // TODO verify that this works at 9MHz and 10MHz on non F7
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    hardwareInitialised = true;
+}
+
+uint8_t icm20649SpiDetect(const busDevice_t *bus)
+{
+    icm20649SpiInit(bus);
+
+    spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    spiBusWriteRegister(bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
+    delay(15);
+
+    spiBusWriteRegister(bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
+
+    uint8_t icmDetected = MPU_NONE;
+    uint8_t attemptsRemaining = 20;
+    do {
+        delay(150);
+        const uint8_t whoAmI = spiBusReadRegister(bus, ICM20649_RA_WHO_AM_I);
+        if (whoAmI == ICM20649_WHO_AM_I_CONST) {
+            icmDetected = ICM_20649_SPI;
+	} else {
+            icmDetected = MPU_NONE;
+        }
+        if (icmDetected != MPU_NONE) {
+            break;
+        }
+        if (!attemptsRemaining) {
+            return MPU_NONE;
+        }
+    } while (attemptsRemaining--);
+
+    return icmDetected;
+
+}
+
+void icm20649AccInit(accDev_t *acc)
+{
+    // 2,048 LSB/g 16g
+    // 1,024 LSB/g 30g
+    acc->acc_1G = use30g ? 1024 : 2048;
+
+    spiSetDivisor(acc->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD);
+
+    acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
+    delay(15);
+    const uint8_t acc_fsr = use30g ? ICM20649_FSR_30G : ICM20649_FSR_16G;
+    acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_ACCEL_CONFIG, acc_fsr << 1);
+    delay(15);
+    acc->mpuConfiguration.writeFn(&acc->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // back to bank 0
+    delay(15);
+}
+
+bool icm20649SpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor != ICM_20649_SPI) {
+        return false;
+    }
+
+    acc->initFn = icm20649AccInit;
+    acc->readFn = icm20649AccRead;
+
+    return true;
+}
+
+
+void icm20649GyroInit(gyroDev_t *gyro)
+{
+    mpuGyroInit(gyro);
+
+    spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD); // ensure proper speed
+
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4); // select bank 0 just to be safe
+    delay(15);
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, ICM20649_BIT_RESET);
+    delay(100);
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_PWR_MGMT_1, INV_CLK_PLL);
+    delay(15);
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
+    delay(15);
+    const uint8_t gyro_fsr = use4kDps ? ICM20649_FSR_4000DPS : ICM20649_FSR_2000DPS;
+    uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_1_kHz ? 0 : 1; // deactivate GYRO_FCHOICE for sample rates over 1kHz (opposite of other invensense chips)
+    raGyroConfigData |= gyro_fsr << 1 | gyro->lpf << 3;
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_CONFIG_1, raGyroConfigData);
+    delay(15);
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_GYRO_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    delay(100);
+
+    // Data ready interrupt configuration
+    // back to bank 0
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_REG_BANK_SEL, 0 << 4);
+    delay(15);
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_PIN_CFG, 0x11);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    delay(15);
+
+#ifdef USE_MPU_DATA_READY_SIGNAL
+    gyro->mpuConfiguration.writeFn(&gyro->bus, ICM20649_RA_INT_ENABLE_1, 0x01);
+#endif
+}
+
+bool icm20649SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor != ICM_20649_SPI)
+        return false;
+
+    gyro->initFn = icm20649GyroInit;
+    gyro->readFn = icm20649GyroReadSPI;
+
+    // 16.4 dps/lsb 2kDps
+    //  8.2 dps/lsb 4kDps
+    gyro->scale = 1.0f / (use4kDps ? 8.2f : 16.4f);
+
+    return true;
+}
+
+bool icm20649GyroReadSPI(gyroDev_t *gyro)
+{
+    static const uint8_t dataToSend[7] = {ICM20649_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+    uint8_t data[7];
+
+    const bool ack = spiBusTransfer(&gyro->bus, dataToSend, data, 7);
+    if (!ack) {
+        return false;
+    }
+
+    gyro->gyroADCRaw[X] = (int16_t)((data[1] << 8) | data[2]);
+    gyro->gyroADCRaw[Y] = (int16_t)((data[3] << 8) | data[4]);
+    gyro->gyroADCRaw[Z] = (int16_t)((data[5] << 8) | data[6]);
+
+    return true;
+}
+
+bool icm20649AccRead(accDev_t *acc)
+{
+    uint8_t data[6];
+
+    const bool ack = acc->mpuConfiguration.readFn(&acc->bus, ICM20649_RA_ACCEL_XOUT_H, data, 6);
+    if (!ack) {
+        return false;
+    }
+
+    acc->ADCRaw[X] = (int16_t)((data[0] << 8) | data[1]);
+    acc->ADCRaw[Y] = (int16_t)((data[2] << 8) | data[3]);
+    acc->ADCRaw[Z] = (int16_t)((data[4] << 8) | data[5]);
+
+    return true;
+}
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20649.h b/src/main/drivers/accgyro/accgyro_spi_icm20649.h
new file mode 100644
index 000000000..66739a8b0
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20649.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "drivers/bus.h"
+
+#define ICM20649_BIT_RESET                  (0x80)
+
+#define ICM20649_RA_REG_BANK_SEL       0x7F
+
+// BANK 0
+#define ICM20649_RA_WHO_AM_I           0x00
+#define ICM20649_RA_PWR_MGMT_1         0x06
+#define ICM20649_RA_PWR_MGMT_2         0x07
+#define ICM20649_RA_INT_PIN_CFG        0x0F
+#define ICM20649_RA_INT_ENABLE_1       0x11
+#define ICM20649_RA_GYRO_XOUT_H        0x33
+#define ICM20649_RA_ACCEL_XOUT_H       0x2D
+
+// BANK 2
+#define ICM20649_RA_GYRO_SMPLRT_DIV    0x00
+#define ICM20649_RA_GYRO_CONFIG_1      0x01
+#define ICM20649_RA_ACCEL_CONFIG       0x14
+
+enum icm20649_gyro_fsr_e {
+    ICM20649_FSR_500DPS = 0,
+    ICM20649_FSR_1000DPS,
+    ICM20649_FSR_2000DPS,
+    ICM20649_FSR_4000DPS,
+    NUM_ICM20649_GYRO_FSR
+};
+
+enum icm20649_accel_fsr_e {
+    ICM20649_FSR_4G = 0,
+    ICM20649_FSR_8G,
+    ICM20649_FSR_16G,
+    ICM20649_FSR_30G,
+    NUM_ICM20649_ACCEL_FSR
+};
+
+void icm20649AccInit(accDev_t *acc);
+void icm20649GyroInit(gyroDev_t *gyro);
+
+uint8_t icm20649SpiDetect(const busDevice_t *bus);
+
+bool icm20649SpiAccDetect(accDev_t *acc);
+bool icm20649SpiGyroDetect(gyroDev_t *gyro);
+
+bool icm20649GyroReadSPI(gyroDev_t *gyro);
+bool icm20649AccRead(accDev_t *acc);
diff --git a/src/main/fc/fc_init.c b/src/main/fc/fc_init.c
index 2b687885c..27c4c56c5 100644
--- a/src/main/fc/fc_init.c
+++ b/src/main/fc/fc_init.c
@@ -200,6 +200,9 @@ void spiPreInit(void)
 #ifdef USE_GYRO_SPI_MPU9250
     spiPreInitCs(IO_TAG(MPU9250_CS_PIN));
 #endif
+#ifdef USE_GYRO_SPI_ICM20649
+    spiPreInitCs(IO_TAG(ICM20649_CS_PIN));
+#endif
 #ifdef USE_GYRO_SPI_ICM20689
     spiPreInitCs(IO_TAG(ICM20689_CS_PIN));
 #endif
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index e1329859c..282e03d4a 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -750,8 +750,10 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
 
             if (acc.dev.acc_1G > 512*4) {
                 scale = 8;
-            } else if (acc.dev.acc_1G >= 512) {
+            } else if (acc.dev.acc_1G > 512*2) {
                 scale = 4;
+            } else if (acc.dev.acc_1G >= 512) {
+                scale = 2;
             } else {
                 scale = 1;
             }
diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index 20b9132b6..2270864da 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -81,13 +81,15 @@
 // sync with accelerationSensor_e
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20689", "BMI160", "FAKE"
+    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608", "ICM20649", "ICM20689",
+    "BMI160", "FAKE"
 };
 
 // sync with gyroSensor_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
-    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20689", "BMI160", "FAKE"
+    "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
+    "BMI160", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(BARO)
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index d82d8d55e..2bad22a03 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -45,6 +45,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -243,6 +244,17 @@ retry:
             }
             break;
         }
+#endif
+        ; // fallthrough
+    case ACC_ICM20649:
+#ifdef USE_ACC_SPI_ICM20649
+        if (icm20649SpiAccDetect(dev)) {
+            accHardware = ACC_ICM20649;
+#ifdef ACC_ICM20649_ALIGN
+            dev->accAlign = ACC_ICM20649_ALIGN;
+#endif
+            break;
+        }
 #endif
         ; // fallthrough
     case ACC_ICM20689:
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index b211abbb6..f583a841b 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -36,6 +36,7 @@ typedef enum {
     ACC_ICM20601,
     ACC_ICM20602,
     ACC_ICM20608G,
+    ACC_ICM20649,
     ACC_ICM20689,
     ACC_BMI160,
     ACC_FAKE
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 92871f3c7..aee591e44 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -44,6 +44,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
@@ -110,7 +111,8 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
 
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601)  || defined(USE_GYRO_SPI_ICM20689)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
+   || defined(USE_GYRO_SPI_ICM20689)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 4
@@ -258,6 +260,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
     }
 #endif
 
+#ifdef USE_GYRO_SPI_ICM20649
+    case GYRO_ICM20649:
+        if (icm20649SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_ICM20649;
+#ifdef GYRO_ICM20649_ALIGN
+            dev->gyroAlign = GYRO_ICM20649_ALIGN;
+#endif
+            break;
+        }
+#endif
+
 #ifdef USE_GYRO_SPI_ICM20689
     case GYRO_ICM20689:
         if (icm20689SpiGyroDetect(dev)) {
@@ -302,7 +315,8 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev)
 
 static bool gyroInitSensor(gyroSensor_t *gyroSensor)
 {
-#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_ICM20601) || defined(USE_GYRO_SPI_ICM20689)
+#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_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
 
 #if defined(MPU_INT_EXTI)
     gyroSensor->gyroDev.mpuIntExtiTag =  IO_TAG(MPU_INT_EXTI);
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index fd055cedd..e68496095 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -35,6 +35,7 @@ typedef enum {
     GYRO_ICM20601,
     GYRO_ICM20602,
     GYRO_ICM20608G,
+    GYRO_ICM20649,
     GYRO_ICM20689,
     GYRO_BMI160,
     GYRO_FAKE