diff --git a/make/source.mk b/make/source.mk
index 267d577a0..55c754a20 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -195,22 +195,22 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             common/filter.c \
             common/maths.c \
             common/typeconversion.c \
-            drivers/accgyro/accgyro_adxl345.c \
-            drivers/accgyro/accgyro_bma280.c \
             drivers/accgyro/accgyro_fake.c \
-            drivers/accgyro/accgyro_l3g4200d.c \
-            drivers/accgyro/accgyro_l3gd20.c \
-            drivers/accgyro/accgyro_lsm303dlhc.c \
-            drivers/accgyro/accgyro_mma845x.c \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
-            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu9250.c \
+            drivers/accgyro_legacy/accgyro_adxl345.c \
+            drivers/accgyro_legacy/accgyro_bma280.c \
+            drivers/accgyro_legacy/accgyro_l3g4200d.c \
+            drivers/accgyro_legacy/accgyro_l3gd20.c \
+            drivers/accgyro_legacy/accgyro_lsm303dlhc.c \
+            drivers/accgyro_legacy/accgyro_mma845x.c \
             drivers/adc.c \
             drivers/buf_writer.c \
             drivers/bus.c \
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index a9030e1f1..9ae8fbfdd 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -54,7 +54,6 @@
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 
-
 mpuResetFnPtr mpuResetFn;
 
 #ifndef MPU_I2C_INSTANCE
diff --git a/src/main/drivers/accgyro/accgyro_adxl345.c b/src/main/drivers/accgyro_legacy/accgyro_adxl345.c
similarity index 99%
rename from src/main/drivers/accgyro/accgyro_adxl345.c
rename to src/main/drivers/accgyro_legacy/accgyro_adxl345.c
index d0235253f..bcd97fc1f 100644
--- a/src/main/drivers/accgyro/accgyro_adxl345.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_adxl345.c
@@ -26,7 +26,7 @@
 #include "drivers/bus_i2c.h"
 
 #include "drivers/sensor.h"
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_adxl345.h"
 
 // ADXL345, Alternative address mode 0x53
diff --git a/src/main/drivers/accgyro/accgyro_adxl345.h b/src/main/drivers/accgyro_legacy/accgyro_adxl345.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_adxl345.h
rename to src/main/drivers/accgyro_legacy/accgyro_adxl345.h
diff --git a/src/main/drivers/accgyro/accgyro_bma280.c b/src/main/drivers/accgyro_legacy/accgyro_bma280.c
similarity index 98%
rename from src/main/drivers/accgyro/accgyro_bma280.c
rename to src/main/drivers/accgyro_legacy/accgyro_bma280.c
index 13954341e..cccf3ecd6 100644
--- a/src/main/drivers/accgyro/accgyro_bma280.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_bma280.c
@@ -26,7 +26,7 @@
 #include "drivers/bus_i2c.h"
 
 #include "drivers/sensor.h"
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_bma280.h"
 
 // BMA280, default I2C address mode 0x18
diff --git a/src/main/drivers/accgyro/accgyro_bma280.h b/src/main/drivers/accgyro_legacy/accgyro_bma280.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_bma280.h
rename to src/main/drivers/accgyro_legacy/accgyro_bma280.h
diff --git a/src/main/drivers/accgyro/accgyro_l3g4200d.c b/src/main/drivers/accgyro_legacy/accgyro_l3g4200d.c
similarity index 98%
rename from src/main/drivers/accgyro/accgyro_l3g4200d.c
rename to src/main/drivers/accgyro_legacy/accgyro_l3g4200d.c
index ee62da37e..161ad5511 100644
--- a/src/main/drivers/accgyro/accgyro_l3g4200d.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_l3g4200d.c
@@ -25,7 +25,7 @@
 
 #include <platform.h>
 
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_l3g4200d.h"
 
 #include "common/maths.h"
diff --git a/src/main/drivers/accgyro/accgyro_l3g4200d.h b/src/main/drivers/accgyro_legacy/accgyro_l3g4200d.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_l3g4200d.h
rename to src/main/drivers/accgyro_legacy/accgyro_l3g4200d.h
diff --git a/src/main/drivers/accgyro/accgyro_l3gd20.c b/src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
similarity index 99%
rename from src/main/drivers/accgyro/accgyro_l3gd20.c
rename to src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
index fdd836a47..d78944cb3 100644
--- a/src/main/drivers/accgyro/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
@@ -35,7 +35,7 @@
 #include "drivers/bus_spi.h"
 
 #include "drivers/sensor.h"
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_l3gd20.h"
 
 #define READ_CMD               ((uint8_t)0x80)
diff --git a/src/main/drivers/accgyro/accgyro_l3gd20.h b/src/main/drivers/accgyro_legacy/accgyro_l3gd20.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_l3gd20.h
rename to src/main/drivers/accgyro_legacy/accgyro_l3gd20.h
diff --git a/src/main/drivers/accgyro/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
similarity index 99%
rename from src/main/drivers/accgyro/accgyro_lsm303dlhc.c
rename to src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
index 6ad317dff..0c7504d19 100644
--- a/src/main/drivers/accgyro/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
@@ -35,7 +35,7 @@
 #include "drivers/bus_i2c.h"
 
 #include "drivers/sensor.h"
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_lsm303dlhc.h"
 
 // Addresses (7 bit address format)
diff --git a/src/main/drivers/accgyro/accgyro_lsm303dlhc.h b/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_lsm303dlhc.h
rename to src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.h
diff --git a/src/main/drivers/accgyro/accgyro_mma845x.c b/src/main/drivers/accgyro_legacy/accgyro_mma845x.c
similarity index 99%
rename from src/main/drivers/accgyro/accgyro_mma845x.c
rename to src/main/drivers/accgyro_legacy/accgyro_mma845x.c
index 35021beff..25c869b6c 100644
--- a/src/main/drivers/accgyro/accgyro_mma845x.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_mma845x.c
@@ -27,7 +27,7 @@
 #include "drivers/bus_i2c.h"
 
 #include "drivers/sensor.h"
-#include "accgyro.h"
+#include "drivers/accgyro/accgyro.h"
 #include "accgyro_mma845x.h"
 
 #ifndef MMA8452_I2C_INSTANCE
diff --git a/src/main/drivers/accgyro/accgyro_mma845x.h b/src/main/drivers/accgyro_legacy/accgyro_mma845x.h
similarity index 100%
rename from src/main/drivers/accgyro/accgyro_mma845x.h
rename to src/main/drivers/accgyro_legacy/accgyro_mma845x.h
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 8cb2c8ae4..ea2e589bc 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -37,13 +37,7 @@
 #include "pg/pg_ids.h"
 
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_adxl345.h"
-#include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_fake.h"
-#include "drivers/accgyro/accgyro_l3g4200d.h"
-#include "drivers/accgyro/accgyro_l3gd20.h"
-#include "drivers/accgyro/accgyro_lsm303dlhc.h"
-#include "drivers/accgyro/accgyro_mma845x.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_mpu3050.h"
 #include "drivers/accgyro/accgyro_mpu6050.h"
@@ -54,6 +48,23 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+
+#ifdef USE_ACC_ADXL345
+#include "drivers/accgyro_legacy/accgyro_adxl345.h"
+#endif
+
+#ifdef USE_ACC_BMA280
+#include "drivers/accgyro_legacy/accgyro_bma280.h"
+#endif
+
+#ifdef USE_ACC_LSM303DLHC
+#include "drivers/accgyro_legacy/accgyro_lsm303dlhc.h"
+#endif
+
+#ifdef USE_ACC_MMA8452
+#include "drivers/accgyro_legacy/accgyro_mma845x.h"
+#endif
+
 #include "drivers/bus_spi.h"
 
 #include "fc/config.h"
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 4b4a987ef..dcb466c3a 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -38,13 +38,7 @@
 #include "pg/pg_ids.h"
 
 #include "drivers/accgyro/accgyro.h"
-#include "drivers/accgyro/accgyro_adxl345.h"
-#include "drivers/accgyro/accgyro_bma280.h"
 #include "drivers/accgyro/accgyro_fake.h"
-#include "drivers/accgyro/accgyro_l3g4200d.h"
-#include "drivers/accgyro/accgyro_l3gd20.h"
-#include "drivers/accgyro/accgyro_lsm303dlhc.h"
-#include "drivers/accgyro/accgyro_mma845x.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_mpu3050.h"
 #include "drivers/accgyro/accgyro_mpu6050.h"
@@ -55,6 +49,15 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+
+#ifdef USE_GYRO_L3G4200D
+#include "drivers/accgyro_legacy/accgyro_l3g4200d.h"
+#endif
+
+#ifdef USE_GYRO_L3GD20
+#include "drivers/accgyro_legacy/accgyro_l3gd20.h"
+#endif
+
 #include "drivers/accgyro/gyro_sync.h"
 #include "drivers/bus_spi.h"
 #include "drivers/io.h"
diff --git a/src/main/target/CHEBUZZF3/target.h b/src/main/target/CHEBUZZF3/target.h
index 2eda94105..c54d7d1d9 100644
--- a/src/main/target/CHEBUZZF3/target.h
+++ b/src/main/target/CHEBUZZF3/target.h
@@ -61,26 +61,26 @@
 #define SDCARD_DMA_CHANNEL_TX               DMA1_Channel5
 
 #define USE_GYRO
-#define USE_GYRO_L3GD20
+//#define USE_GYRO_L3GD20
 #define USE_GYRO_MPU6050
 
-#define L3GD20_SPI                      SPI1
-#define L3GD20_CS_GPIO_CLK_PERIPHERAL   RCC_AHBPeriph_GPIOE
-#define L3GD20_CS_GPIO                  GPIOE
-#define L3GD20_CS_PIN                   PE3
+//#define L3GD20_SPI                      SPI1
+//#define L3GD20_CS_GPIO_CLK_PERIPHERAL   RCC_AHBPeriph_GPIOE
+//#define L3GD20_CS_GPIO                  GPIOE
+//#define L3GD20_CS_PIN                   PE3
 
-#define GYRO_L3GD20_ALIGN CW270_DEG
+//#define GYRO_L3GD20_ALIGN CW270_DEG
 #define GYRO_MPU6050_ALIGN CW0_DEG
 
 #define USE_ACC
 #define USE_ACC_MPU6050
-#define USE_ACC_LSM303DLHC
-#define LSM303DLHC_I2C                       I2C1
-#define LSM303DLHC_I2C_SCK_PIN               PB6
-#define LSM303DLHC_I2C_SDA_PIN               PB7
-#define LSM303DLHC_DRDY_PIN                  PE2
-#define LSM303DLHC_I2C_INT1_PIN              PE4
-#define LSM303DLHC_I2C_INT2_PIN              PE5
+//#define USE_ACC_LSM303DLHC
+//#define LSM303DLHC_I2C                       I2C1
+//#define LSM303DLHC_I2C_SCK_PIN               PB6
+//#define LSM303DLHC_I2C_SDA_PIN               PB7
+//#define LSM303DLHC_DRDY_PIN                  PE2
+//#define LSM303DLHC_I2C_INT1_PIN              PE4
+//#define LSM303DLHC_I2C_INT2_PIN              PE5
 
 #define ACC_MPU6050_ALIGN       CW0_DEG
 
diff --git a/src/main/target/CHEBUZZF3/target.mk b/src/main/target/CHEBUZZF3/target.mk
index a21c11602..cdf3c6d26 100644
--- a/src/main/target/CHEBUZZF3/target.mk
+++ b/src/main/target/CHEBUZZF3/target.mk
@@ -2,16 +2,16 @@ F3_TARGETS  += $(TARGET)
 FEATURES    = VCP SDCARD
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_l3gd20.c \
-            drivers/accgyro/accgyro_lsm303dlhc.c \
             drivers/compass/compass_hmc5883l.c \
-            drivers/accgyro/accgyro_adxl345.c \
-            drivers/accgyro/accgyro_bma280.c \
-            drivers/accgyro/accgyro_mma845x.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
-            drivers/accgyro/accgyro_l3g4200d.c \
+            drivers/accgyro_legacy/accgyro_l3gd20.c \
+            drivers/accgyro_legacy/accgyro_lsm303dlhc.c \
+            drivers/accgyro_legacy/accgyro_adxl345.c \
+            drivers/accgyro_legacy/accgyro_bma280.c \
+            drivers/accgyro_legacy/accgyro_mma845x.c \
+            drivers/accgyro_legacy/accgyro_l3g4200d.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_ak8975.c
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 28659bb36..d583e1d16 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -91,17 +91,17 @@
 #define GYRO_MPU6500_ALIGN      CW0_DEG
 
 #define USE_ACC
-#define USE_ACC_ADXL345
-#define USE_ACC_BMA280
-#define USE_ACC_MMA8452
+//#define USE_ACC_ADXL345
+//#define USE_ACC_BMA280
+//#define USE_ACC_MMA8452
 #define USE_ACC_MPU6050
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_ADXL345_ALIGN       CW270_DEG
+//#define ACC_ADXL345_ALIGN       CW270_DEG
 #define ACC_MPU6050_ALIGN       CW0_DEG
-#define ACC_MMA8452_ALIGN       CW90_DEG
-#define ACC_BMA280_ALIGN        CW0_DEG
+//#define ACC_MMA8452_ALIGN       CW90_DEG
+//#define ACC_BMA280_ALIGN        CW0_DEG
 #define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define USE_BARO
diff --git a/src/main/target/NAZE/target.mk b/src/main/target/NAZE/target.mk
index 22c510c8c..bbe55d189 100644
--- a/src/main/target/NAZE/target.mk
+++ b/src/main/target/NAZE/target.mk
@@ -2,10 +2,10 @@ F1_TARGETS  += $(TARGET)
 FEATURES    = ONBOARDFLASH
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_adxl345.c \
-            drivers/accgyro/accgyro_bma280.c \
-            drivers/accgyro/accgyro_l3g4200d.c \
-            drivers/accgyro/accgyro_mma845x.c \
+            drivers/accgyro_legacy/accgyro_adxl345.c \
+            drivers/accgyro_legacy/accgyro_bma280.c \
+            drivers/accgyro_legacy/accgyro_l3g4200d.c \
+            drivers/accgyro_legacy/accgyro_mma845x.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
diff --git a/src/main/target/STM32F3DISCOVERY/target.h b/src/main/target/STM32F3DISCOVERY/target.h
index 6b524c9ed..e8768ff1b 100644
--- a/src/main/target/STM32F3DISCOVERY/target.h
+++ b/src/main/target/STM32F3DISCOVERY/target.h
@@ -85,11 +85,11 @@
 
 #define USE_GYRO
 #define USE_FAKE_GYRO
-#define USE_GYRO_L3GD20
-#define L3GD20_SPI              SPI1
-#define L3GD20_CS_PIN           PE3
-#define GYRO_L3GD20_ALIGN       CW270_DEG
-#define USE_GYRO_L3G4200D
+//#define USE_GYRO_L3GD20
+//#define L3GD20_SPI              SPI1
+//#define L3GD20_CS_PIN           PE3
+//#define GYRO_L3GD20_ALIGN       CW270_DEG
+//#define USE_GYRO_L3G4200D
 #define USE_GYRO_MPU3050
 #define USE_GYRO_MPU6050
 #define USE_GYRO_SPI_MPU6000
@@ -105,7 +105,7 @@
 #define MPU9250_CS_PIN          SPI2_NSS_PIN
 #define MPU9250_SPI_INSTANCE    SPI2
 // BMI160 gyro support
-//#define USE_ACCGYRO_BMI160
+#define USE_ACCGYRO_BMI160
 #ifdef USE_ACCGYRO_BMI160
 #define BMI160_CS_PIN           SPI2_NSS_PIN
 #define BMI160_SPI_INSTANCE     SPI2
@@ -117,11 +117,11 @@
 
 #define USE_ACC
 #define USE_FAKE_ACC
-#define USE_ACC_ADXL345
-#define USE_ACC_BMA280
-#define USE_ACC_MMA8452
+//#define USE_ACC_ADXL345
+//#define USE_ACC_BMA280
+//#define USE_ACC_MMA8452
 #define USE_ACC_MPU6050
-#define USE_ACC_LSM303DLHC
+//#define USE_ACC_LSM303DLHC
 #define USE_ACC_MPU6000
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_MPU6500
diff --git a/src/main/target/STM32F3DISCOVERY/target.mk b/src/main/target/STM32F3DISCOVERY/target.mk
index 7e589a45a..a455a47c8 100644
--- a/src/main/target/STM32F3DISCOVERY/target.mk
+++ b/src/main/target/STM32F3DISCOVERY/target.mk
@@ -2,15 +2,7 @@ F3_TARGETS  += $(TARGET)
 FEATURES    = VCP SDCARD ONBOARDFLASH
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_adxl345.c \
-            drivers/accgyro/accgyro_bma280.c \
-            drivers/accgyro/accgyro_l3gd20.c \
-            drivers/accgyro/accgyro_l3g4200d.c \
-            drivers/accgyro/accgyro_lsm303dlhc.c \
-            drivers/accgyro/accgyro_adxl345.c \
             drivers/accgyro/accgyro_fake.c \
-            drivers/accgyro/accgyro_bma280.c \
-            drivers/accgyro/accgyro_mma845x.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu3050.c \
             drivers/accgyro/accgyro_mpu6050.c \
@@ -19,6 +11,14 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu9250.c \
+            drivers/accgyro_legacy/accgyro_adxl345.c \
+            drivers/accgyro_legacy/accgyro_bma280.c \
+            drivers/accgyro_legacy/accgyro_l3gd20.c \
+            drivers/accgyro_legacy/accgyro_l3g4200d.c \
+            drivers/accgyro_legacy/accgyro_lsm303dlhc.c \
+            drivers/accgyro_legacy/accgyro_adxl345.c \
+            drivers/accgyro_legacy/accgyro_bma280.c \
+            drivers/accgyro_legacy/accgyro_mma845x.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_fake.c \