diff --git a/firmware/Makefile b/firmware/Makefile
index 6df6dbdb66..06dbbe9317 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -287,7 +287,7 @@ INCDIR = $(CHIBIOS)/os/license \
 	hw_layer/serial_over_usb \
 	hw_layer/algo \
 	hw_layer/lcd \
-	hw_layer/sensors \
+	$(HW_SENSORS_INC) \
 	hw_layer/mass_storage \
 	hw_layer/$(CPU_HWLAYER) \
 	$(HW_LAYER_DRIVERS_INC) \
diff --git a/firmware/controllers/algo/engine_configuration.cpp b/firmware/controllers/algo/engine_configuration.cpp
index 6fbb8743e2..612388351e 100644
--- a/firmware/controllers/algo/engine_configuration.cpp
+++ b/firmware/controllers/algo/engine_configuration.cpp
@@ -30,7 +30,9 @@
 #include "advance_map.h"
 
 #include "hip9011_lookup.h"
+#if EFI_MEMS || defined(__DOXYGEN__)
 #include "accelerometer.h"
+#endif
 
 #include "custom_engine.h"
 #include "engine_template.h"
@@ -1084,7 +1086,7 @@ void setDefaultConfiguration(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 	engineConfiguration->hip9011Gain = 1;
 #if EFI_HIP_9011 || defined(__DOXYGEN__)
 	setHip9011FrankensoPinout();
-#endif
+#endif /* EFI_HIP_9011 */
 
 	setDefaultSdCardParameters(PASS_ENGINE_PARAMETER_SIGNATURE);
 	
diff --git a/firmware/hw_layer/hw_layer.mk b/firmware/hw_layer/hw_layer.mk
index da68f12d88..54322f6977 100644
--- a/firmware/hw_layer/hw_layer.mk
+++ b/firmware/hw_layer/hw_layer.mk
@@ -9,7 +9,6 @@ HW_LAYER_EMS = $(HW_LAYER_EGT) \
 	$(PROJECT_DIR)/hw_layer/flash.c
 		
 HW_LAYER_EMS_CPP = $(HW_LAYER_EGT_CPP) \
-	$(PROJECT_DIR)/hw_layer/accelerometer.cpp \
 	$(PROJECT_DIR)/hw_layer/pin_repository.cpp \
 	$(PROJECT_DIR)/hw_layer/microsecond_timer.cpp \
 	$(PROJECT_DIR)/hw_layer/digital_input_hw.cpp \
@@ -25,7 +24,6 @@ HW_LAYER_EMS_CPP = $(HW_LAYER_EGT_CPP) \
 	$(PROJECT_DIR)/hw_layer/hip9011.cpp \
 	$(PROJECT_DIR)/hw_layer/hip9011_logic.cpp \
 	$(PROJECT_DIR)/hw_layer/vehicle_speed.cpp \
-	$(PROJECT_DIR)/hw_layer/joystick.cpp \
 	$(PROJECT_DIR)/hw_layer/stepper.cpp \
 	$(PROJECT_DIR)/hw_layer/servo.cpp \
 	$(PROJECT_DIR)/hw_layer/io_pins.cpp \
diff --git a/firmware/hw_layer/accelerometer.cpp b/firmware/hw_layer/sensors/accelerometer.cpp
similarity index 100%
rename from firmware/hw_layer/accelerometer.cpp
rename to firmware/hw_layer/sensors/accelerometer.cpp
diff --git a/firmware/hw_layer/accelerometer.h b/firmware/hw_layer/sensors/accelerometer.h
similarity index 100%
rename from firmware/hw_layer/accelerometer.h
rename to firmware/hw_layer/sensors/accelerometer.h
diff --git a/firmware/hw_layer/joystick.cpp b/firmware/hw_layer/sensors/joystick.cpp
similarity index 100%
rename from firmware/hw_layer/joystick.cpp
rename to firmware/hw_layer/sensors/joystick.cpp
diff --git a/firmware/hw_layer/joystick.h b/firmware/hw_layer/sensors/joystick.h
similarity index 100%
rename from firmware/hw_layer/joystick.h
rename to firmware/hw_layer/sensors/joystick.h
diff --git a/firmware/hw_layer/sensors/sensors.mk b/firmware/hw_layer/sensors/sensors.mk
index e520246227..0a1a55975e 100644
--- a/firmware/hw_layer/sensors/sensors.mk
+++ b/firmware/hw_layer/sensors/sensors.mk
@@ -1,3 +1,11 @@
-HW_SENSORS_SRC = $(PROJECT_DIR)/hw_layer/sensors/cj125.cpp \
-	$(PROJECT_DIR)/hw_layer/cj125_logic.cpp \
-	$(PROJECT_DIR)/hw_layer/sensors/yaw_rate_sensor.cpp
\ No newline at end of file
+HW_SENSORS_DIR=$(PROJECT_DIR)/hw_layer/sensors
+
+HW_SENSORS_INC=$(HW_SENSORS_DIR)
+
+HW_SENSORS_SRC = \
+	$(HW_SENSORS_DIR)/cj125.cpp \
+	$(HW_SENSORS_DIR)/cj125_logic.cpp \
+	$(HW_SENSORS_DIR)/yaw_rate_sensor.cpp \
+	$(HW_SENSORS_DIR)/accelerometer.cpp \
+	$(HW_SENSORS_DIR)/joystick.cpp \
+	
\ No newline at end of file
diff --git a/simulator/Makefile b/simulator/Makefile
index 408e9640ec..3aae4f7ffc 100644
--- a/simulator/Makefile
+++ b/simulator/Makefile
@@ -114,6 +114,8 @@ include $(PROJECT_DIR)/console/console.mk
 include $(PROJECT_DIR)/console/binary/tunerstudio.mk
 include $(PROJECT_DIR)/development/development.mk
 include $(PROJECT_DIR)/hw_layer/hw_layer.mk
+include $(PROJECT_DIR)/hw_layer/sensors/sensors.mk
+
 
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
@@ -179,7 +181,7 @@ INCDIR = . \
           $(PROJECT_DIR)/controllers \
           $(PROJECT_DIR)/hw_layer \
           $(PROJECT_DIR)/hw_layer/algo \
-          $(PROJECT_DIR)/hw_layer/sensors/ \
+          $(HW_SENSORS_INC) \
           $(PROJECT_DIR)/development \
           $(PROJECT_DIR)/controllers/algo \
           $(PROJECT_DIR)/controllers/core \