diff --git a/firmware/controllers/algo/auto_generated_commonenum.cpp b/firmware/controllers/algo/auto_generated_commonenum.cpp
index b3306b0a6d..35e94cf2d3 100644
--- a/firmware/controllers/algo/auto_generated_commonenum.cpp
+++ b/firmware/controllers/algo/auto_generated_commonenum.cpp
@@ -1,6 +1,6 @@
 #include "global.h"
 #include "rusefi_enums.h"
-// was generated automatically by rusEFI tool  from rusefi_enums.h // by enum2string.jar tool on Mon Sep 27 22:25:31 EDT 2021
+// was generated automatically by rusEFI tool  from rusefi_enums.h // by enum2string.jar tool on Thu Sep 30 15:15:34 EDT 2021
 // see also gen_config_and_enums.bat
 
 
@@ -357,6 +357,21 @@ case Force_4_bytes_size_ego_sensor:
   }
  return NULL;
 }
+const char *getEmu_type_e(emu_type_e value){
+switch(value) {
+case IMU_NONE:
+  return "IMU_NONE";
+case IMU_TYPE_2:
+  return "IMU_TYPE_2";
+case IMU_TYPE_3:
+  return "IMU_TYPE_3";
+case IMU_TYPE_4:
+  return "IMU_TYPE_4";
+case IMU_VAG:
+  return "IMU_VAG";
+  }
+ return NULL;
+}
 const char *getEngine_load_mode_e(engine_load_mode_e value){
 switch(value) {
 case Force_4_bytes_size_engine_load_mode:
diff --git a/firmware/controllers/algo/auto_generated_commonenum.h b/firmware/controllers/algo/auto_generated_commonenum.h
index 884b42b945..abae058618 100644
--- a/firmware/controllers/algo/auto_generated_commonenum.h
+++ b/firmware/controllers/algo/auto_generated_commonenum.h
@@ -1,4 +1,4 @@
-// was generated automatically by rusEFI tool  from rusefi_enums.h // by enum2string.jar tool on Mon Jul 12 21:01:09 EDT 2021
+// was generated automatically by rusEFI tool  from rusefi_enums.h // by enum2string.jar tool on Thu Sep 30 15:15:34 EDT 2021
 // see also gen_config_and_enums.bat
 
 
@@ -21,6 +21,7 @@ const char *getCranking_ignition_mode_e(cranking_ignition_mode_e value);
 const char *getDebug_mode_e(debug_mode_e value);
 const char *getDisplay_mode_e(display_mode_e value);
 const char *getEgo_sensor_e(ego_sensor_e value);
+const char *getEmu_type_e(emu_type_e value);
 const char *getEngine_load_mode_e(engine_load_mode_e value);
 const char *getEngine_type_e(engine_type_e value);
 const char *getEtb_function_e(etb_function_e value);
diff --git a/firmware/controllers/algo/rusefi_enums.h b/firmware/controllers/algo/rusefi_enums.h
index 1147370848..92895e74c4 100644
--- a/firmware/controllers/algo/rusefi_enums.h
+++ b/firmware/controllers/algo/rusefi_enums.h
@@ -744,6 +744,15 @@ typedef enum {
 	Force_4_bytes_size_can_vss_nbc_e = ENUM_32_BITS,
 } can_vss_nbc_e;
 
+// inertia measurement unit, yawn accelerometer
+typedef enum  __attribute__ ((__packed__)) {
+	IMU_NONE = 0,
+	IMU_VAG = 1,
+	IMU_TYPE_2 = 2,
+	IMU_TYPE_3 = 3,
+	IMU_TYPE_4 = 4,
+} emu_type_e;
+
 typedef enum {
 	ES_BPSX_D1 = 0,
 	/**
diff --git a/firmware/integration/rusefi_config.txt b/firmware/integration/rusefi_config.txt
index 0fac429f7d..60209f7bde 100644
--- a/firmware/integration/rusefi_config.txt
+++ b/firmware/integration/rusefi_config.txt
@@ -921,7 +921,10 @@ output_pin_e acFanPin;+Optional Radiator Fan used with A/C
 	pin_output_mode_e[FSIO_COMMAND_COUNT iterate] gpioPinModes;
 	uint8_t[DWELL_CURVE_SIZE] dwellVoltageCorrVoltBins;;"volts", 0.1, 0, 0, 20, 1
 
-	uint8_t[2] unusedpinModesWhereHere;;"", 1, 0, 0, 255, 0
+ 	custom imu_type_e 1 bits, U08, @OFFSET@, [0:4], "None", "VAG", "type 2", "type 2", "type 2"
+	imu_type_e imuType
+
+	uint8_t[1] unusedpinModesWhereHere;;"", 1, 0, 0, 255, 0
 	output_pin_e[FSIO_COMMAND_COUNT iterate] fsioOutputPins;todo: more comments
 
 	uint8_t[DWELL_CURVE_SIZE] dwellVoltageCorrValues;;"multiplier", 0.02, 0, 0, 5, 2
diff --git a/firmware/tunerstudio/rusefi.input b/firmware/tunerstudio/rusefi.input
index 46017d6deb..18e6c56adb 100644
--- a/firmware/tunerstudio/rusefi.input
+++ b/firmware/tunerstudio/rusefi.input
@@ -3029,6 +3029,7 @@ cmd_set_engine_type_default					= "@@TS_IO_TEST_COMMAND_char@@\x00\x31\x00\x00"
 		field = "CAN write enabled",					canWriteEnabled
 		field = "CAN bitrate",							canBaudRate
 		field = "CAN dash type",						canNbcType
+		field = "inertia measurement unit",             imuType
 		field = "Enable rusEFI CAN broadcast",			enableVerboseCanTx
 		field = "rusEFI CAN data base address",			verboseCanBaseAddress
 		field = "rusEFI CAN data period",				canSleepPeriodMs