diff --git a/src/GlobalVars.h b/src/GlobalVars.h
index 255de0823..12e12e742 100644
--- a/src/GlobalVars.h
+++ b/src/GlobalVars.h
@@ -27,9 +27,11 @@
 #include "LEDManager.h"
 #include "status/StatusManager.h"
 #include "configuration/Configuration.h"
+#include "sensors/SensorManager.h"
 
 extern SlimeVR::LEDManager ledManager;
 extern SlimeVR::Status::StatusManager statusManager;
 extern SlimeVR::Configuration::Configuration configuration;
+extern SlimeVR::Sensors::SensorManager sensorManager;
 
 #endif
diff --git a/src/debug.h b/src/debug.h
index e540ea96b..f2fd12a59 100644
--- a/src/debug.h
+++ b/src/debug.h
@@ -78,7 +78,7 @@
 // Not recommended for production
 #define ENABLE_INSPECTION false
 
-#define FIRMWARE_BUILD_NUMBER 13
-#define FIRMWARE_VERSION "0.3.0"
+#define FIRMWARE_BUILD_NUMBER 14
+#define FIRMWARE_VERSION "0.3.1"
 
 #endif // SLIMEVR_DEBUG_H_
diff --git a/src/defines.h b/src/defines.h
index 0ce1e736c..b2835ae16 100644
--- a/src/defines.h
+++ b/src/defines.h
@@ -29,7 +29,7 @@
 #define IMU IMU_BNO085
 #define SECOND_IMU IMU
 #define BOARD BOARD_SLIMEVR
-#define IMU_ROTATION DEG_90
+#define IMU_ROTATION DEG_270
 #define SECOND_IMU_ROTATION DEG_270
 
 // Battery monitoring options (comment to disable):
diff --git a/src/sensors/sensor.h b/src/sensors/sensor.h
index 58ce67873..55c558436 100644
--- a/src/sensors/sensor.h
+++ b/src/sensors/sensor.h
@@ -65,6 +65,7 @@ class Sensor
         return sensorType;
     };
 
+    bool hadData = false;
 protected:
     uint8_t addr = 0;
     uint8_t sensorId = 0;
diff --git a/src/serial/serialcommands.cpp b/src/serial/serialcommands.cpp
index 588f40665..45af4424c 100644
--- a/src/serial/serialcommands.cpp
+++ b/src/serial/serialcommands.cpp
@@ -67,7 +67,16 @@ namespace SerialCommands {
                 FIRMWARE_VERSION,
                 WiFiNetwork::getAddress().toString().c_str()
             );
-            // TODO Print sensors number and types
+            Sensor* sensor1 = sensorManager.getFirst();
+            Sensor* sensor2 = sensorManager.getSecond();
+            logger.info(
+                "Sensor 1: %s",
+                getIMUNameByType(sensor1->getSensorType())
+            );
+            logger.info(
+                "Sensor 2: %s",
+                getIMUNameByType(sensor2->getSensorType())
+            );
         }
 
         if (parser->equalCmdParam(1, "CONFIG")) {
@@ -109,6 +118,27 @@ namespace SerialCommands {
                 LED_INVERTED
             );
         }
+
+        if (parser->equalCmdParam(1, "TEST")) {
+            logger.info(
+                "[TEST]Board: %d, hardware: %d, build: %d, firmware: %s, mac: %s",
+                BOARD,
+                HARDWARE_MCU,
+                FIRMWARE_BUILD_NUMBER,
+                FIRMWARE_VERSION,
+                WiFi.macAddress()
+            );
+            Sensor* sensor1 = sensorManager.getFirst();
+            logger.info(
+                "[TEST] Sensor 1: %s",
+                getIMUNameByType(sensor1->getSensorType())
+            );
+            if(!sensor1->hadData) {
+                logger.error("[TEST] Sensor 1 didn't send any data yet!");
+            } else {
+                logger.info("[TEST] Sensor 1 sent some data, looks working.");
+            }
+        }
     }
 
     void cmdReport(CmdParser * parser) {
@@ -151,6 +181,7 @@ namespace SerialCommands {
         cmdCallbacks.addCmd("FRST", &cmdFactoryReset);
         cmdCallbacks.addCmd("REP", &cmdReport);
         cmdCallbacks.addCmd("REBOOT", &cmdReboot);
+        
     }
 
     void update() {