Fix mutual exclusive gyro alignment

betaflight · Dec 19, 2024 · b4e0f1f · b4e0f1f
1 parent f2067f5
commit b4e0f1f
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diff --git a/configs/ACCIF405/config.h b/configs/ACCIF405/config.h
@@ -60,7 +60,6 @@
 #define GYRO_1_CS_PIN        PA4
 #define GYRO_1_SPI_INSTANCE  SPI1
 #define GYRO_1_ALIGN CW0_DEG
-#define GYRO_1_ALIGN_YAW 1800
 
 #define SPI1_SCK_PIN         PA5
 #define SPI1_SDI_PIN         PA6

diff --git a/configs/ACCIF435/config.h b/configs/ACCIF435/config.h
@@ -60,7 +60,6 @@
 #define GYRO_1_CS_PIN        PA4
 #define GYRO_1_SPI_INSTANCE  SPI1
 #define GYRO_1_ALIGN CW0_DEG
-#define GYRO_1_ALIGN_YAW 1800
 
 #define SPI1_SCK_PIN         PA5
 #define SPI1_SDI_PIN         PA6

diff --git a/configs/AG3XF4/config.h b/configs/AG3XF4/config.h
@@ -113,8 +113,5 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH 1800
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW0_DEG_FLIP
-#define GYRO_2_ALIGN_PITCH 1800
diff --git a/configs/AG3XF7/config.h b/configs/AG3XF7/config.h
@@ -112,8 +112,5 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH 1800
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW0_DEG_FLIP
-#define GYRO_2_ALIGN_PITCH 1800
diff --git a/configs/AIRBOTF4/config.h b/configs/AIRBOTF4/config.h
@@ -110,4 +110,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/AIRBOTF4SD/config.h b/configs/AIRBOTF4SD/config.h
@@ -116,7 +116,5 @@
 #define DASHBOARD_I2C_INSTANCE I2CDEV_2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW270_DEG
-#define GYRO_2_ALIGN_YAW 2700
diff --git a/configs/AIRBOTF4V2/config.h b/configs/AIRBOTF4V2/config.h
@@ -93,5 +93,4 @@
 #define FLASH_SPI_INSTANCE SPI1
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/configs/AIRBOTF7/config.h b/configs/AIRBOTF7/config.h
@@ -93,5 +93,4 @@
 #define FLASH_SPI_INSTANCE SPI1
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/configs/AIRBOTF7HDV/config.h b/configs/AIRBOTF7HDV/config.h
@@ -86,4 +86,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/AIRBOTG4AIO/config.h b/configs/AIRBOTG4AIO/config.h
@@ -120,5 +120,4 @@
 
 #define GYRO_1_SPI_INSTANCE          SPI1
 #define GYRO_1_ALIGN                 CW0_DEG_FLIP
-#define GYRO_1_ALIGN_YAW             2700
 #define DEFAULT_ALIGN_BOARD_YAW      -45
diff --git a/configs/ALIENFLIGHTF4/config.h b/configs/ALIENFLIGHTF4/config.h
@@ -120,5 +120,4 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define USE_I2C_PULLUP
diff --git a/configs/ALIENFLIGHTNGF7/config.h b/configs/ALIENFLIGHTNGF7/config.h
@@ -125,5 +125,4 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define USE_I2C_PULLUP
diff --git a/configs/ALIENFLIGHTNGF7_DUAL/config.h b/configs/ALIENFLIGHTNGF7_DUAL/config.h
@@ -108,8 +108,6 @@
 #define MAX7456_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI3
 #define GYRO_2_ALIGN CW270_DEG
-#define GYRO_2_ALIGN_YAW 2700
 #define USE_I2C_PULLUP
diff --git a/configs/ALIENFLIGHTNGF7_ELRS/config.h b/configs/ALIENFLIGHTNGF7_ELRS/config.h
@@ -123,5 +123,4 @@
 #define MAX7456_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 //TODO #define EXPRESSLRS_DOMAIN ISM2400
diff --git a/configs/ALIENFLIGHTNGF7_RX/config.h b/configs/ALIENFLIGHTNGF7_RX/config.h
@@ -111,4 +111,3 @@
 #define MAX7456_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/ANYFCF7/config.h b/configs/ANYFCF7/config.h
@@ -127,4 +127,3 @@
 #define DASHBOARD_I2C_INSTANCE I2CDEV_2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/ANYFCM7/config.h b/configs/ANYFCM7/config.h
@@ -109,4 +109,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/AOCODAF405/config.h b/configs/AOCODAF405/config.h
@@ -106,4 +106,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW0_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH 1800
diff --git a/configs/AOCODARCF411_AIO/config.h b/configs/AOCODARCF411_AIO/config.h
@@ -98,6 +98,5 @@
 #define MAX7456_SPI_INSTANCE SPI1
 #define GYRO_1_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define SERIALRX_UART SERIAL_PORT_USART1
 #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
diff --git a/configs/AOCODARCF7DUAL/config.h b/configs/AOCODARCF7DUAL/config.h
@@ -112,7 +112,5 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI2
 #define GYRO_2_ALIGN CW180_DEG
-#define GYRO_2_ALIGN_YAW 1800
diff --git a/configs/AOCODARCH7DUAL/config.h b/configs/AOCODARCH7DUAL/config.h
@@ -141,7 +141,5 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI4
 #define GYRO_2_ALIGN CW180_DEG
-#define GYRO_2_ALIGN_YAW 1800
diff --git a/configs/APEXF7/config.h b/configs/APEXF7/config.h
@@ -105,4 +105,3 @@
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_2_SPI_INSTANCE SPI3
 #define GYRO_2_ALIGN CW270_DEG
-#define GYRO_2_ALIGN_YAW 2700
diff --git a/configs/APEXF72023/config.h b/configs/APEXF72023/config.h
@@ -107,6 +107,4 @@
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_2_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_ALIGN CW90_DEG
-#define GYRO_2_ALIGN_YAW 900
diff --git a/configs/ARESF7/config.h b/configs/ARESF7/config.h
@@ -101,4 +101,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/ATOMRCF405/config.h b/configs/ATOMRCF405/config.h
@@ -102,4 +102,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/ATOMRCF411/config.h b/configs/ATOMRCF411/config.h
@@ -80,4 +80,3 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/ATOMRCF722/config.h b/configs/ATOMRCF722/config.h
@@ -100,4 +100,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/BEASTFPVF722/config.h b/configs/BEASTFPVF722/config.h
@@ -114,4 +114,3 @@
 #define PINIO1_CONFIG 129
 #define PINIO1_BOX 40
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/BETAFLIGHTF4/config.h b/configs/BETAFLIGHTF4/config.h
@@ -103,4 +103,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/BETAFPVF405/config.h b/configs/BETAFPVF405/config.h
@@ -118,4 +118,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/BETAFPVF405_ELRS/config.h b/configs/BETAFPVF405_ELRS/config.h
@@ -111,7 +111,6 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 
 #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
 #define SERIALRX_UART SERIAL_PORT_USART3

diff --git a/configs/BETAFPVF411/config.h b/configs/BETAFPVF411/config.h
@@ -96,7 +96,6 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
 
 #define SERIALRX_UART           SERIAL_PORT_USART1
 #define MSP_DISPLAYPORT_UART    SERIAL_PORT_USART2
diff --git a/configs/BETAFPVF411RX/config.h b/configs/BETAFPVF411RX/config.h
@@ -99,4 +99,3 @@
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/BETAFPVF435/config.h b/configs/BETAFPVF435/config.h
@@ -107,7 +107,6 @@
 
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define FLASH_SPI_INSTANCE SPI2
 #define MAX7456_SPI_INSTANCE SPI3
 #define BARO_SPI_INSTANCE SPI3

diff --git a/configs/BETAFPVF4SX1280/config.h b/configs/BETAFPVF4SX1280/config.h
@@ -115,5 +115,4 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 //TODO #define EXPRESSLRS_DOMAIN ISM2400
diff --git a/configs/BETAFPVF722/config.h b/configs/BETAFPVF722/config.h
@@ -104,7 +104,5 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW180_DEG
-#define GYRO_2_ALIGN_YAW 1800
diff --git a/configs/BETAFPVG473/config.h b/configs/BETAFPVG473/config.h
@@ -106,4 +106,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/BETAFPVH743/config.h b/configs/BETAFPVH743/config.h
@@ -133,7 +133,5 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI4
 #define GYRO_2_ALIGN CW180_DEG
-#define GYRO_2_ALIGN_YAW 1800
diff --git a/configs/BLADE_F7/config.h b/configs/BLADE_F7/config.h
@@ -107,4 +107,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/BLADE_F7_AIO/config.h b/configs/BLADE_F7_AIO/config.h
@@ -120,7 +120,6 @@
 #define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
 
 #define GYRO_1_ALIGN                    CW270_DEG
-#define GYRO_1_ALIGN_YAW                2700
 
 #define PINIO1_BOX                      40
 #define PINIO2_BOX                      41

diff --git a/configs/BLADE_F7_HD/config.h b/configs/BLADE_F7_HD/config.h
@@ -103,4 +103,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/CADDXF4/config.h b/configs/CADDXF4/config.h
@@ -119,4 +119,3 @@
 #define PINIO2_BOX 41
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/CADDXF4_AIO_ELRS/config.h b/configs/CADDXF4_AIO_ELRS/config.h
@@ -111,4 +111,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/CCRCF722D/config.h b/configs/CCRCF722D/config.h
@@ -113,7 +113,5 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW270_DEG
-#define GYRO_2_ALIGN_YAW 2700
diff --git a/configs/CHONKERH735/config.h b/configs/CHONKERH735/config.h
@@ -123,8 +123,6 @@ Details: https://github.com/crteensy/yolo-chonker/tree/as-built-20230303
 
 #define DEFAULT_GYRO_TO_USE             GYRO_CONFIG_USE_GYRO_1
 #define GYRO_1_ALIGN                    CW0_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH              1800
 #define GYRO_2_ALIGN                    CW0_DEG_FLIP
-#define GYRO_2_ALIGN_PITCH              1800
 
 #define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/configs/CKFLIGHTF4/config.h b/configs/CKFLIGHTF4/config.h
@@ -99,7 +99,6 @@
 
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW0_DEG
-#define GYRO_1_ALIGN_YAW 0
 
 #define MAX7456_SPI_INSTANCE SPI2
 

diff --git a/configs/CLRACINGF7/config.h b/configs/CLRACINGF7/config.h
@@ -123,7 +123,6 @@
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW90_DEG
-#define GYRO_2_ALIGN_YAW 900
 #define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
 #define PINIO1_BOX 40
 //TODO #define MCO2_ON_PC9 ON
diff --git a/configs/COLIBRI/config.h b/configs/COLIBRI/config.h
@@ -109,5 +109,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH 1800
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/CRAZYBEEF405/config.h b/configs/CRAZYBEEF405/config.h
@@ -98,4 +98,3 @@
 #define GYRO_1_SPI_INSTANCE SPI1
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/CRAZYBEEF4DXS/config.h b/configs/CRAZYBEEF4DXS/config.h
@@ -94,4 +94,3 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/CYCLONEF405_PRO/config.h b/configs/CYCLONEF405_PRO/config.h
@@ -115,4 +115,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/CYCLONEF722_PRO/config.h b/configs/CYCLONEF722_PRO/config.h
@@ -114,4 +114,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/DAKEFPVF405/config.h b/configs/DAKEFPVF405/config.h
@@ -126,4 +126,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/DAKEFPVF411/config.h b/configs/DAKEFPVF411/config.h
@@ -99,4 +99,3 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
-#define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/DAKEFPVF722/config.h b/configs/DAKEFPVF722/config.h
@@ -126,7 +126,6 @@
 
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 
 #define SERIALRX_UART           SERIAL_PORT_USART2
 #define ESC_SENSOR_UART         SERIAL_PORT_USART3
diff --git a/configs/DAKEFPVF722X8/config.h b/configs/DAKEFPVF722X8/config.h
@@ -119,7 +119,6 @@
 
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 #define DEFAULT_CURRENT_METER_SCALE 120
 
 #define SERIALRX_UART           SERIAL_PORT_UART5

diff --git a/configs/DALRCF405/config.h b/configs/DALRCF405/config.h
@@ -111,4 +111,3 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/DALRCF722DUAL/config.h b/configs/DALRCF722DUAL/config.h
@@ -110,5 +110,4 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/configs/DARWINF411/config.h b/configs/DARWINF411/config.h
@@ -103,5 +103,3 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG_FLIP
-#define GYRO_1_ALIGN_PITCH 1800
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/DARWINF4SX1280HD/config.h b/configs/DARWINF4SX1280HD/config.h
@@ -118,5 +118,4 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
 //TODO #define EXPRESSLRS_DOMAIN ISM2400
diff --git a/configs/DARWINF722HD/config.h b/configs/DARWINF722HD/config.h
@@ -122,4 +122,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/DARWINF722HDV2/config.h b/configs/DARWINF722HDV2/config.h
@@ -124,4 +124,3 @@ dma SPI_MOSI 3 0 # SPI_MOSI 3: DMA1 Stream 5 Channel 0
 #define PINIO2_BOX 41
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/DREAMFLYF405/config.h b/configs/DREAMFLYF405/config.h
@@ -127,4 +127,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900
diff --git a/configs/DREAMFLYF722/config.h b/configs/DREAMFLYF722/config.h
@@ -125,4 +125,3 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
-#define GYRO_1_ALIGN_YAW 900