diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 9a2b455b85..271be4c862 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -19,14 +19,17 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER "AFF4"
+
 #define USE_TARGET_CONFIG
 
+#define BOARD_NAME        ALIENFLIGHTF4
+#define MANUFACTURER_ID   AFNG
+#define TARGET_BOARD_IDENTIFIER "S405"  // generic ID
+#define FC_TARGET_MCU     STM32F405     // not used in EmuF
+
 #define USE_HARDWARE_REVISION_DETECTION
 #define HW_PIN                  PC13
 
-#define USBD_PRODUCT_STRING "AlienFlight F4"
-
 #define LED0_PIN                PC12
 #define LED1_PIN                PD2
 
@@ -43,16 +46,22 @@
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
-#define MPU6500_CS_PIN          SPI1_NSS_PIN
-#define MPU6500_SPI_INSTANCE    SPI1
-
 #define USE_ACC
-#define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN       CW270_DEG
-
 #define USE_GYRO
+#define USE_ACC_SPI_MPU6500
 #define USE_GYRO_SPI_MPU6500
+#define USE_GYRO_SPI_MPU9250
+#define USE_ACC_SPI_MPU9250
+
+#define ACC_MPU6500_ALIGN       CW270_DEG
 #define GYRO_MPU6500_ALIGN      CW270_DEG
+#define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_SPI_INSTANCE    SPI1
+
+#define ACC_MPU9250_ALIGN       CW270_DEG
+#define GYRO_MPU9250_ALIGN      CW270_DEG
+#define MPU9250_CS_PIN          PA4
+#define MPU9250_SPI_INSTANCE    SPI1
 
 #define USE_MAG
 #define USE_MAG_HMC5883
diff --git a/src/main/target/ALIENFLIGHTF4/target.mk b/src/main/target/ALIENFLIGHTF4/target.mk
index e733398ee9..a6592ec751 100644
--- a/src/main/target/ALIENFLIGHTF4/target.mk
+++ b/src/main/target/ALIENFLIGHTF4/target.mk
@@ -2,8 +2,10 @@ F405_TARGETS    += $(TARGET)
 FEATURES        += SDCARD VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu9250.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_ak8963.c \