diff --git a/make/source.mk b/make/source.mk
index ad1a5d0f7a..dd602fab3c 100644
--- a/make/source.mk
+++ b/make/source.mk
@@ -198,6 +198,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/accgyro/accgyro_mpu6050.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_bmi160.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 8ee2428c8d..436871abb4 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1138,6 +1138,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_p", "%d",                       currentPidProfile->setPointPTransition[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_i", "%d",                       currentPidProfile->setPointITransition[YAW]);
         BLACKBOX_PRINT_HEADER_LINE("spa_yaw_d", "%d",                       currentPidProfile->setPointDTransition[YAW]);
+        BLACKBOX_PRINT_HEADER_LINE("rates_type", "%d",                      currentControlRateProfile->rates_type);
         BLACKBOX_PRINT_HEADER_LINE("rc_rates", "%d,%d,%d",                  currentControlRateProfile->rcRates[ROLL],
                                    currentControlRateProfile->rcRates[PITCH],
                                    currentControlRateProfile->rcRates[YAW]);
@@ -1179,8 +1180,10 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_roll", "%d",          currentPidProfile->dFilter[ROLL].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_pitch", "%d",         currentPidProfile->dFilter[PITCH].dLpf2);
         BLACKBOX_PRINT_HEADER_LINE("dterm_lowpass2_hz_yaw", "%d",           currentPidProfile->dFilter[YAW].dLpf2);
+#ifdef USE_GYRO_DATA_ANALYSE
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_enable", "%d",          currentPidProfile->dtermDynNotch);
         BLACKBOX_PRINT_HEADER_LINE("dterm_dyn_notch_q", "%d",               currentPidProfile->dterm_dyn_notch_q);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_alpha", "%d",                 currentPidProfile->dterm_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_boost", "%d",                 currentPidProfile->dterm_ABG_boost);
         BLACKBOX_PRINT_HEADER_LINE("dterm_ABG_half_life", "%d",             currentPidProfile->dterm_ABG_half_life);
@@ -1226,10 +1229,12 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_roll", "%d",            gyroConfig()->gyro_lowpass_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_pitch", "%d",           gyroConfig()->gyro_lowpass_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz_yaw", "%d",             gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_type", "%d",              gyroConfig()->gyro_lowpass2_type);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_roll", "%d",           gyroConfig()->gyro_lowpass2_hz[ROLL]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_pitch", "%d",          gyroConfig()->gyro_lowpass2_hz[PITCH]);
         BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass2_hz_yaw", "%d",            gyroConfig()->gyro_lowpass2_hz[YAW]);
+#endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d",                gyroConfig()->gyro_soft_notch_hz_1,
                                    gyroConfig()->gyro_soft_notch_hz_2);
         BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d",            gyroConfig()->gyro_soft_notch_cutoff_1,
@@ -1239,6 +1244,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_count", "%d",        gyroConfig()->dyn_notch_count);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_min_hz", "%d",       gyroConfig()->dyn_notch_min_hz);
         BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_max_hz", "%d",       gyroConfig()->dyn_notch_max_hz);
+        BLACKBOX_PRINT_HEADER_LINE("dynamic_gyro_notch_axis", "%d",       gyroConfig()->dyn_notch_axis);
 #endif
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_alpha", "%d",                  gyroConfig()->gyro_ABG_alpha);
         BLACKBOX_PRINT_HEADER_LINE("gyro_ABG_boost", "%d",                  gyroConfig()->gyro_ABG_boost);
@@ -1266,6 +1272,7 @@ static bool blackboxWriteSysinfo(void) {
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d",              motorConfig()->dev.motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d",                  motorConfig()->dev.motorPwmRate);
         BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d",                motorConfig()->digitalIdleOffsetValue);
+        BLACKBOX_PRINT_HEADER_LINE("motor_poles", "%d",                     motorConfig()->motorPoleCount);
         BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d",                      systemConfig()->debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
 #ifdef USE_RC_SMOOTHING_FILTER
diff --git a/src/main/cms/cms_menu_imu.c b/src/main/cms/cms_menu_imu.c
index a8f3804735..50c0bfc589 100644
--- a/src/main/cms/cms_menu_imu.c
+++ b/src/main/cms/cms_menu_imu.c
@@ -104,6 +104,12 @@ static const char * const cms_FilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
 
+#ifdef USE_GYRO_DATA_ANALYSE
+static const char * const cms_dynNotchAxisType[] = {
+    "RP", "RPY"
+};
+#endif
+
 static long cmsx_menuImu_onEnter(void) {
     pidProfileIndex = getCurrentPidProfileIndex();
     tmpPidProfileIndex = pidProfileIndex + 1;
@@ -487,13 +493,19 @@ static uint8_t gyroConfig_gyro_lowpass1_type;
 static uint16_t gyroConfig_gyro_lowpass_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+static uint8_t gyroConfig_gyro_lowpass2_type;
 static uint16_t gyroConfig_gyro_lowpass2_hz_roll;
 static uint16_t gyroConfig_gyro_lowpass2_hz_pitch;
 static uint16_t gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint16_t gyroConfig_gyro_q;
 static uint8_t gyroConfig_gyro_notch_count;
 static uint16_t gyroConfig_gyro_notch_min_hz;
 static uint16_t gyroConfig_gyro_notch_max_hz;
+static uint8_t gyroConfig_gyro_notch_axis;
+#endif
 static uint16_t gyroConfig_gyro_abg_alpha;
 static uint16_t gyroConfig_gyro_abg_boost;
 static uint8_t gyroConfig_gyro_abg_half_life;
@@ -515,17 +527,22 @@ static long cmsx_menuGyro_onEnter(void) {
     gyroConfig_gyro_lowpass_hz_roll =  gyroConfig()->gyro_lowpass_hz[ROLL];
     gyroConfig_gyro_lowpass_hz_pitch =  gyroConfig()->gyro_lowpass_hz[PITCH];
     gyroConfig_gyro_lowpass_hz_yaw =  gyroConfig()->gyro_lowpass_hz[YAW];
+#ifdef USE_GYRO_LPF2
+    gyroConfig_gyro_lowpass2_type =  gyroConfig()->gyro_lowpass2_type;
     gyroConfig_gyro_lowpass2_hz_roll =  gyroConfig()->gyro_lowpass2_hz[ROLL];
     gyroConfig_gyro_lowpass2_hz_pitch =  gyroConfig()->gyro_lowpass2_hz[PITCH];
     gyroConfig_gyro_lowpass2_hz_yaw =  gyroConfig()->gyro_lowpass2_hz[YAW];
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfig_gyro_q = gyroConfig()->dyn_notch_q;
     gyroConfig_gyro_notch_count = gyroConfig()->dyn_notch_count;
     gyroConfig_gyro_notch_min_hz = gyroConfig()->dyn_notch_min_hz;
     gyroConfig_gyro_notch_max_hz = gyroConfig()->dyn_notch_max_hz;
+    gyroConfig_gyro_notch_axis = gyroConfig()->dyn_notch_axis;
+#endif
     gyroConfig_gyro_abg_alpha = gyroConfig()->gyro_ABG_alpha;
     gyroConfig_gyro_abg_boost = gyroConfig()->gyro_ABG_boost;
     gyroConfig_gyro_abg_half_life = gyroConfig()->gyro_ABG_half_life;
-
 #ifndef USE_GYRO_IMUF9001
     gyroConfig_imuf_roll_q = gyroConfig()->imuf_roll_q;
     gyroConfig_imuf_pitch_q = gyroConfig()->imuf_pitch_q;
@@ -547,13 +564,19 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] =  gyroConfig_gyro_lowpass_hz_roll;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] =  gyroConfig_gyro_lowpass_hz_pitch;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] =  gyroConfig_gyro_lowpass_hz_yaw;
+#ifdef USE_GYRO_LPF2
+    gyroConfigMutable()->gyro_lowpass2_type =  gyroConfig_gyro_lowpass2_type;
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] =  gyroConfig_gyro_lowpass2_hz_roll;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] =  gyroConfig_gyro_lowpass2_hz_pitch;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] =  gyroConfig_gyro_lowpass2_hz_yaw;
+#endif
+#ifdef USE_GYRO_DATA_ANALYSE
     gyroConfigMutable()->dyn_notch_q = gyroConfig_gyro_q;
     gyroConfigMutable()->dyn_notch_count = gyroConfig_gyro_notch_count;
     gyroConfigMutable()->dyn_notch_min_hz = gyroConfig_gyro_notch_min_hz;
     gyroConfigMutable()->dyn_notch_max_hz = gyroConfig_gyro_notch_max_hz;
+    gyroConfigMutable()->dyn_notch_axis = gyroConfig_gyro_notch_axis;
+#endif
     gyroConfigMutable()->gyro_ABG_alpha = gyroConfig_gyro_abg_alpha;
     gyroConfigMutable()->gyro_ABG_boost = gyroConfig_gyro_abg_boost;
     gyroConfigMutable()->gyro_ABG_half_life = gyroConfig_gyro_abg_half_life;
@@ -575,19 +598,23 @@ static long cmsx_menuGyro_onExit(const OSD_Entry *self) {
 static OSD_Entry cmsx_menuFilterGlobalEntries[] = {
     { "-- FILTER GLB  --", OME_Label, NULL, NULL, 0 },
 
+    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF ROLL",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_roll,     0, 16000, 1 }, 0 },
     { "GYRO LPF PITCH",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_pitch,    0, 16000, 1 }, 0 },
     { "GYRO LPF YAW",     OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass_hz_yaw,      0, 16000, 1 }, 0 },
-    { "GYRO LPF TYPE",    OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass1_type, 4, cms_FilterType }, 0 },
 #ifdef USE_GYRO_LPF2
+    { "GYRO LPF2 TYPE",   OME_TAB,    NULL, &(OSD_TAB_t)    { (uint8_t *) &gyroConfig_gyro_lowpass2_type, 4, cms_FilterType }, 0 },
     { "GYRO LPF2 ROLL",   OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_roll,    0, 16000, 1 }, 0 },
     { "GYRO LPF2 PITCH",  OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_pitch,   0, 16000, 1 }, 0 },
     { "GYRO LPF2 YAW",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_lowpass2_hz_yaw,     0, 16000, 1 }, 0 },
 #endif
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DYN NOTCH Q",         OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_q,        0, 1000, 1 }, 0 },
     { "DYN NOTCH COUNT",     OME_UINT8, NULL, &(OSD_UINT8_t) { &gyroConfig_gyro_notch_count,        1, 5, 1 }, 0 },
     { "DYN NOTCH MIN HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_min_hz,       30, 1000, 1 }, 0 },
     { "DYN NOTCH MAX HZ",    OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_gyro_notch_max_hz,       200, 1000, 1 }, 0 },
+    { "DYN NOTCH AXIS",      OME_TAB, NULL, &(OSD_TAB_t) { (uint8_t *) &gyroConfig_gyro_notch_axis, 1, cms_dynNotchAxisType }, 0 },
+#endif
 #ifndef USE_GYRO_IMUF9001
     { "IMUF W",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_w,                   0, 512,     1 }, 0 },
     { "ROLL Q",           OME_UINT16, NULL, &(OSD_UINT16_t) { &gyroConfig_imuf_roll_q,              100, 16000, 100 }, 0 },
@@ -709,8 +736,10 @@ static uint16_t cmsx_dterm_lowpass2_type;
 static uint16_t cmsx_dterm_lowpass2_hz_roll;
 static uint16_t cmsx_dterm_lowpass2_hz_pitch;
 static uint16_t cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
 static uint8_t cmsx_dterm_dyn_notch_enable ;
 static uint16_t cmsx_dterm_dyn_notch_q;
+#endif
 static uint16_t cmsx_dterm_abg_alpha;
 static uint16_t cmsx_dterm_abg_boost;
 static uint8_t cmsx_dterm_abg_half_life;
@@ -725,8 +754,10 @@ static long cmsx_FilterPerProfileRead(void) {
     cmsx_dterm_lowpass2_hz_roll  = pidProfile->dFilter[ROLL].dLpf2;
     cmsx_dterm_lowpass2_hz_pitch = pidProfile->dFilter[PITCH].dLpf2;
     cmsx_dterm_lowpass2_hz_yaw   = pidProfile->dFilter[YAW].dLpf2;
+#ifdef USE_GYRO_DATA_ANALYSE
     cmsx_dterm_dyn_notch_enable  = pidProfile->dtermDynNotch;
     cmsx_dterm_dyn_notch_q       = pidProfile->dterm_dyn_notch_q;
+#endif
     cmsx_dterm_abg_alpha = pidProfile->dterm_ABG_alpha;
     cmsx_dterm_abg_boost = pidProfile->dterm_ABG_boost;
     cmsx_dterm_abg_half_life = pidProfile->dterm_ABG_half_life;
@@ -744,8 +775,10 @@ static long cmsx_FilterPerProfileWriteback(const OSD_Entry *self) {
     pidProfile->dFilter[ROLL].dLpf2  = cmsx_dterm_lowpass2_hz_roll;
     pidProfile->dFilter[PITCH].dLpf2 = cmsx_dterm_lowpass2_hz_pitch;
     pidProfile->dFilter[YAW].dLpf2   = cmsx_dterm_lowpass2_hz_yaw;
+#ifdef USE_GYRO_DATA_ANALYSE
     pidProfile->dtermDynNotch        = cmsx_dterm_dyn_notch_enable;
     pidProfile->dterm_dyn_notch_q    = cmsx_dterm_dyn_notch_q;
+#endif
     pidProfile->dterm_ABG_alpha = cmsx_dterm_abg_alpha;
     pidProfile->dterm_ABG_boost = cmsx_dterm_abg_boost;
     pidProfile->dterm_ABG_half_life = cmsx_dterm_abg_half_life;
@@ -763,8 +796,10 @@ static OSD_Entry cmsx_menuFilterPerProfileEntries[] = {
     { "DTERM LPF2 ROLL", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_roll,    0, 500, 1 }, 0 },
     { "DTERM LPF2 PITCH", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_pitch,    0, 500, 1 }, 0 },
     { "DTERM LPF2 YAW", OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_lowpass2_hz_yaw,    0, 500, 1 }, 0 },
+#ifdef USE_GYRO_DATA_ANALYSE
     { "DTERM DYN ENABLE",   OME_TAB,   NULL, &(OSD_TAB_t)   { (uint8_t *) &cmsx_dterm_dyn_notch_enable, 1, cms_offOnLabels }, 0 },
     { "DTERM DYN NOT Q",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_dyn_notch_q,    0, 2000, 1 }, 0 },
+#endif
     { "DTERM ABG ALPHA",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_alpha,       0, 1000, 1 }, 0 },
     { "DTERM ABG BOOST",    OME_UINT16, NULL, &(OSD_UINT16_t){ &cmsx_dterm_abg_boost,       0, 2000, 1 }, 0 },
     { "DTERM ABG HL",       OME_UINT8,  NULL, &(OSD_UINT8_t) { &cmsx_dterm_abg_half_life,   0, 250, 1 }, 0 },
diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index 2c17f4b2f5..0bcf72738c 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -33,6 +33,9 @@
 #include <pthread.h>
 #endif
 
+#define GYRO_SCALE_2000DPS (2000.0f / (1 << 15))   // 16.384 dps/lsb scalefactor for 2000dps sensors
+#define GYRO_SCALE_4000DPS (4000.0f / (1 << 15))   //  8.192 dps/lsb scalefactor for 4000dps sensor
+
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
@@ -40,7 +43,7 @@
 #define GYRO_HARDWARE_LPF_NORMAL       0
 #define GYRO_HARDWARE_LPF_1KHZ_SAMPLE  2
 
-#if defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_HARDWARE_LPF_EXPERIMENTAL 3
 #else
 #define GYRO_HARDWARE_LPF_EXPERIMENTAL 1
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 5265e27342..f4b913736e 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -53,6 +53,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -404,6 +405,19 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro) {
         gyro->mpuDetectionResult.sensor = sensor;
         return true;
     }
+#endif
+#ifdef USE_ACCGYRO_BMI270
+#ifndef USE_DUAL_GYRO
+    spiBusSetInstance(&gyro->bus, BMI270_SPI_INSTANCE);
+#endif
+#ifdef BMI270_CS_PIN
+    gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI270_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
+#endif
+    sensor = bmi270Detect(&gyro->bus);
+    if (sensor != MPU_NONE) {
+        gyro->mpuDetectionResult.sensor = sensor;
+        return true;
+    }
 #endif
     return false;
 }
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index aa0f770e29..b85e6d4ca4 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -29,7 +29,7 @@
 //#define DEBUG_MPU_DATA_READY_INTERRUPT
 
 #if defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20649) \
- || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+ || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_USES_SPI
 #endif
 
@@ -219,6 +219,7 @@ typedef enum {
     ICM_42605_SPI,
     ICM_42688P_SPI,
     BMI_160_SPI,
+    BMI_270_SPI,
     IMUF_9001_SPI,
 } mpuSensor_e;
 
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
new file mode 100644
index 0000000000..b7e4749770
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -0,0 +1,499 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_ACCGYRO_BMI270
+
+#include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
+#include "drivers/bus_spi.h"
+#include "drivers/exti.h"
+#include "drivers/io.h"
+#include "drivers/io_impl.h"
+#include "drivers/nvic.h"
+#include "drivers/sensor.h"
+#include "drivers/time.h"
+
+// 10 MHz max SPI frequency
+#define BMI270_MAX_SPI_CLK_HZ 10000000
+
+#define BMI270_FIFO_FRAME_SIZE 6
+
+#define BMI270_CONFIG_SIZE 328
+
+// Declaration for the device config (microcode) that must be uploaded to the sensor
+const uint8_t bmi270_maximum_fifo_config_file[] = {
+    0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
+    0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
+    0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
+    0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
+    0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
+    0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
+    0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
+    0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
+    0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
+    0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
+    0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
+    0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
+    0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
+    0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
+    0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
+    0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
+    0xf5, 0xeb, 0x2c, 0xe1, 0x6f
+};
+
+#define BMI270_CHIP_ID 0x24
+
+// BMI270 registers (not the complete list)
+typedef enum {
+    BMI270_REG_CHIP_ID = 0x00,
+    BMI270_REG_ERR_REG = 0x02,
+    BMI270_REG_STATUS = 0x03,
+    BMI270_REG_ACC_DATA_X_LSB = 0x0C,
+    BMI270_REG_GYR_DATA_X_LSB = 0x12,
+    BMI270_REG_SENSORTIME_0 = 0x18,
+    BMI270_REG_SENSORTIME_1 = 0x19,
+    BMI270_REG_SENSORTIME_2 = 0x1A,
+    BMI270_REG_EVENT = 0x1B,
+    BMI270_REG_INT_STATUS_0 = 0x1C,
+    BMI270_REG_INT_STATUS_1 = 0x1D,
+    BMI270_REG_INTERNAL_STATUS = 0x21,
+    BMI270_REG_TEMPERATURE_LSB = 0x22,
+    BMI270_REG_TEMPERATURE_MSB = 0x23,
+    BMI270_REG_FIFO_LENGTH_LSB = 0x24,
+    BMI270_REG_FIFO_LENGTH_MSB = 0x25,
+    BMI270_REG_FIFO_DATA = 0x26,
+    BMI270_REG_ACC_CONF = 0x40,
+    BMI270_REG_ACC_RANGE = 0x41,
+    BMI270_REG_GYRO_CONF = 0x42,
+    BMI270_REG_GYRO_RANGE = 0x43,
+    BMI270_REG_AUX_CONF = 0x44,
+    BMI270_REG_FIFO_DOWNS = 0x45,
+    BMI270_REG_FIFO_WTM_0 = 0x46,
+    BMI270_REG_FIFO_WTM_1 = 0x47,
+    BMI270_REG_FIFO_CONFIG_0 = 0x48,
+    BMI270_REG_FIFO_CONFIG_1 = 0x49,
+    BMI270_REG_SATURATION = 0x4A,
+    BMI270_REG_INT1_IO_CTRL = 0x53,
+    BMI270_REG_INT2_IO_CTRL = 0x54,
+    BMI270_REG_INT_LATCH = 0x55,
+    BMI270_REG_INT1_MAP_FEAT = 0x56,
+    BMI270_REG_INT2_MAP_FEAT = 0x57,
+    BMI270_REG_INT_MAP_DATA = 0x58,
+    BMI270_REG_INIT_CTRL = 0x59,
+    BMI270_REG_INIT_DATA = 0x5E,
+    BMI270_REG_ACC_SELF_TEST = 0x6D,
+    BMI270_REG_GYR_SELF_TEST_AXES = 0x6E,
+    BMI270_REG_PWR_CONF = 0x7C,
+    BMI270_REG_PWR_CTRL = 0x7D,
+    BMI270_REG_CMD = 0x7E,
+} bmi270Register_e;
+
+// BMI270 register configuration values
+typedef enum {
+    BMI270_VAL_CMD_SOFTRESET = 0xB6,
+    BMI270_VAL_CMD_FIFOFLUSH = 0xB0,
+    BMI270_VAL_PWR_CTRL = 0x0E,              // enable gyro, acc and temp sensors
+    BMI270_VAL_PWR_CONF = 0x02,              // disable advanced power save, enable FIFO self-wake
+    BMI270_VAL_ACC_CONF_ODR800 = 0x0B,       // set acc sample rate to 800hz
+    BMI270_VAL_ACC_CONF_ODR1600 = 0x0C,      // set acc sample rate to 1600hz
+    BMI270_VAL_ACC_CONF_BWP = 0x02,          // set acc filter in normal mode
+    BMI270_VAL_ACC_CONF_HP = 0x01,           // set acc in high performance mode
+    BMI270_VAL_ACC_RANGE_8G = 0x02,          // set acc to 8G full scale
+    BMI270_VAL_ACC_RANGE_16G = 0x03,         // set acc to 16G full scale
+    BMI270_VAL_GYRO_CONF_ODR3200 = 0x0D,     // set gyro sample rate to 3200hz
+    BMI270_VAL_GYRO_CONF_BWP_OSR4 = 0x00,    // set gyro filter in OSR4 mode
+    BMI270_VAL_GYRO_CONF_BWP_OSR2 = 0x01,    // set gyro filter in OSR2 mode
+    BMI270_VAL_GYRO_CONF_BWP_NORM = 0x02,    // set gyro filter in normal mode
+    BMI270_VAL_GYRO_CONF_NOISE_PERF = 0x01,  // set gyro in high performance noise mode
+    BMI270_VAL_GYRO_CONF_FILTER_PERF = 0x01, // set gyro in high performance filter mode
+
+    BMI270_VAL_GYRO_RANGE_2000DPS = 0x08,    // set gyro to 2000dps full scale
+                                             // for some reason you have to enable the ois_range bit (bit 3) for 2000dps as well
+                                             // or else the gyro scale will be 250dps when in prefiltered FIFO mode (not documented in datasheet!)
+
+    BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1
+    BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02,  // enable the FIFO watermark interrupt pin 1
+    BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A,  // active high, push-pull, output enabled, input disabled 
+    BMI270_VAL_FIFO_CONFIG_0 = 0x00,         // don't stop when full, disable sensortime frame
+    BMI270_VAL_FIFO_CONFIG_1 = 0x80,         // only gyro data in FIFO, use headerless mode
+    BMI270_VAL_FIFO_DOWNS = 0x00,            // select unfiltered gyro data with no downsampling (6.4KHz samples)
+    BMI270_VAL_FIFO_WTM_0 = 0x06,            // set the FIFO watermark level to 1 gyro sample (6 bytes)
+    BMI270_VAL_FIFO_WTM_1 = 0x00,            // FIFO watermark MSB
+} bmi270ConfigValues_e;
+
+// BMI270 register reads are 16bits with the first byte a "dummy" value 0
+// that must be ignored. The result is in the second byte.
+static uint8_t bmi270RegisterRead(const busDevice_t *bus, bmi270Register_e registerId)
+{
+    uint8_t data[2] = { 0, 0 };
+
+    if (spiBusReadRegisterBuffer(bus, registerId, data, 2)) {
+        return data[1];
+    } else {
+        return 0;
+    }
+}
+
+static void bmi270RegisterWrite(const busDevice_t *bus, bmi270Register_e registerId, uint8_t value, unsigned delayMs)
+{
+    spiBusWriteRegister(bus, registerId, value);
+    if (delayMs) {
+        delay(delayMs);
+    }
+}
+
+// Toggle the CS to switch the device into SPI mode.
+// Device switches initializes as I2C and switches to SPI on a low to high CS transition
+static void bmi270EnableSPI(const busDevice_t *bus)
+{
+    IOLo(bus->busdev_u.spi.csnPin);
+    delay(1);
+    IOHi(bus->busdev_u.spi.csnPin);
+    delay(10);
+}
+
+uint8_t bmi270Detect(const busDevice_t *bus)
+{
+#ifndef USE_DUAL_GYRO
+    IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
+    IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
+    IOHi(bus->busdev_u.spi.csnPin);
+#endif
+
+    spiSetDivisor(bus->busdev_u.spi.instance, spiCalculateDivider(BMI270_MAX_SPI_CLK_HZ));
+    bmi270EnableSPI(bus);
+
+    if (bmi270RegisterRead(bus, BMI270_REG_CHIP_ID) == BMI270_CHIP_ID) {
+        return BMI_270_SPI;
+    }
+
+    return MPU_NONE;
+}
+
+static void bmi270UploadConfig(const busDevice_t *bus)
+{
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CONF, 0, 1);
+    bmi270RegisterWrite(bus, BMI270_REG_INIT_CTRL, 0, 1);
+
+    // Transfer the config file
+    IOLo(bus->busdev_u.spi.csnPin);
+    spiTransferByte(bus->busdev_u.spi.instance, BMI270_REG_INIT_DATA);
+    spiTransfer(bus->busdev_u.spi.instance, bmi270_maximum_fifo_config_file, NULL, sizeof(bmi270_maximum_fifo_config_file));
+    IOHi(bus->busdev_u.spi.csnPin);
+
+    delay(10);
+    bmi270RegisterWrite(bus, BMI270_REG_INIT_CTRL, 1, 1);
+}
+
+static uint8_t getBmiOsrMode()
+{
+    switch(gyroConfig()->gyro_hardware_lpf) {
+        case GYRO_HARDWARE_LPF_NORMAL:
+            return BMI270_VAL_GYRO_CONF_BWP_OSR4;
+        case GYRO_HARDWARE_LPF_EXPERIMENTAL:
+            return BMI270_VAL_GYRO_CONF_BWP_OSR2;
+    }
+    return 0;
+}
+
+static void bmi270Config(const gyroDev_t *gyro)
+{
+    const busDevice_t *bus = &gyro->bus;
+
+    // If running in hardware_lpf experimental mode then switch to FIFO-based,
+    // 6.4KHz sampling, unfiltered data vs. the default 3.2KHz with hardware filtering
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    const bool fifoMode = (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL);
+#else
+    const bool fifoMode = false;
+#endif
+
+    // Perform a soft reset to set all configuration to default
+    // Delay 100ms before continuing configuration
+    bmi270RegisterWrite(bus, BMI270_REG_CMD, BMI270_VAL_CMD_SOFTRESET, 100);
+
+    // Toggle the chip into SPI mode
+    bmi270EnableSPI(bus);
+
+    bmi270UploadConfig(bus);
+
+    // Configure the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_CONFIG_0, BMI270_VAL_FIFO_CONFIG_0, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_CONFIG_1, BMI270_VAL_FIFO_CONFIG_1, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_DOWNS, BMI270_VAL_FIFO_DOWNS, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_WTM_0, BMI270_VAL_FIFO_WTM_0, 1);
+        bmi270RegisterWrite(bus, BMI270_REG_FIFO_WTM_1, BMI270_VAL_FIFO_WTM_1, 1);
+    }
+
+    // Configure the accelerometer
+    bmi270RegisterWrite(bus, BMI270_REG_ACC_CONF, (BMI270_VAL_ACC_CONF_HP << 7) | (BMI270_VAL_ACC_CONF_BWP << 4) | BMI270_VAL_ACC_CONF_ODR800, 1);
+
+    // Configure the accelerometer full-scale range
+    bmi270RegisterWrite(bus, BMI270_REG_ACC_RANGE, BMI270_VAL_ACC_RANGE_16G, 1);
+
+    // Configure the gyro
+    bmi270RegisterWrite(bus, BMI270_REG_GYRO_CONF, (BMI270_VAL_GYRO_CONF_FILTER_PERF << 7) | (BMI270_VAL_GYRO_CONF_NOISE_PERF << 6) | (getBmiOsrMode() << 4) | BMI270_VAL_GYRO_CONF_ODR3200, 1);
+
+    // Configure the gyro full-range scale
+    bmi270RegisterWrite(bus, BMI270_REG_GYRO_RANGE, BMI270_VAL_GYRO_RANGE_2000DPS, 1);
+
+    // Configure the gyro data ready interrupt
+    if (fifoMode) {
+        // Interrupt driven by FIFO watermark level
+        bmi270RegisterWrite(bus, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_FIFO_WM_INT1, 1);
+    } else {
+        // Interrupt driven by data ready
+        bmi270RegisterWrite(bus, BMI270_REG_INT_MAP_DATA, BMI270_VAL_INT_MAP_DATA_DRDY_INT1, 1);
+    }
+
+    // Configure the behavior of the INT1 pin
+    bmi270RegisterWrite(bus, BMI270_REG_INT1_IO_CTRL, BMI270_VAL_INT1_IO_CTRL_PINMODE, 1);
+
+    // Configure the device for  performance mode
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CONF, BMI270_VAL_PWR_CONF, 1);
+
+    // Enable the gyro, accelerometer and temperature sensor - disable aux interface
+    bmi270RegisterWrite(bus, BMI270_REG_PWR_CTRL, BMI270_VAL_PWR_CTRL, 1);
+
+    // Flush the FIFO
+    if (fifoMode) {
+        bmi270RegisterWrite(bus, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 1);
+    }
+}
+
+extiCallbackRec_t bmi270IntCallbackRec;
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+void bmi270ExtiHandler(extiCallbackRec_t *cb)
+{
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    gyro->dataReady = true;
+}
+
+static void bmi270IntExtiInit(gyroDev_t *gyro)
+{
+    if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
+        return;
+    }
+
+    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
+
+    IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
+    EXTIHandlerInit(&gyro->exti, bmi270ExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING );
+    EXTIEnable(mpuIntIO, true);
+}
+#endif
+
+static bool bmi270AccRead(accDev_t *acc)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_ACCEL_XOUT_L,
+        IDX_ACCEL_XOUT_H,
+        IDX_ACCEL_YOUT_L,
+        IDX_ACCEL_YOUT_H,
+        IDX_ACCEL_ZOUT_L,
+        IDX_ACCEL_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    IOLo(acc->bus.busdev_u.spi.csnPin);
+    spiTransfer(acc->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(acc->bus.busdev_u.spi.csnPin);
+
+    acc->ADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_XOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_XOUT_L]);
+    acc->ADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_YOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_YOUT_L]);
+    acc->ADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_ACCEL_ZOUT_H] << 8) | bmi270_rx_buf[IDX_ACCEL_ZOUT_L]);
+
+    return true;
+}
+
+static bool bmi270GyroReadRegister(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+
+    IOLo(gyro->bus.busdev_u.spi.csnPin);
+    spiTransfer(gyro->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(gyro->bus.busdev_u.spi.csnPin);
+
+    gyro->gyroADCRaw[X] = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+    gyro->gyroADCRaw[Y] = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+    gyro->gyroADCRaw[Z] = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+    return true;
+}
+
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+static bool bmi270GyroReadFifo(gyroDev_t *gyro)
+{
+    enum {
+        IDX_REG = 0,
+        IDX_SKIP,
+        IDX_FIFO_LENGTH_L,
+        IDX_FIFO_LENGTH_H,
+        IDX_GYRO_XOUT_L,
+        IDX_GYRO_XOUT_H,
+        IDX_GYRO_YOUT_L,
+        IDX_GYRO_YOUT_H,
+        IDX_GYRO_ZOUT_L,
+        IDX_GYRO_ZOUT_H,
+        BUFFER_SIZE,
+    };
+
+    bool dataRead = false;
+    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+
+    // Burst read the FIFO length followed by the next 6 bytes containing the gyro axis data for
+    // the first sample in the queue. It's possible for the FIFO to be empty so we need to check the
+    // length before using the sample.
+    IOLo(gyro->bus.busdev_u.spi.csnPin);
+    spiTransfer(gyro->bus.busdev_u.spi.instance, bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
+    IOHi(gyro->bus.busdev_u.spi.csnPin);
+
+    int fifoLength = (uint16_t)((bmi270_rx_buf[IDX_FIFO_LENGTH_H] << 8) | bmi270_rx_buf[IDX_FIFO_LENGTH_L]);
+
+    if (fifoLength >= BMI270_FIFO_FRAME_SIZE) {
+
+        const int16_t gyroX = (int16_t)((bmi270_rx_buf[IDX_GYRO_XOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_XOUT_L]);
+        const int16_t gyroY = (int16_t)((bmi270_rx_buf[IDX_GYRO_YOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_YOUT_L]);
+        const int16_t gyroZ = (int16_t)((bmi270_rx_buf[IDX_GYRO_ZOUT_H] << 8) | bmi270_rx_buf[IDX_GYRO_ZOUT_L]);
+
+        // If the FIFO data is invalid then the returned values will be 0x8000 (-32768) (pg. 43 of datasheet).
+        // This shouldn't happen since we're only using the data if the FIFO length indicates
+        // that data is available, but this safeguard is needed to prevent bad things in
+        // case it does happen.
+        if ((gyroX != INT16_MIN) || (gyroY != INT16_MIN) || (gyroZ != INT16_MIN)) {
+            gyro->gyroADCRaw[X] = gyroX;
+            gyro->gyroADCRaw[Y] = gyroY;
+            gyro->gyroADCRaw[Z] = gyroZ;
+            dataRead = true;
+        }
+        fifoLength -= BMI270_FIFO_FRAME_SIZE;
+    }
+
+    // If there are additional samples in the FIFO then we don't use those for now and simply
+    // flush the FIFO. Under normal circumstances we only expect one sample in the FIFO since
+    // the gyro loop is running at the native sample rate of 6.4KHz.
+    // However the way the FIFO works in the sensor is that if a frame is partially read then
+    // it remains in the queue instead of bein removed. So if we ever got into a state where there
+    // was a partial frame or other unexpected data in the FIFO is may never get cleared and we
+    // would end up in a lock state of always re-reading the same partial or invalid sample.
+    if (fifoLength > 0) {
+        // Partial or additional frames left - flush the FIFO
+        bmi270RegisterWrite(&gyro->bus, BMI270_REG_CMD, BMI270_VAL_CMD_FIFOFLUSH, 0);
+    }
+
+    return dataRead;
+}
+#endif
+
+static bool bmi270GyroRead(gyroDev_t *gyro)
+{
+#ifdef USE_GYRO_DLPF_EXPERIMENTAL
+    if (gyro->hardware_lpf == GYRO_HARDWARE_LPF_EXPERIMENTAL) {
+        // running in 6.4KHz FIFO mode
+        return bmi270GyroReadFifo(gyro);
+    } else
+#endif
+    {
+        // running in 3.2KHz register mode
+        return bmi270GyroReadRegister(gyro);
+    }
+}
+
+static void bmi270SpiGyroInit(gyroDev_t *gyro)
+{
+    bmi270Config(gyro);
+
+#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
+    bmi270IntExtiInit(gyro);
+#endif
+}
+
+static void bmi270SpiAccInit(accDev_t *acc)
+{
+    // sensor is configured during gyro init
+    acc->acc_1G = 512 * 4;   // 16G sensor scale
+}
+
+bool bmi270SpiAccDetect(accDev_t *acc)
+{
+    if (acc->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    acc->initFn = bmi270SpiAccInit;
+    acc->readFn = bmi270AccRead;
+
+    return true;
+}
+
+
+bool bmi270SpiGyroDetect(gyroDev_t *gyro)
+{
+    if (gyro->mpuDetectionResult.sensor != BMI_270_SPI) {
+        return false;
+    }
+
+    gyro->initFn = bmi270SpiGyroInit;
+    gyro->readFn = bmi270GyroRead;
+    gyro->scale = GYRO_SCALE_2000DPS;
+
+    return true;
+}
+
+// Used to query the status register to determine what event caused the EXTI to fire.
+// When in 3.2KHz mode the interrupt is mapped to the data ready state. However the data ready
+// trigger will fire for both gyro and accelerometer. So it's necessary to check this register
+// to determine which event caused the interrupt.
+// When in 6.4KHz mode the interrupt is configured to be the FIFO watermark size of 6 bytes.
+// Since in this mode we only put gyro data in the FIFO it's sufficient to check for the FIFO
+// watermark reason as an idication of gyro data ready.
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro)
+{
+    return bmi270RegisterRead(&gyro->bus, BMI270_REG_INT_STATUS_1);
+}
+#endif // USE_ACCGYRO_BMI270
diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.h b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
new file mode 100644
index 0000000000..c0ea0495fa
--- /dev/null
+++ b/src/main/drivers/accgyro/accgyro_spi_bmi270.h
@@ -0,0 +1,28 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "drivers/bus.h"
+
+uint8_t bmi270Detect(const busDevice_t *bus);
+bool bmi270SpiAccDetect(accDev_t *acc);
+bool bmi270SpiGyroDetect(gyroDev_t *gyro);
+uint8_t bmi270InterruptStatus(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
index 24003f9017..0b284fcee7 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c
@@ -48,6 +48,11 @@
 #define ICM426XX_BANK_SELECT3                       0x03
 #define ICM426XX_BANK_SELECT4                       0x04
 
+// Fix for stalls in gyro output. See https://github.com/ArduPilot/ardupilot/pull/25332 ; https://github.com/betaflight/betaflight/pull/13132
+#define ICM426XX_INTF_CONFIG1                       0x4D
+#define ICM426XX_INTF_CONFIG1_AFSR_MASK             0xC0
+#define ICM426XX_INTF_CONFIG1_AFSR_DISABLE          0x40
+
 #define ICM426XX_RA_PWR_MGMT0                       0x4E  // User Bank 0
 #define ICM426XX_PWR_MGMT0_ACCEL_MODE_LN            (3 << 0)
 #define ICM426XX_PWR_MGMT0_GYRO_MODE_LN             (3 << 2)
@@ -284,13 +289,20 @@ void icm426xxGyroInit(gyroDev_t *gyro)
 
     spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED);
 
-    uint8_t intConfig1Value = spiReadRegMsk(&gyro->bus, ICM426XX_RA_INT_CONFIG1);
+    uint8_t intConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1);
     // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation"
     intConfig1Value &= ~(1 << ICM426XX_INT_ASYNC_RESET_BIT);
     intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED);
 
     spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1, intConfig1Value);
 
+    // Disable AFSR to prevent stalls in gyro output
+    // ICM426XX_INTF_CONFIG1 location in user bank 0
+    uint8_t intfConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_INTF_CONFIG1);
+    intfConfig1Value &= ~ICM426XX_INTF_CONFIG1_AFSR_MASK;
+    intfConfig1Value |= ICM426XX_INTF_CONFIG1_AFSR_DISABLE;
+    spiBusWriteRegister(&gyro->bus, ICM426XX_INTF_CONFIG1, intfConfig1Value);
+
     // Turn on gyro and acc on again so ODR and FSR can be configured
     turnGyroAccOn(gyro);
 
diff --git a/src/main/drivers/accgyro/gyro_sync.c b/src/main/drivers/accgyro/gyro_sync.c
index bc9ad37f27..3653c24d43 100644
--- a/src/main/drivers/accgyro/gyro_sync.c
+++ b/src/main/drivers/accgyro/gyro_sync.c
@@ -53,16 +53,24 @@ uint32_t gyroSetSampleRate(gyroDev_t *gyro, uint8_t lpf, uint8_t gyroSyncDenomin
     }
     gyro->mpuDividerDrops = gyroSyncDenominator - 1;
     gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_8_kHz : GYRO_RATE_1_kHz;
-    //20649 is a weird gyro
-    if (gyro->mpuDetectionResult.sensor == ICM_20649_SPI) {
-        gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
-    } else if (gyro->mpuDetectionResult.sensor == BMI_160_SPI && lpfNoneOr256) {
-        //brainFPV is also a weird gyro
-        gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
-    } else if (gyro_use_32khz) {
-        //use full 32k
-        gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+
+    switch (gyro->mpuDetectionResult.sensor) {
+        case ICM_20649_SPI:  //20649 is a weird gyro
+            gyro->gyroRateKHz = lpfNoneOr256 ? GYRO_RATE_9_kHz : GYRO_RATE_1100_Hz;
+            break;
+        case BMI_160_SPI:    //brainFPV is also a weird gyro
+            if (lpfNoneOr256) { gyro->gyroRateKHz = GYRO_RATE_3200_Hz; }
+            break;
+        case BMI_270_SPI:    //bmi270
+            gyro->gyroRateKHz = GYRO_RATE_3200_Hz;
+            break;
+        default:
+            if (gyro_use_32khz) {
+                //use full 32k
+                gyro->gyroRateKHz = GYRO_RATE_32_kHz;
+            }
     }
+
     // return the targetLooptime (expected cycleTime)
     return (uint32_t)(gyroSyncDenominator * gyro->gyroRateKHz);
 }
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index d42f0e6156..71a62b210b 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -252,6 +252,7 @@ void spiBusSetInstance(busDevice_t *bus, SPI_TypeDef *instance) {
     bus->busdev_u.spi.instance = instance;
 }
 
+// icm42688p and bmi270 porting
 uint16_t spiCalculateDivider(uint32_t freq)
 {
 #if defined(STM32F4) || defined(STM32G4) || defined(STM32F7)
@@ -272,7 +273,8 @@ uint16_t spiCalculateDivider(uint32_t freq)
     return divisor;
 }
 
-// Wait for bus to become free, then read a byte of data where the register is ORed with 0x80
+// Wait for bus to become free, then read a byte of data where the register is bitwise OR'ed with 0x80
+// EmuFlight codebase is old.  Bitwise or 0x80 is redundant here as spiBusReadRegister already contains such.
 uint8_t spiReadRegMsk(const busDevice_t *bus, uint8_t reg)
 {
     return spiBusReadRegister(bus, reg | 0x80);
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 5ccab8f8b5..37ca42323d 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -434,6 +434,7 @@ void validateAndFixGyroConfig(void) {
         samplingTime = 1.0f / 9000.0f;
         break;
     case BMI_160_SPI:
+    case BMI_270_SPI:
         samplingTime = 0.0003125f;
         break;
     default:
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 19b51d18f7..be511b02f7 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -86,7 +86,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pidConfig_t, pidConfig, PG_PID_CONFIG, 2);
 
 #ifdef STM32F10X
 #define PID_PROCESS_DENOM_DEFAULT 1
-#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define PID_PROCESS_DENOM_DEFAULT 1
 #else
 #define PID_PROCESS_DENOM_DEFAULT 2
@@ -235,7 +235,9 @@ static FAST_RAM filterApplyFnPtr angleSetpointFilterApplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT pt1Filter_t angleSetpointFilter[2];
 static FAST_RAM filterApplyFnPtr dtermABGapplyFn = nullFilterApply;
 static FAST_RAM_ZERO_INIT alphaBetaGammaFilter_t dtermABG[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT][5];
+#endif
 
 #if defined(USE_ITERM_RELAX)
 static FAST_RAM_ZERO_INIT pt1Filter_t windupLpf[XYZ_AXIS_COUNT];
@@ -671,7 +673,9 @@ static FAST_RAM_ZERO_INIT float stickMovement[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float lastRcDeflectionAbs[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousError[XYZ_AXIS_COUNT];
 static FAST_RAM_ZERO_INIT float previousMeasurement[XYZ_AXIS_COUNT];
+#ifdef USE_GYRO_DATA_ANALYSE
 static FAST_RAM_ZERO_INIT float previousNotchCenterFreq[XYZ_AXIS_COUNT][5];
+#endif
 static FAST_RAM_ZERO_INIT timeUs_t crashDetectedAtUs;
 
 void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs) {
@@ -811,7 +815,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             float dDelta = ((feathered_pids * pureMeasurement) + ((1 - feathered_pids) * pureError)) * pidFrequency; //calculating the dterm determine how much is calculated using measurement vs error
             //filter the dterm
 #ifdef USE_GYRO_DATA_ANALYSE
-            if (isDynamicFilterActive() && pidProfile->dtermDynNotch) {
+            if (isDynamicFilterActive() && pidProfile->dtermDynNotch && axis <= gyroConfig()->dyn_notch_axis+1) {
                 for (int p = 0; p < gyroConfig()->dyn_notch_count; p++) {
                     if (getCenterFreq(axis, p) != previousNotchCenterFreq[axis][p]) {
                         previousNotchCenterFreq[axis][p] = getCenterFreq(axis, p);
diff --git a/src/main/interface/msp.c b/src/main/interface/msp.c
index b3aebb427d..684b85e213 100644
--- a/src/main/interface/msp.c
+++ b/src/main/interface/msp.c
@@ -1194,20 +1194,37 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass_hz[YAW]);
+#ifdef USE_GYRO_LPF2
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[ROLL]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[PITCH]);
         sbufWriteU16(dst, gyroConfig()->gyro_lowpass2_hz[YAW]);
+#else
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass_type);
+#ifdef USE_GYRO_LPF2
         sbufWriteU8(dst, gyroConfig()->gyro_lowpass2_type);
+#else
+        sbufWriteU8(dst, 0);
+#endif
         sbufWriteU16(dst, currentPidProfile->dFilter[ROLL].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[PITCH].dLpf2);
         sbufWriteU16(dst, currentPidProfile->dFilter[YAW].dLpf2);
         //MSP 1.51 removes SmartDTermSmoothing and WitchCraft
         //MSP 1.51 adds and refactors dynamic_filter
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, gyroConfig()->dyn_notch_count);    //dynamic_gyro_notch_count
         sbufWriteU16(dst, gyroConfig()->dyn_notch_q);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_min_hz);
         sbufWriteU16(dst, gyroConfig()->dyn_notch_max_hz);   //dynamic_gyro_notch_max_hz
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 add/refactor dynamic filter
         //MSP 1.51
         sbufWriteU16(dst, gyroConfig()->gyro_ABG_alpha);
@@ -1219,8 +1236,13 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst) {
         sbufWriteU8(dst, currentPidProfile->dterm_ABG_half_life);
         //end MSP 1.51
         //MSP 1.51 dynamic dTerm notch
+#ifdef USE_GYRO_DATA_ANALYSE
         sbufWriteU8(dst, currentPidProfile->dtermDynNotch);        //dterm_dyn_notch_enable
         sbufWriteU16(dst, currentPidProfile->dterm_dyn_notch_q);   //dterm_dyn_notch_q
+#else
+        sbufWriteU8(dst, 0);
+        sbufWriteU16(dst, 0);
+#endif
         //end MSP 1.51 dynamic dTerm notch
         break;
     /*#ifndef USE_GYRO_IMUF9001
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index 9634ec73c8..9cedcd3a45 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -109,13 +109,13 @@
 const char * const lookupTableAccHardware[] = {
     "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "ICM42605", "ICM42688P", "BMI160", "ACC_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "ACC_IMUF9001", "FAKE"
 };
 // sync with gyroSensor_e
 const char * const lookupTableGyroHardware[] = {
     "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
     "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689",
-    "ICM42605", "ICM42688P", "BMI160", "GYRO_IMUF9001", "FAKE"
+    "ICM42605", "ICM42688P", "BMI160", "BMI270", "GYRO_IMUF9001", "FAKE"
 };
 
 #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)
@@ -252,10 +252,10 @@ static const char * const lookupTableRxSpi[] = {
 
 static const char * const lookupTableGyroHardwareLpf[] = {
     "NORMAL",
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270)
     "OPTION1",
     "OPTION2",
-#if defined(USE_GYRO_SPI_ICM42688P) && defined(USE_GYRO_DLPF_EXPERIMENTAL) // will need bmi270 logic as well
+#if ( defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI270) ) && defined(USE_GYRO_DLPF_EXPERIMENTAL) // icm42688p & bmi270 experimental
     "EXPERIMENTAL",
 #endif
 #else
@@ -293,6 +293,7 @@ static const char * const lookupTableRcInterpolation[] = {
 static const char * const lookupTableRcInterpolationChannels[] = {
     "RP", "RPY", "RPYT", "T", "RPT",
 };
+
 static const char * const lookupTableFilterType[] = {
     "PT1", "BIQUAD", "PT2", "PT3", "PT4",
 };
@@ -393,6 +394,10 @@ static const char *const lookupTableMixerImplType[] = {
     "LEGACY", "SMOOTH", "2PASS"
 };
 
+static const char *const lookupTableDynNotchAxisType[] = {
+    "RP", "RPY"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -482,6 +487,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableOsdLogoOnArming),
 #endif
     LOOKUP_TABLE_ENTRY(lookupTableMixerImplType),
+    LOOKUP_TABLE_ENTRY(lookupTableDynNotchAxisType),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -503,10 +509,12 @@ const clivalue_t valueTable[] = {
     { "gyro_lowpass_hz_pitch",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[PITCH]) },
     { "gyro_lowpass_hz_yaw",        VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, 16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass_hz[YAW]) },
 
+#ifdef USE_GYRO_LPF2
     { "gyro_lowpass2_type",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_FILTER_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_type) },
     { "gyro_lowpass2_hz_roll",      VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[ROLL]) },
     { "gyro_lowpass2_hz_pitch",     VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[PITCH]) },
     { "gyro_lowpass2_hz_yaw",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  16000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_lowpass2_hz[YAW]) },
+#endif
 
     { "gyro_abg_alpha",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_alpha) },
     { "gyro_abg_boost",             VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0,  2000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_ABG_boost) },
@@ -553,6 +561,7 @@ const clivalue_t valueTable[] = {
     { "gyro_to_use",                VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
 #endif
 #if defined(USE_GYRO_DATA_ANALYSE)
+    { "dynamic_gyro_notch_axis",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DYN_NOTCH_AXIS_TYPE }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_axis) },
     { "dynamic_gyro_notch_q",       VAR_UINT16 | MASTER_VALUE, .config.minmax = { 1, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_q) },
     { "dynamic_gyro_notch_count",   VAR_UINT8  | MASTER_VALUE, .config.minmax = { 1, 5 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_count) },
     { "dynamic_gyro_notch_min_hz",  VAR_UINT16 | MASTER_VALUE, .config.minmax = { 30, 1000 }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, dyn_notch_min_hz) },
@@ -863,9 +872,10 @@ const clivalue_t valueTable[] = {
     { "runaway_takeoff_deactivate_throttle_percent",  VAR_UINT8  | MASTER_VALUE, .config.minmax = { 0, 100 }, PG_PID_CONFIG, offsetof(pidConfig_t, runaway_takeoff_deactivate_throttle) }, // minimum throttle percentage during deactivation phase
 #endif
 // PG_PID_PROFILE
+#ifdef USE_GYRO_DATA_ANALYSE
     { "dterm_dyn_notch_enable",     VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, dtermDynNotch) },
     { "dterm_dyn_notch_q",          VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 1, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_dyn_notch_q) },
-
+#endif
     { "dterm_abg_alpha",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_alpha) },
     { "dterm_abg_boost",            VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_boost) },
     { "dterm_abg_half_life",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 250 }, PG_PID_PROFILE, offsetof(pidProfile_t, dterm_ABG_half_life) },
diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
index f351a2aa12..e8a8269834 100644
--- a/src/main/interface/settings.h
+++ b/src/main/interface/settings.h
@@ -112,6 +112,7 @@ typedef enum {
     TABLE_OSD_LOGO_ON_ARMING,
 #endif
     TABLE_MIXER_IMPL_TYPE,
+    TABLE_DYN_NOTCH_AXIS_TYPE,
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 
diff --git a/src/main/pg/bus_spi.c b/src/main/pg/bus_spi.c
index 3b1fcfa7a8..e8e50fc84f 100644
--- a/src/main/pg/bus_spi.c
+++ b/src/main/pg/bus_spi.c
@@ -100,6 +100,9 @@ ioTag_t preinitIPUList[SPI_PREINIT_IPU_COUNT] = {
 #ifdef BMI160_CS_PIN
     IO_TAG(BMI160_CS_PIN),
 #endif
+#ifdef BMI270_CS_PIN
+    IO_TAG(BMI270_CS_PIN),
+#endif
 #ifdef L3GD20_CS_PIN
     IO_TAG(L3GD20_CS_PIN),
 #endif
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 62460a182c..6a45d357b4 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -43,6 +43,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -299,6 +300,17 @@ bool accDetect(accDev_t *dev, accelerationSensor_e accHardwareToUse) {
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_ACCGYRO_BMI270
+    case ACC_BMI270:
+        if (bmi270SpiAccDetect(dev)) {
+            accHardware = ACC_BMI270;
+#ifdef ACC_BMI270_ALIGN
+            dev->accAlign = ACC_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
     case ACC_ICM42605:
     case ACC_ICM42688P:
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index b448d2419b..5b132c53f6 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -50,6 +50,7 @@ typedef enum {
     ACC_ICM42605,
     ACC_ICM42688P,
     ACC_BMI160,
+    ACC_BMI270,
     ACC_IMUF9001,
     ACC_FAKE
 } accelerationSensor_e;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index b77528e9fd..9ec6a642fc 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -44,6 +44,7 @@
 #include "drivers/accgyro/accgyro_mpu6050.h"
 #include "drivers/accgyro/accgyro_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_bmi160.h"
+#include "drivers/accgyro/accgyro_spi_bmi270.h"
 #include "drivers/accgyro/accgyro_spi_icm20649.h"
 #include "drivers/accgyro/accgyro_spi_icm20689.h"
 #include "drivers/accgyro/accgyro_spi_icm426xx.h"
@@ -158,8 +159,10 @@ typedef struct gyroSensor_s {
     gyroLowpassFilter_t lowpassFilter[XYZ_AXIS_COUNT];
 
     // lowpass2 gyro soft filter
+#ifdef USE_GYRO_LPF2
     filterApplyFnPtr lowpass2FilterApplyFn;
     gyroLowpassFilter_t lowpass2Filter[XYZ_AXIS_COUNT];
+#endif
 
     // ABG filter
     filterApplyFnPtr gyroABGFilterApplyFn;
@@ -209,7 +212,7 @@ static void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int typ
 #ifdef STM32F10X
 #define GYRO_SYNC_DENOM_DEFAULT 8
 #elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
-   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+   || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
 #define GYRO_SYNC_DENOM_DEFAULT 1
 #else
 #define GYRO_SYNC_DENOM_DEFAULT 3
@@ -250,6 +253,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .checkOverflow = GYRO_OVERFLOW_CHECK_ALL_AXES,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
+                  .dyn_notch_axis = RPY,
                   .dyn_notch_q = 400,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
@@ -305,6 +309,7 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
                   .gyro_offset_yaw = 0,
                   .yaw_spin_recovery = YAW_SPIN_RECOVERY_AUTO,
                   .yaw_spin_threshold = 1950,
+                  .dyn_notch_axis = RPY,
                   .dyn_notch_q = 350,
                   .dyn_notch_count = 3, // default of 3 is similar to the matrix filter.
                   .dyn_notch_min_hz = 150,
@@ -533,6 +538,17 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
         }
         FALLTHROUGH;
 #endif
+#ifdef USE_ACCGYRO_BMI270
+    case GYRO_BMI270:
+        if (bmi270SpiGyroDetect(dev)) {
+            gyroHardware = GYRO_BMI270;
+#ifdef GYRO_BMI270_ALIGN
+            dev->gyroAlign = GYRO_BMI270_ALIGN;
+#endif
+            break;
+        }
+        FALLTHROUGH;
+#endif
 #ifdef USE_GYRO_IMUF9001
     case GYRO_IMUF9001:
         if (imufSpiGyroDetect(dev)) {
@@ -562,7 +578,7 @@ STATIC_UNIT_TESTED gyroSensor_e gyroDetect(gyroDev_t *dev) {
 static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
- || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160)
+ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_IMUF9001) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270)
     mpuDetect(&gyroSensor->gyroDev);
     mpuResetFn = gyroSensor->gyroDev.mpuConfiguration.resetFn; // must be set after mpuDetect
 #endif
@@ -607,6 +623,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor) {
     case GYRO_MPU3050:
     case GYRO_L3GD20:
     case GYRO_BMI160:
+    case GYRO_BMI270:
     case GYRO_MPU6000:
     case GYRO_MPU6500:
     case GYRO_MPU9250:
@@ -743,6 +760,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass_hz[YAW];
         break;
+#ifdef USE_GYRO_LPF2
     case FILTER_LOWPASS2:
         lowpassFilterApplyFn = &gyroSensor->lowpass2FilterApplyFn;
         lowpassFilter = gyroSensor->lowpass2Filter;
@@ -750,6 +768,7 @@ void gyroInitLowpassFilterLpf(gyroSensor_t *gyroSensor, int slot, int type) {
         lpfHz[PITCH] = gyroConfig()->gyro_lowpass2_hz[PITCH];
         lpfHz[YAW] = gyroConfig()->gyro_lowpass2_hz[YAW];
         break;
+#endif
     default:
         return;
     }
@@ -843,7 +862,7 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor) {
     gyroSensor->notchFilterDynApplyFn = nullFilterApply;
     if (isDynamicFilterActive()) {
         gyroSensor->notchFilterDynApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1; // must be this function, not DF2
-        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        for (int axis = 0; axis < gyroConfig()->dyn_notch_axis+1; axis++) {
             for (int axis2 = 0; axis2 < gyroConfig()->dyn_notch_count; axis2++) {
                 biquadFilterInit(&gyroSensor->gyroAnalyseState.notchFilterDyn[axis][axis2], 400, gyro.targetLooptime, gyroConfig()->dyn_notch_q / 100.0f, FILTER_NOTCH);
             }
@@ -888,11 +907,13 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor) {
         FILTER_LOWPASS,
         gyroConfig()->gyro_lowpass_type
     );
+#ifdef USE_GYRO_LPF2
     gyroInitLowpassFilterLpf(
         gyroSensor,
         FILTER_LOWPASS2,
         gyroConfig()->gyro_lowpass2_type
     );
+#endif
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
     gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
 #ifdef USE_GYRO_DATA_ANALYSE
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 0f32c699e1..671d7b7cbd 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -56,6 +56,7 @@ typedef enum {
     GYRO_ICM42605,
     GYRO_ICM42688P,
     GYRO_BMI160,
+    GYRO_BMI270,
     GYRO_IMUF9001,
     GYRO_FAKE
 } gyroSensor_e;
@@ -113,6 +114,11 @@ typedef struct smithPredictor_s {
 } smithPredictor_t;
 #endif // USE_SMITH_PREDICTOR
 
+typedef enum {
+    RP = 0,
+    RPY = 1
+} dynamicGyroAxisType_e;
+
 typedef struct gyroConfig_s {
     uint8_t  gyro_align;                       // gyro alignment
     uint8_t  gyroMovementCalibrationThreshold; // people keep forgetting that moving model while init results in wrong gyro offsets. and then they never reset gyro. so this is now on by default.
@@ -146,6 +152,7 @@ typedef struct gyroConfig_s {
     int16_t  yaw_spin_threshold;
 
     uint16_t gyroCalibrationDuration;  // Gyro calibration duration in 1/100 second
+    uint8_t dyn_notch_axis;
     uint16_t dyn_notch_q;
     uint8_t dyn_notch_count;
     uint16_t dyn_notch_min_hz;
diff --git a/src/main/sensors/gyro_filter_impl.h b/src/main/sensors/gyro_filter_impl.h
index 2008434496..4bf1060e19 100644
--- a/src/main/sensors/gyro_filter_impl.h
+++ b/src/main/sensors/gyro_filter_impl.h
@@ -36,7 +36,9 @@ static FAST_CODE void GYRO_FILTER_FUNCTION_NAME(gyroSensor_t *gyroSensor) {
 #endif
 
         // apply static notch filters and software lowpass filters
+#ifdef USE_GYRO_LPF2
         gyroADCf = gyroSensor->lowpass2FilterApplyFn((filter_t *)&gyroSensor->lowpass2Filter[axis], gyroADCf);
+#endif
         gyroADCf = gyroSensor->lowpassFilterApplyFn((filter_t *)&gyroSensor->lowpassFilter[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter1ApplyFn((filter_t *)&gyroSensor->notchFilter1[axis], gyroADCf);
         gyroADCf = gyroSensor->notchFilter2ApplyFn((filter_t *)&gyroSensor->notchFilter2[axis], gyroADCf);
diff --git a/src/main/target/BETAFPVF411/target.h b/src/main/target/BETAFPVF411/target.h
index 68172fdc56..ddd244caef 100644
--- a/src/main/target/BETAFPVF411/target.h
+++ b/src/main/target/BETAFPVF411/target.h
@@ -34,6 +34,13 @@
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 
+#define USE_SPI_GYRO	
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW90_DEG
+#define GYRO_BMI270_ALIGN       CW90_DEG
+
 #define SPI1_SCK_PIN            PA5
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
diff --git a/src/main/target/BETAFPVF411/target.mk b/src/main/target/BETAFPVF411/target.mk
index 3971d0ca39..ab77872afb 100644
--- a/src/main/target/BETAFPVF411/target.mk
+++ b/src/main/target/BETAFPVF411/target.mk
@@ -4,6 +4,7 @@ FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_ms5611.c \
diff --git a/src/main/target/FLYWOOF411_5IN1_AIO/target.h b/src/main/target/FLYWOOF411_5IN1_AIO/target.h
index 5e93cd6460..33c06dde11 100644
--- a/src/main/target/FLYWOOF411_5IN1_AIO/target.h
+++ b/src/main/target/FLYWOOF411_5IN1_AIO/target.h
@@ -65,10 +65,16 @@
 #define USE_ACC_SPI_ICM42688P
 
 #define ICM42688P_SPI_INSTANCE    SPI1
-#define ICM42688P_CS_PIN          PB2
+#define ICM42688P_CS_PIN          PA4
 #define ACC_ICM42688P_ALIGN       CW0_DEG_FLIP
 #define GYRO_ICM42688P_ALIGN      CW0_DEG_FLIP
 
+#define USE_SPI_GYRO
+#define BMI270_SPI_INSTANCE       SPI1
+#define BMI270_CS_PIN             PA4
+#define ACC_BMI270_ALIGN          CW0_DEG_FLIP
+#define GYRO_BMI270_ALIGN         CW0_DEG_FLIP
+
 // *************** Baro **************************
 #define USE_I2C
 
diff --git a/src/main/target/FLYWOOF411_5IN1_AIO/target.mk b/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
index 19d3a639b7..a0f0b8aff2 100644
--- a/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
+++ b/src/main/target/FLYWOOF411_5IN1_AIO/target.mk
@@ -3,22 +3,23 @@ F411_TARGETS    += $(TARGET)
 FEATURES        += VCP
 
 TARGET_SRC = \
-						drivers/accgyro/accgyro_mpu.c \
-						drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
-						drivers/accgyro/accgyro_spi_icm426xx.c \
-						drivers/barometer/barometer_bmp085.c \
-						drivers/barometer/barometer_bmp280.c \
-						drivers/barometer/barometer_ms5611.c \
-						drivers/compass/compass_hmc5883l.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c\
             drivers/rx/rx_a7105.c \
-						drivers/light_ws2811strip.c
+            drivers/light_ws2811strip.c
diff --git a/src/main/target/FOXEERF745_AIO/FOXEERF745_AIO_V2.mk b/src/main/target/FOXEERF745_AIO/FOXEERF745_AIO_V2.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/FOXEERF745_AIO/target.h b/src/main/target/FOXEERF745_AIO/target.h
index bd56acc8ef..80c7fb0d14 100644
--- a/src/main/target/FOXEERF745_AIO/target.h
+++ b/src/main/target/FOXEERF745_AIO/target.h
@@ -21,7 +21,13 @@
  #pragma once
 
  #define TARGET_BOARD_IDENTIFIER "FOXE"
+ #define TARGET_MANUFACTURER_IDENTIFIER "FOXE"
+
+ #if defined(FOXEERF745_AIO_V2)
+ #define USBD_PRODUCT_STRING "FOXEERF745_AIO_V2"
+ #else
  #define USBD_PRODUCT_STRING "FOXEERF745_AIO"
+ #endif
 
  #define LED0_PIN   PC13
 
@@ -55,6 +61,16 @@
  //#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
  //#define MAG_ALIGN CW180_DEG  //not sure if this command will work or if should be more specific to mag
 
+ #if defined(FOXEERF745_AIO_V2)
+ //BMI270
+ #define USE_SPI_GYRO
+ #define USE_ACCGYRO_BMI270
+ #define BMI270_CS_PIN           PA15
+ #define BMI270_SPI_INSTANCE     SPI3
+ #define ACC_BMI270_ALIGN        CW180_DEG
+ #define GYRO_BMI270_ALIGN       CW180_DEG
+ #endif
+
  #define USE_BARO
  #define USE_BARO_BMP280
  #define BARO_I2C_INSTANCE           (I2CDEV_1)
diff --git a/src/main/target/FOXEERF745_AIO/target.mk b/src/main/target/FOXEERF745_AIO/target.mk
index e4faff73d9..01b1543813 100644
--- a/src/main/target/FOXEERF745_AIO/target.mk
+++ b/src/main/target/FOXEERF745_AIO/target.mk
@@ -2,11 +2,12 @@ F7X5XG_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-					  drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_lis3mdl.c \
             drivers/light_ws2811strip.c \
             drivers/max7456.c
diff --git a/src/main/target/IFLIGHT_F745_AIO_V2/target.h b/src/main/target/IFLIGHT_F745_AIO_V2/target.h
index 6eec787ed9..e771a75672 100644
--- a/src/main/target/IFLIGHT_F745_AIO_V2/target.h
+++ b/src/main/target/IFLIGHT_F745_AIO_V2/target.h
@@ -39,7 +39,7 @@
 #define USE_DUAL_GYRO
 
 #define USE_SPI_GYRO
-//#define USE_ACCGYRO_BMI270
+#define USE_ACCGYRO_BMI270
 #define USE_GYRO_SPI_MPU6000
 #define USE_ACC_SPI_MPU6000
 
diff --git a/src/main/target/IFLIGHT_F745_AIO_V2/target.mk b/src/main/target/IFLIGHT_F745_AIO_V2/target.mk
index 525f68127c..7cfd60c081 100644
--- a/src/main/target/IFLIGHT_F745_AIO_V2/target.mk
+++ b/src/main/target/IFLIGHT_F745_AIO_V2/target.mk
@@ -2,12 +2,12 @@ F7X5XG_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_bmp085.c \
-            drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/light_ws2811strip.c \
diff --git a/src/main/target/NBDBBBLV2/config.c b/src/main/target/NBDBBBLV2/config.c
index 2c735aec79..407f0f6f97 100644
--- a/src/main/target/NBDBBBLV2/config.c
+++ b/src/main/target/NBDBBBLV2/config.c
@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;
diff --git a/src/main/target/NBDBBBLV3/config.c b/src/main/target/NBDBBBLV3/config.c
index 27f7b894ad..0774446586 100644
--- a/src/main/target/NBDBBBLV3/config.c
+++ b/src/main/target/NBDBBBLV3/config.c
@@ -168,9 +168,11 @@ void targetConfiguration(void)
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     rxConfigMutable()->mincheck = 1075;
     rxConfigMutable()->maxcheck = 1900;
diff --git a/src/main/target/NBDHMBF41S/config.c b/src/main/target/NBDHMBF41S/config.c
index 493da570e9..92fe2d8b70 100644
--- a/src/main/target/NBDHMBF41S/config.c
+++ b/src/main/target/NBDHMBF41S/config.c
@@ -114,7 +114,9 @@ void targetConfiguration(void)
 
     gyroConfigMutable()->gyro_lowpass_type = FILTER_PT1;
     gyroConfigMutable()->gyro_lowpass_hz = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz = 200;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     gyroConfigMutable()->dyn_lpf_gyro_min_hz = 160;
     gyroConfigMutable()->dyn_lpf_gyro_max_hz = 400;
diff --git a/src/main/target/NBDHMBF4PRO/config.c b/src/main/target/NBDHMBF4PRO/config.c
index 42862bed35..fd309465bc 100644
--- a/src/main/target/NBDHMBF4PRO/config.c
+++ b/src/main/target/NBDHMBF4PRO/config.c
@@ -149,9 +149,11 @@ void targetConfiguration(void) {
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[PITCH] = 200;
     gyroConfigMutable()->gyro_lowpass_hz[YAW] = 200;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[PITCH] = 250;
     gyroConfigMutable()->gyro_lowpass2_hz[YAW] = 250;
+#endif
     gyroConfigMutable()->yaw_spin_threshold = 1950;
     // gyroConfigMutable()->dyn_lpf_gyro_min_hz = 200;
     // gyroConfigMutable()->dyn_lpf_gyro_max_hz = 500;
diff --git a/src/main/target/NBD_INFINITYAIOV2PRO/target.c b/src/main/target/NBD_INFINITYAIOV2PRO/target.c
new file mode 100644
index 0000000000..b0d2fbf100
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.c
@@ -0,0 +1,37 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM1, CH2, PA9,  TIM_USE_LED,                  0, 0 ), // LED_STRIP,
+
+    DEF_TIM(TIM3,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM3,  CH3, PC8,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM3,  CH2, PC7,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM3,  CH1, PC6,  TIM_USE_MOTOR,               0, 0 ), // M4
+};
diff --git a/src/main/target/NBD_INFINITYAIOV2PRO/target.h b/src/main/target/NBD_INFINITYAIOV2PRO/target.h
new file mode 100644
index 0000000000..6b871d43ef
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.h
@@ -0,0 +1,160 @@
+/*
+* This file is part of Cleanflight and Betaflight.
+*
+* Cleanflight and Betaflight are free software. You can redistribute
+* this software and/or modify this software under the terms of the
+* GNU General Public License as published by the Free Software
+* Foundation, either version 3 of the License, or (at your option)
+* any later version.
+*
+* Cleanflight and Betaflight are distributed in the hope that they
+* will be useful, but WITHOUT ANY WARRANTY; without even the implied
+* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+* See the GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this software.
+*
+* If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+
+#define TARGET_MANUFACTURER_IDENTIFIER "NEBD"
+#define USBD_PRODUCT_STRING "NBD_INFINITYAIOV2PRO"
+
+#define FC_TARGET_MCU     STM32F745     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S745"  // generic ID
+
+#define LED0_PIN   PC0
+
+#define USE_BEEPER
+#define BEEPER_PIN PD13
+#define BEEPER_INVERTED
+
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PE11
+#define BMI270_SPI_INSTANCE     SPI4
+#define ACC_BMI270_ALIGN        CW270_DEG
+#define GYRO_BMI270_ALIGN       CW270_DEG
+
+// dual gyro
+#define USE_DUAL_GYRO
+
+#define USE_EXTI //REQUIRED when USE_GYRO_EXTI
+#define USE_GYRO_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// gyro 1
+#define GYRO_1_CS_PIN           PE11
+#define GYRO_1_SPI_INSTANCE     SPI4
+#define GYRO_1_EXTI_PIN         PB1
+#define GYRO_1_ALIGN            CW270_DEG
+#define ACC_1_ALIGN             CW270_DEG
+
+// gyro 2
+#define GYRO_2_CS_PIN           PB12
+#define GYRO_2_SPI_INSTANCE     SPI2
+#define GYRO_2_EXTI_PIN         PD0
+#define GYRO_2_ALIGN            CW270_DEG
+#define ACC_2_ALIGN             CW270_DEG
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+
+#define USE_UART2
+#define UART2_RX_PIN PA3
+#define UART2_TX_PIN PA2
+
+#define USE_UART3
+#define UART3_RX_PIN PB11
+#define UART3_TX_PIN PB10
+
+#define USE_UART5
+#define UART5_RX_PIN PD2
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+
+#define USE_UART8
+#define UART8_RX_PIN PE0
+#define UART8_TX_PIN PE1
+
+#define SERIAL_PORT_COUNT 7 //VCP, USART1, USART2, USART3, UART5, USART7, UART8
+
+#define USE_ESC_SENSOR
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define USE_SPI_DEVICE_2
+#define USE_SPI_DEVICE_3
+#define USE_SPI_DEVICE_4
+
+#define SPI1_SCK_PIN   PA5
+#define SPI1_MISO_PIN  PA6
+#define SPI1_MOSI_PIN  PA7
+
+#define SPI2_SCK_PIN   PB13
+#define SPI2_MISO_PIN  PB14
+#define SPI2_MOSI_PIN  PB15
+
+#define SPI3_SCK_PIN   PB3
+#define SPI3_MISO_PIN  PB4
+#define SPI3_MOSI_PIN  PD6
+
+#define SPI4_SCK_PIN   PE12
+#define SPI4_MISO_PIN  PE13
+#define SPI4_MOSI_PIN  PE14
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI3
+#define MAX7456_SPI_CS_PIN      PA15
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD) // 10MHz
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASH
+#define USE_FLASHFS
+#define USE_FLASH_W25Q128FV     //official
+#define FLASH_CS_PIN            PB0
+#define FLASH_SPI_INSTANCE      SPI1
+
+#define USE_FLASH_M25P16    // testing // 16MB Micron M25P16 and others (ref: https://github.com/betaflight/betaflight/blob/master/src/main/drivers/flash_m25p16.c)
+#define USE_FLASH_W25M      // testing // 1Gb NAND flash support
+#define USE_FLASH_W25M512   // testing // 16, 32, 64 or 128MB Winbond stacked die support
+#define USE_FLASH_W25Q      // testing // 512Kb (256Kb x 2 stacked) NOR flash support
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C_DEVICE_1           (I2CDEV_1)
+#define MAG_I2C_INSTANCE       (I2CDEV_1)
+#define I2C1_SCL               PB8
+#define I2C1_SDA               PB9
+
+#define USE_ADC
+#define VBAT_ADC_PIN                PC1
+#define CURRENT_METER_ADC_PIN       PC2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define BEEPER_PWM_HZ           5400
+
+#define USE_LED_STRIP
+#define LED_STRIP_PIN        PA9
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define DEFAULT_FEATURES       (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
+#define DEFAULT_RX_FEATURE     FEATURE_RX_SERIAL
+
+#define USABLE_TIMER_CHANNEL_COUNT      7
+#define USED_TIMERS ( TIM_N(1) | TIM_N(3) | TIM_N(4) )
diff --git a/src/main/target/NBD_INFINITYAIOV2PRO/target.mk b/src/main/target/NBD_INFINITYAIOV2PRO/target.mk
new file mode 100644
index 0000000000..ff6b7c6818
--- /dev/null
+++ b/src/main/target/NBD_INFINITYAIOV2PRO/target.mk
@@ -0,0 +1,13 @@
+F7X5XG_TARGETS += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c \
+            drivers/compass/compass_fake.c \
+            drivers/compass/compass_ak8963.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_lis3mdl.c \
+            drivers/compass/compass_qmc5883l.c \
diff --git a/src/main/target/SKYSTARSF7HD/target.h b/src/main/target/SKYSTARSF7HD/target.h
index bf68dc5fc4..31d1d6f3fa 100644
--- a/src/main/target/SKYSTARSF7HD/target.h
+++ b/src/main/target/SKYSTARSF7HD/target.h
@@ -53,6 +53,13 @@
 
 #define USE_ACC
 
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW180_DEG
+#define GYRO_BMI270_ALIGN       CW180_DEG
+
 #define MPU6000_CS_PIN           PA4
 #define MPU6000_SPI_INSTANCE     SPI1
 
diff --git a/src/main/target/SKYSTARSF7HD/target.mk b/src/main/target/SKYSTARSF7HD/target.mk
index 1b54266132..1f9b3af4ff 100644
--- a/src/main/target/SKYSTARSF7HD/target.mk
+++ b/src/main/target/SKYSTARSF7HD/target.mk
@@ -2,6 +2,7 @@ F7X2RE_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/barometer/barometer_bmp085.c \
@@ -9,5 +10,5 @@ TARGET_SRC = \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-						drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip.c \
             drivers/max7456.c
diff --git a/src/main/target/SKYSTARSF7HDPRO/config.c b/src/main/target/SKYSTARSF7HDPRO/config.c
new file mode 100644
index 0000000000..30086932e3
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/config.c
@@ -0,0 +1,36 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#define USE_TARGET_CONFIG
+
+#include "io/serial.h"
+#include "pg/pinio.h"
+#include "pg/piniobox.h"
+#include "target.h"
+
+
+void targetConfiguration(void) {
+    pinioBoxConfigMutable()->permanentId[0] = 40;
+    pinioConfigMutable()->config[0] = 129;
+}
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.c b/src/main/target/SKYSTARSF7HDPRO/target.c
new file mode 100644
index 0000000000..d993355657
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.c
@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3,  CH1,  PB4,   TIM_USE_PPM,   0, 0 ), // PPM IN
+
+    DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_MOTOR, 0, 0 ), // S1_OUT – UP2-1
+    DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_MOTOR, 0, 0 ), // S2_OUT – UP2-1
+    DEF_TIM(TIM4,   CH1,  PB6,   TIM_USE_MOTOR, 0, 0 ), // S3_OUT – UP2-5
+    DEF_TIM(TIM4,   CH2,  PB7,   TIM_USE_MOTOR, 0, 0 ), // S4_OUT – UP2-5
+
+    DEF_TIM(TIM1,   CH1,  PA8,   TIM_USE_ANY,   0, 0 ), // FC CAM – DMA1_ST7
+
+    DEF_TIM(TIM2,   CH2,  PB3,   TIM_USE_LED,   0, 0 ), // LED_STRIP – DMA1_ST6
+};
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.h b/src/main/target/SKYSTARSF7HDPRO/target.h
new file mode 100644
index 0000000000..19c0c2e753
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.h
@@ -0,0 +1,207 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_MANUFACTURER_IDENTIFIER "SKST"
+#define USBD_PRODUCT_STRING     "SKST7HDPRO"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"
+
+// ******* LEDs and BEEPER ********
+
+#define LED0_PIN                PC15
+#define LED1_PIN                PC14
+
+#define USE_BEEPER
+#define BEEPER_PIN              PB2
+#define BEEPER_INVERTED
+
+//#define ENABLE_DSHOT_DMAR       true
+
+#define USE_PINIO
+#define PINIO1_PIN PA14 // Bluetooth mode control, PB0 is connected to the 36 pin (P2.0) of the Bluetooth chip. Replace PB0 with the pin for your flight control and 36-pin connection
+
+#define USE_CAMERA_CONTROL
+#define CAMERA_CONTROL_PIN      PA8 // define dedicated camera osd pin
+
+
+// ******* GYRO and ACC ********
+
+#define USE_DUAL_GYRO
+#define USE_EXTI
+#define GYRO_1_EXTI_PIN         PC4
+#define GYRO_2_EXTI_PIN         PC0
+#define MPU_INT_EXTI
+
+#define GYRO_1_CS_PIN           PA4
+#define GYRO_1_SPI_INSTANCE     SPI1
+#define GYRO_2_CS_PIN           PC13
+#define GYRO_2_SPI_INSTANCE     SPI1
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6500
+#define USE_SPI_GYRO
+#define USE_ACCGYRO_BMI270
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+
+#define GYRO_1_ALIGN     CW90_DEG_FLIP
+#define ACC_1_ALIGN      CW90_DEG_FLIP
+
+#define GYRO_2_ALIGN    CW0_DEG
+#define ACC_2_ALIGN     CW0_DEG
+
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
+
+// *************** Baro ************************
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_BARO
+#define USE_BARO_SPI_BMP280
+#define DEFAULT_BARO_SPI_BMP280
+#define BMP280_SPI_INSTANCE     SPI2
+#define BMP280_CS_PIN           PB1
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//*********** Magnetometer / Compass *************
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE           (I2CDEV_1)
+
+// ******* SERIAL ********
+
+#define USE_VCP
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+
+#define SERIAL_PORT_COUNT       9 //VCP, UART1-UART6 , 2 x Soft Serial
+
+// ******* SPI ********
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB5
+
+// ******* ADC ********
+
+#define USE_ADC
+#define ADC_INSTANCE            ADC2
+#define ADC2_DMA_STREAM         DMA2_Stream3
+
+#define VBAT_ADC_PIN            PC1
+#define RSSI_ADC_PIN            PC2
+#define CURRENT_METER_ADC_PIN   PC3
+
+// ******* OSD ********
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI2
+#define MAX7456_SPI_CS_PIN      PB12
+#define MAX7456_SPI_CLK         ( SPI_CLOCK_STANDARD )
+#define MAX7456_RESTORE_CLK     ( SPI_CLOCK_FAST )
+
+//******* FLASH ********
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PA15
+#define FLASH_SPI_INSTANCE      SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// ******* FEATURES ********
+
+#define USE_OSD
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_UART           SERIAL_PORT_USART1
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+#define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 290
+
+
+#define USE_ESCSERIAL
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3)| TIM_N(4) | TIM_N(8) )
diff --git a/src/main/target/SKYSTARSF7HDPRO/target.mk b/src/main/target/SKYSTARSF7HDPRO/target.mk
new file mode 100644
index 0000000000..6d549c15d0
--- /dev/null
+++ b/src/main/target/SKYSTARSF7HDPRO/target.mk
@@ -0,0 +1,16 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_mpu.c \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/light_ws2811strip.c \
+            drivers/max7456.c
diff --git a/src/main/target/TMTR_TMOTORF7/target.c b/src/main/target/TMTR_TMOTORF7/target.c
index 847810cf45..ecaa7704b1 100644
--- a/src/main/target/TMTR_TMOTORF7/target.c
+++ b/src/main/target/TMTR_TMOTORF7/target.c
@@ -25,15 +25,16 @@
 #include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, 0, 0),  // motor 1
+    DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, 0, 0),  // motor 2
+    DEF_TIM(TIM8, CH2N, PB0, TIM_USE_MOTOR, 0, 0), // motor 3
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0),  // motor 4
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0),  // motor 5
+    DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0),  // motor 6
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0),  // motor 7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),  // motor 8
 
-    DEF_TIM(TIM8,  CH1,  PC6,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM8,  CH2,  PC7,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_MOTOR,               0, 0),
-    DEF_TIM(TIM4,  CH3,  PB8,  TIM_USE_MOTOR,               0, 0),
-
-    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_PPM,                 0, 0),
-    DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_ANY,                 0, 0),
-    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_LED,                 0, 0)
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_PPM, 0, 0),   // ppm
+    DEF_TIM(TIM11, CH1, PB9, TIM_USE_ANY, 0, 0),   // cam ctrl
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0),    // led
 };
diff --git a/src/main/target/TMTR_TMOTORF7/target.h b/src/main/target/TMTR_TMOTORF7/target.h
index 1353cbead9..20ce09a1c2 100644
--- a/src/main/target/TMTR_TMOTORF7/target.h
+++ b/src/main/target/TMTR_TMOTORF7/target.h
@@ -20,9 +20,11 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "TMR7"
-#define USBD_PRODUCT_STRING     "TMOTORF7"
 #define TARGET_MANUFACTURER_IDENTIFIER "TMTR"
+#define USBD_PRODUCT_STRING "TMOTORF7"
+
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
 
 #define LED0_PIN                PB2
 
@@ -35,7 +37,7 @@
 #define USE_PINIO
 #define PINIO1_PIN                PC14
 #define USE_PINIOBOX
-
+#define PINIO1_BOX 40
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -44,21 +46,44 @@
 #define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
+#define USE_ACC
+
 #define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+#define USE_ACCGYRO_BMI270
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_MPU6500
+#define USE_ACC_SPI_MPU6500
+
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_INSTANCE    SPI1
-#define ACC_MPU6000_ALIGN           CW0_DEG
-#define GYRO_MPU6000_ALIGN           CW0_DEG
+#define ACC_MPU6000_ALIGN       CW0_DEG
+#define GYRO_MPU6000_ALIGN      CW0_DEG
 
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_MPU6500
+#define MPU6500_CS_PIN          PA4
+#define MPU6500_SPI_INSTANCE    SPI1
+#define ACC_MPU6500_ALIGN       CW0_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
+
+#define USE_SPI_GYRO
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_INSTANCE     SPI1
+#define ACC_BMI270_ALIGN        CW0_DEG
+#define GYRO_BMI270_ALIGN       CW0_DEG
+
+#define ICM42688P_CS_PIN        PA4
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define ACC_ICM42688P_ALIGN     CW0_DEG
+#define GYRO_ICM42688P_ALIGN    CW0_DEG
 
 #define USE_BARO
 #define USE_BARO_SPI_BMP280
 #define DEFAULT_BARO_SPI_BMP280
 #define BMP280_SPI_INSTANCE     SPI3
 #define BMP280_CS_PIN           PC15
+#define BARO_SPI_INSTANCE       SPI3
+#define BARO_CS_PIN             PC15
 
 #define USE_MAG
 #define USE_MAG_HMC5883
@@ -133,20 +158,21 @@
 #define VBAT_ADC_PIN            PC1
 #define CURRENT_METER_ADC_PIN   PC2
 #define RSSI_ADC_PIN            PC3
+#define ADC1_DMA_STREAM DMA2_Stream4 //# ADC 1: DMA2 Stream 4 Channel 0
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 
-#define SERIALRX_PROVIDER       SERIALRX_SBUS
+//#define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_UART5
-//#define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1
+#define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1 // soft UART??
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES        ( FEATURE_OSD  )
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_AIRMODE | FEATURE_RX_SERIAL)
 
 #define TARGET_IO_PORTA         ( 0xffff )
 #define TARGET_IO_PORTB         ( 0xffff )
 #define TARGET_IO_PORTC         ( 0xffff )
 #define TARGET_IO_PORTD         ( 0x0004 )
 
-#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USABLE_TIMER_CHANNEL_COUNT 11
 #define USED_TIMERS              ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(8) | TIM_N(11) )
diff --git a/src/main/target/TMTR_TMOTORF7/target.mk b/src/main/target/TMTR_TMOTORF7/target.mk
index 15077cfbd3..c023c93328 100644
--- a/src/main/target/TMTR_TMOTORF7/target.mk
+++ b/src/main/target/TMTR_TMOTORF7/target.mk
@@ -1,10 +1,15 @@
 F7X2RE_TARGETS   += $(TARGET)
 FEATURES       = VCP ONBOARDFLASH
 TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_bmi270.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-            drivers/max7456.c
+            drivers/light_led.h \
+            drivers/light_ws2811strip.c \
+            drivers/pinio.c \
+            drivers/max7456.c \
diff --git a/src/main/target/common_fc_pre.h b/src/main/target/common_fc_pre.h
index 426ec9b767..4d378c10ac 100644
--- a/src/main/target/common_fc_pre.h
+++ b/src/main/target/common_fc_pre.h
@@ -229,5 +229,5 @@
 #define USE_CMS_GPS_RESCUE_MENU
 #endif
 
-// ICM42688P define
+// ICM42688P & BMI270 experimental define 
 #define USE_GYRO_DLPF_EXPERIMENTAL
diff --git a/src/test/unit/sensor_gyro_unittest.cc b/src/test/unit/sensor_gyro_unittest.cc
index fc2dbc20e4..0ee0877b84 100644
--- a/src/test/unit/sensor_gyro_unittest.cc
+++ b/src/test/unit/sensor_gyro_unittest.cc
@@ -116,7 +116,9 @@ TEST(SensorGyro, Update)
     pgResetAll();
     // turn off filters
     gyroConfigMutable()->gyro_lowpass_hz[ROLL] = 0;
+#ifdef USE_GYRO_LPF2
     gyroConfigMutable()->gyro_lowpass2_hz[ROLL] = 0;
+#endif
     gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;
     gyroConfigMutable()->gyro_soft_notch_hz_2 = 0;
     gyroInit();