betaflight · blckmn · Feb 27, 2023 · Feb 24, 2023 · Feb 26, 2023 · Feb 26, 2023
diff --git a/src/config/AG3XF4/config.h b/src/config/AG3XF4/config.h
@@ -109,5 +109,8 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW0_DEG_FLIP
+#define GYRO_2_ALIGN_PITCH 1800
diff --git a/src/config/AG3XF7/config.h b/src/config/AG3XF7/config.h
@@ -108,5 +108,8 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW0_DEG_FLIP
+#define GYRO_2_ALIGN_PITCH 1800
diff --git a/src/config/AIRBOTF4/config.h b/src/config/AIRBOTF4/config.h
@@ -109,3 +109,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/AIRBOTF4SD/config.h b/src/config/AIRBOTF4SD/config.h
@@ -114,5 +114,7 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW270_DEG
+#define GYRO_2_ALIGN_YAW 2700
diff --git a/src/config/AIRBOTF4V2/config.h b/src/config/AIRBOTF4V2/config.h
@@ -88,4 +88,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/src/config/AIRBOTF7/config.h b/src/config/AIRBOTF7/config.h
@@ -89,4 +89,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/src/config/AIRBOTF7HDV/config.h b/src/config/AIRBOTF7HDV/config.h
@@ -83,3 +83,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/ALIENFLIGHTF4/config.h b/src/config/ALIENFLIGHTF4/config.h
@@ -106,6 +106,9 @@
 #define SPI2_TX_DMA_OPT     0
 #define ADC1_DMA_OPT        0
 
+#define MAG_ALIGN CW180_DEG_FLIP
+#define MAG_ALIGN_PITCH 1800
+#define MAG_ALIGN_YAW 1800
 #define MAG_I2C_INSTANCE I2C1
 #define BARO_I2C_INSTANCE I2C1
 #define BEEPER_INVERTED
@@ -115,3 +118,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/ALIENFLIGHTNGF7/config.h b/src/config/ALIENFLIGHTNGF7/config.h
@@ -106,6 +106,9 @@
 #define SPI2_TX_DMA_OPT     0
 #define ADC1_DMA_OPT        0
 
+#define MAG_ALIGN CW180_DEG_FLIP
+#define MAG_ALIGN_PITCH 1800
+#define MAG_ALIGN_YAW 1800
 #define BARO_SPI_INSTANCE SPI3
 #define BEEPER_INVERTED
 #define USE_SDCARD_SPI
@@ -115,3 +118,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/ALIENFLIGHTNGF7_DUAL/config.h b/src/config/ALIENFLIGHTNGF7_DUAL/config.h
@@ -106,6 +106,8 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
 #define USE_SPI_GYRO
 #define GYRO_2_SPI_INSTANCE SPI3
 #define GYRO_2_ALIGN CW270_DEG
+#define GYRO_2_ALIGN_YAW 2700
diff --git a/src/config/ALIENFLIGHTNGF7_ELRS/config.h b/src/config/ALIENFLIGHTNGF7_ELRS/config.h
@@ -119,3 +119,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/ALIENFLIGHTNGF7_RX/config.h b/src/config/ALIENFLIGHTNGF7_RX/config.h
@@ -109,3 +109,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/ANYFCF7/config.h b/src/config/ANYFCF7/config.h
@@ -126,3 +126,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/ANYFCM7/config.h b/src/config/ANYFCM7/config.h
@@ -109,3 +109,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/AOCODAF405/config.h b/src/config/AOCODAF405/config.h
@@ -101,3 +101,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW0_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
diff --git a/src/config/AOCODARCF411_AIO/config.h b/src/config/AOCODARCF411_AIO/config.h
@@ -84,3 +84,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/AOCODARCF7DUAL/config.h b/src/config/AOCODARCF7DUAL/config.h
@@ -105,5 +105,7 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI2
 #define GYRO_2_ALIGN CW180_DEG
+#define GYRO_2_ALIGN_YAW 1800
diff --git a/src/config/AOCODARCH7DUAL/config.h b/src/config/AOCODARCH7DUAL/config.h
@@ -128,5 +128,7 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI4
 #define GYRO_2_ALIGN CW180_DEG
+#define GYRO_2_ALIGN_YAW 1800
diff --git a/src/config/APEXF7/config.h b/src/config/APEXF7/config.h
@@ -97,3 +97,4 @@
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_2_SPI_INSTANCE SPI3
 #define GYRO_2_ALIGN CW270_DEG
+#define GYRO_2_ALIGN_YAW 2700
diff --git a/src/config/ARESF7/config.h b/src/config/ARESF7/config.h
@@ -95,3 +95,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/ATOMRCF405/config.h b/src/config/ATOMRCF405/config.h
@@ -99,3 +99,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/ATOMRCF411/config.h b/src/config/ATOMRCF411/config.h
@@ -81,3 +81,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/ATOMRCF722/config.h b/src/config/ATOMRCF722/config.h
@@ -99,3 +99,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/BETAFLIGHTF4/config.h b/src/config/BETAFLIGHTF4/config.h
@@ -99,3 +99,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/BETAFPVF405/config.h b/src/config/BETAFPVF405/config.h
@@ -109,4 +109,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/src/config/BETAFPVF411/config.h b/src/config/BETAFPVF411/config.h
@@ -92,3 +92,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/BETAFPVF411RX/config.h b/src/config/BETAFPVF411RX/config.h
@@ -92,3 +92,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/BETAFPVF4SX1280/config.h b/src/config/BETAFPVF4SX1280/config.h
@@ -105,3 +105,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/BETAFPVF722/config.h b/src/config/BETAFPVF722/config.h
@@ -101,6 +101,8 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
 #define USE_SPI_GYRO
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW180_DEG
+#define GYRO_2_ALIGN_YAW 1800
diff --git a/src/config/BETAFPVH743/config.h b/src/config/BETAFPVH743/config.h
@@ -127,5 +127,7 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI4
 #define GYRO_2_ALIGN CW180_DEG
+#define GYRO_2_ALIGN_YAW 1800
diff --git a/src/config/BLADE_F7/config.h b/src/config/BLADE_F7/config.h
@@ -101,3 +101,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/BLADE_F7_HD/config.h b/src/config/BLADE_F7_HD/config.h
@@ -97,3 +97,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/CLRACINGF7/config.h b/src/config/CLRACINGF7/config.h
@@ -118,3 +118,4 @@
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW90_DEG
+#define GYRO_2_ALIGN_YAW 900
diff --git a/src/config/COLIBRI/config.h b/src/config/COLIBRI/config.h
@@ -107,3 +107,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/CRAZYBEEF4DXS/config.h b/src/config/CRAZYBEEF4DXS/config.h
@@ -89,3 +89,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/CRAZYBEEF4SX1280/config.h b/src/config/CRAZYBEEF4SX1280/config.h
@@ -112,3 +112,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/CYCLONEF405_PRO/config.h b/src/config/CYCLONEF405_PRO/config.h
@@ -99,3 +99,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/CYCLONEF722_PRO/config.h b/src/config/CYCLONEF722_PRO/config.h
@@ -105,3 +105,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/DAKEFPVF405/config.h b/src/config/DAKEFPVF405/config.h
@@ -104,3 +104,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/DAKEFPVF411/config.h b/src/config/DAKEFPVF411/config.h
@@ -91,3 +91,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/DAKEFPVF722/config.h b/src/config/DAKEFPVF722/config.h
@@ -102,3 +102,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/DALRCF405/config.h b/src/config/DALRCF405/config.h
@@ -104,3 +104,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/DALRCF722DUAL/config.h b/src/config/DALRCF722DUAL/config.h
@@ -102,4 +102,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/src/config/DARWINF411/config.h b/src/config/DARWINF411/config.h
@@ -96,3 +96,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/DARWINF4SX1280HD/config.h b/src/config/DARWINF4SX1280HD/config.h
@@ -112,3 +112,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/DARWINF722HD/config.h b/src/config/DARWINF722HD/config.h
@@ -114,3 +114,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/DRONIUSF7/config.h b/src/config/DRONIUSF7/config.h
@@ -90,3 +90,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW0_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
diff --git a/src/config/DYSF44530D/config.h b/src/config/DYSF44530D/config.h
@@ -105,3 +105,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/EACHINEF411_AIO/config.h b/src/config/EACHINEF411_AIO/config.h
@@ -82,5 +82,6 @@
 #define FLASH_SPI_INSTANCE SPI2
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN_YAW 2700
 #define GYRO_1_ALIGN CW270_DEG
 #define BEEPER_INVERTED
diff --git a/src/config/EACHINEF722/config.h b/src/config/EACHINEF722/config.h
@@ -111,3 +111,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/EACHINEF722_AIO/config.h b/src/config/EACHINEF722_AIO/config.h
@@ -110,3 +110,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/ELLE0/config.h b/src/config/ELLE0/config.h
@@ -76,3 +76,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI2
 #define GYRO_1_ALIGN CW270_DEG
+#define GYRO_1_ALIGN_YAW 2700
diff --git a/src/config/EXUAVF4PRO/config.h b/src/config/EXUAVF4PRO/config.h
@@ -108,4 +108,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
 #define GYRO_2_SPI_INSTANCE SPI1
diff --git a/src/config/F4BY/config.h b/src/config/F4BY/config.h
@@ -117,3 +117,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/FENIX_F405/config.h b/src/config/FENIX_F405/config.h
@@ -79,3 +79,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW0_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
diff --git a/src/config/FF_FORTINIF4/config.h b/src/config/FF_FORTINIF4/config.h
@@ -92,3 +92,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FF_FORTINIF4_REV03/config.h b/src/config/FF_FORTINIF4_REV03/config.h
@@ -94,3 +94,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FF_PIKOF4/config.h b/src/config/FF_PIKOF4/config.h
@@ -80,3 +80,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FF_PIKOF4OSD/config.h b/src/config/FF_PIKOF4OSD/config.h
@@ -86,3 +86,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI3
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FF_RACEPITF7/config.h b/src/config/FF_RACEPITF7/config.h
@@ -84,3 +84,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FF_RACEPITF7_MINI/config.h b/src/config/FF_RACEPITF7_MINI/config.h
@@ -89,3 +89,5 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FISHDRONEF4/config.h b/src/config/FISHDRONEF4/config.h
@@ -95,3 +95,4 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW90_DEG
+#define GYRO_1_ALIGN_YAW 900
diff --git a/src/config/FLOWBOX/config.h b/src/config/FLOWBOX/config.h
@@ -66,3 +66,4 @@
 #define FLASH_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FLOWBOXV2/config.h b/src/config/FLOWBOXV2/config.h
@@ -68,3 +68,4 @@
 #define SDCARD_SPI_INSTANCE SPI3
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/src/config/FLYCOLORF7/config.h b/src/config/FLYCOLORF7/config.h
@@ -107,5 +107,8 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW180_DEG_FLIP
+#define GYRO_1_ALIGN_PITCH 1800
+#define GYRO_1_ALIGN_YAW 1800
 #define GYRO_2_SPI_INSTANCE SPI1
 #define GYRO_2_ALIGN CW270_DEG
+#define GYRO_2_ALIGN_YAW 2700
diff --git a/src/config/FLYCOLORF7_AIO/config.h b/src/config/FLYCOLORF7_AIO/config.h
@@ -102,3 +102,6 @@
 #define USE_SPI_GYRO
 #define GYRO_1_SPI_INSTANCE SPI1
 #define GYRO_1_ALIGN CW0_DEG
+#define GYRO_1_ALIGN_ROLL 0
+#define GYRO_1_ALIGN_PITCH 0
+#define GYRO_1_ALIGN_YAW 0