diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 066e02dd5ff..94370e9f4a7 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1131,7 +1131,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         break;
 
     case MSP_SENSOR_ALIGNMENT:
-        sbufWriteU8(dst, gyroConfig()->gyro_align);
+        sbufWriteU8(dst, gyroConfig()->gyro_align[0]);
         sbufWriteU8(dst, accelerometerConfig()->acc_align);
         sbufWriteU8(dst, compassConfig()->mag_align);
 #ifdef USE_OPFLOW
@@ -2003,7 +2003,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_SENSOR_ALIGNMENT:
         if (dataSize >= 4) {
-            gyroConfigMutable()->gyro_align = sbufReadU8(src);
+            gyroConfigMutable()->gyro_align[0] = sbufReadU8(src);
             accelerometerConfigMutable()->acc_align = sbufReadU8(src);
 #ifdef USE_MAG
             compassConfigMutable()->mag_align = sbufReadU8(src);
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index e5b3d3471d5..62d32a56292 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -144,6 +144,9 @@ tables:
   - name: osd_ahi_style
     values: ["DEFAULT", "LINE"]
     enum: osd_ahi_style_e
+  - name: gyro_to_use_t
+    values: ["FIRST", "SECOND", "BOTH"]
+    enum: gyro_to_use_e
 
 groups:
   - name: PG_GYRO_CONFIG
@@ -155,8 +158,12 @@ groups:
       - name: gyro_sync
         field: gyroSync
         type: bool
-      - name: align_gyro
-        field: gyro_align
+      - name: align_gyro1
+        field: gyro_align[0]
+        type: uint8_t
+        table: alignment
+      - name: align_gyro2
+        field: gyro_align[1]
         type: uint8_t
         table: alignment
       - name: gyro_hardware_lpf
@@ -204,9 +211,10 @@ groups:
         min: 30
         max: 1000
       - name: gyro_to_use
+        table: gyro_to_use_t
+        field: gyro_to_use
         condition: USE_DUAL_GYRO
-        min: 0
-        max: 1
+
 
   - name: PG_ADC_CHANNEL_CONFIG
     type: adcChannelConfig_t
@@ -244,6 +252,10 @@ groups:
         field: acc_align
         type: uint8_t
         table: alignment
+      - name: align_acc2
+        field: acc2_align
+        type: uint8_t
+        table: alignment
       - name: acc_hardware
         table: acc_hardware
       - name: acc_lpf_hz
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 015d55f3597..9eb29d3d280 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -286,11 +286,18 @@ bool accInit(uint32_t targetLooptime)
 {
     memset(&acc, 0, sizeof(acc));
 
-    // Set inertial sensor tag (for dual-gyro selection)
+
+// Set inertial sensor tag (for dual-gyro selection)
 #ifdef USE_DUAL_GYRO
-    acc.dev.imuSensorToUse = gyroConfig()->gyro_to_use;     // Use the same selection from gyroConfig()
+    acc.dev.imuSensorToUse = gyroConfig()->gyro_to_use;
+#ifdef USE_MULTI_GYRO
+    // FIXME: Dual acc support
+    if (gyroConfig()->gyro_to_use == IMU_TO_USE_BOTH) {
+        acc.dev.imuSensorToUse = IMU_TO_USE_FIRST;
+    }
+#endif
 #else
-    acc.dev.imuSensorToUse = 0;
+    acc.dev.imuSensorToUse = IMU_TO_USE_FIRST;
 #endif
 
     if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {
@@ -310,8 +317,23 @@ bool accInit(uint32_t targetLooptime)
 
     // At this poinrt acc.dev.accAlign was set up by the driver from the busDev record
     // If configuration says different - override
-    if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
-        acc.dev.accAlign = accelerometerConfig()->acc_align;
+    switch(gyroConfig()->gyro_to_use ){
+        case FIRST:
+        default:
+#ifdef USE_MULTI_GYRO
+        case BOTH:
+#endif
+            if (accelerometerConfig()->acc_align != ALIGN_DEFAULT) {
+                acc.dev.accAlign = accelerometerConfig()->acc_align;
+            }
+            break;
+#ifdef USE_DUAL_GYRO
+        case SECOND:
+            if (accelerometerConfig()->acc2_align != ALIGN_DEFAULT) {
+                acc.dev.accAlign = accelerometerConfig()->acc2_align;
+            }
+            break;
+#endif
     }
     return true;
 }
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 47f669b83a5..e08e74bf641 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -69,6 +69,7 @@ extern acc_t acc;
 
 typedef struct accelerometerConfig_s {
     sensor_align_e acc_align;               // acc alignment
+    sensor_align_e acc2_align;               // acc 2 alignment
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint16_t acc_lpf_hz;                    // cutoff frequency for the low pass filter used on the acc z-axis for althold in Hz
     flightDynamicsTrims_t accZero;          // Accelerometer offset
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index bd6b43db1c6..54471f83bad 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -77,13 +77,23 @@ FILE_COMPILE_FOR_SPEED
 #include "hardware_revision.h"
 #endif
 
-FASTRAM gyro_t gyro; // gyro sensor object
+#ifdef USE_MULTI_GYRO
+#   define MAX_GYRO_COUNT   2
+#else
+#   define MAX_GYRO_COUNT   1
+#endif
 
-#define MAX_GYRO_COUNT          1
+typedef struct {
+    bool                    available;
+    bool                    syncUpdate;
+    gyroDev_t               gyroDev;
+    zeroCalibrationVector_t gyroCal;
+    int16_t                 gyroTemp;
+} gyroDevInstance_t;
 
-STATIC_UNIT_TESTED gyroDev_t gyroDev[MAX_GYRO_COUNT];  // Not in FASTRAM since it may hold DMA buffers
-STATIC_FASTRAM int16_t gyroTemperature[MAX_GYRO_COUNT];
-STATIC_FASTRAM_UNIT_TESTED zeroCalibrationVector_t gyroCalibration[MAX_GYRO_COUNT];
+FASTRAM gyro_t gyro; // gyro sensor object
+
+STATIC_FASTRAM_UNIT_TESTED gyroDevInstance_t gyroInstance[MAX_GYRO_COUNT];
 
 STATIC_FASTRAM filterApplyFnPtr gyroLpfApplyFn;
 STATIC_FASTRAM filter_t gyroLpfState[XYZ_AXIS_COUNT];
@@ -95,10 +105,8 @@ STATIC_FASTRAM filterApplyFnPtr notchFilter1ApplyFn;
 STATIC_FASTRAM void *notchFilter1[XYZ_AXIS_COUNT];
 
 #ifdef USE_DYNAMIC_FILTERS
-
 EXTENDED_FASTRAM gyroAnalyseState_t gyroAnalyseState;
 EXTENDED_FASTRAM dynamicGyroNotchState_t dynamicGyroNotchState;
-
 #endif
 
 PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 9);
@@ -107,11 +115,12 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
     .gyro_lpf = GYRO_LPF_42HZ,      // 42HZ value is defined for Invensense/TDK gyros
     .gyro_soft_lpf_hz = 60,
     .gyro_soft_lpf_type = FILTER_BIQUAD,
-    .gyro_align = ALIGN_DEFAULT,
+    .gyro_align[0] = ALIGN_DEFAULT,
+    .gyro_align[1] = ALIGN_DEFAULT,
     .gyroMovementCalibrationThreshold = 32,
     .looptime = 1000,
     .gyroSync = 1,
-    .gyro_to_use = 0,
+    .gyro_to_use = FIRST,
     .gyro_notch_hz = 0,
     .gyro_notch_cutoff = 1,
     .gyro_stage2_lowpass_hz = 0,
@@ -254,7 +263,7 @@ static void gyroInitFilters(void)
 {
     STATIC_FASTRAM biquadFilter_t gyroFilterNotch_1[XYZ_AXIS_COUNT];
     notchFilter1ApplyFn = nullFilterApply;
-    
+
     initGyroFilter(&gyroLpf2ApplyFn, gyroLpf2State, gyroConfig()->gyro_stage2_lowpass_type, gyroConfig()->gyro_stage2_lowpass_hz);
     initGyroFilter(&gyroLpfApplyFn, gyroLpfState, gyroConfig()->gyro_soft_lpf_type, gyroConfig()->gyro_soft_lpf_hz);
 
@@ -267,46 +276,89 @@ static void gyroInitFilters(void)
     }
 }
 
-bool gyroInit(void)
+gyroSensor_e gyroInitInstance(gyroDevInstance_t * instance, int imuTag, sensor_align_e gyroAlign)
 {
-    memset(&gyro, 0, sizeof(gyro));
+    // Start with unavailable sensor
+    instance->gyroDev.imuSensorToUse = imuTag;
 
-    // Set inertial sensor tag (for dual-gyro selection)
-#ifdef USE_DUAL_GYRO
-    gyroDev[0].imuSensorToUse = gyroConfig()->gyro_to_use;
-#else
-    gyroDev[0].imuSensorToUse = 0;
-#endif
+    gyroSensor_e gyroHardware = gyroDetect(&instance->gyroDev, GYRO_AUTODETECT);
 
-    // Detecting gyro0
-    gyroSensor_e gyroHardware = gyroDetect(&gyroDev[0], GYRO_AUTODETECT);
+    // Fail early if not detected
     if (gyroHardware == GYRO_NONE) {
-        gyro.initialized = false;
-        detectedSensors[SENSOR_INDEX_GYRO] = GYRO_NONE;
-        return true;
+        return GYRO_NONE;
     }
 
-    // Gyro is initialized
-    gyro.initialized = true;
-    detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
-    sensorsSet(SENSOR_GYRO);
+    instance->gyroDev.lpf = gyroConfig()->gyro_lpf;
+    instance->gyroDev.requestedSampleIntervalUs = gyroConfig()->looptime;
+    instance->gyroDev.sampleRateIntervalUs = gyroConfig()->looptime;
+    instance->gyroDev.initFn(&instance->gyroDev);
+
+    // Override default alignment
+    if (gyroAlign != ALIGN_DEFAULT) {
+        instance->gyroDev.gyroAlign = gyroAlign;
+    }
+
+    instance->available = true;
+
+    return gyroHardware;
+}
+
+bool gyroInit(void)
+{
+    memset(&gyro, 0, sizeof(gyro));
+    memset(&gyroInstance, 0, sizeof(gyroInstance));
+
+    // Prepare failure scenario
+    detectedSensors[SENSOR_INDEX_GYRO] = GYRO_NONE;
+    gyro.initialized = false;
+
+    // Initialize gyroscopes
+    switch (gyroConfig()->gyro_to_use) {
+        case IMU_TO_USE_FIRST:
+        case IMU_TO_USE_SECOND:
+            {
+                sensor_align_e gyroAlign = gyroConfig()->gyro_align[gyroConfig()->gyro_to_use];
+                gyroSensor_e gyroHardware = gyroInitInstance(&gyroInstance[0], imuTag, gyroAlign);
+
+                if (gyroHardware != GYRO_NONE) {
+                    gyro.initialized = true;
+                    gyro.targetLooptime = (gyroConfig()->gyroSync ? gyroInstance[0].gyroDev.sampleRateIntervalUs : gyroConfig()->looptime);
+                    detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware;
+                }
+            }
+            break;
+
+        case IMU_TO_USE_BOTH:
+#ifdef USE_MULTI_GYRO
+            {
+                gyroSensor_e gyroHardware0 = gyroInitInstance(&gyroInstance[0], 0, gyroConfig()->gyro_align[0]);
+                gyroSensor_e gyroHardware1 = gyroInitInstance(&gyroInstance[1], 1, gyroConfig()->gyro_align[1]);
 
-    // Driver initialisation
-    gyroDev[0].lpf = gyroConfig()->gyro_lpf;
-    gyroDev[0].requestedSampleIntervalUs = gyroConfig()->looptime;
-    gyroDev[0].sampleRateIntervalUs = gyroConfig()->looptime;
-    gyroDev[0].initFn(&gyroDev[0]);
+                if (gyroHardware0 != GYRO_NONE && gyroHardware1 != GYRO_NONE) {
+                    gyro.initialized = true;
 
-    // initFn will initialize sampleRateIntervalUs to actual gyro sampling rate (if driver supports it). Calculate target looptime using that value
-    gyro.targetLooptime = gyroConfig()->gyroSync ? gyroDev[0].sampleRateIntervalUs : gyroConfig()->looptime;
+                    timeUs_t gyroSampleInterval0 = gyroInstance[0].gyroDev.sampleRateIntervalUs;
+                    timeUs_t gyroSampleInterval1 = gyroInstance[1].gyroDev.sampleRateIntervalUs;
 
-    // At this poinrt gyroDev[0].gyroAlign was set up by the driver from the busDev record
-    // If configuration says different - override
-    if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
-        gyroDev[0].gyroAlign = gyroConfig()->gyro_align;
+                    gyro.targetLooptime = (gyroConfig()->gyroSync ? MAX(gyroSampleInterval0, gyroSampleInterval1) : gyroConfig()->looptime);
+                    detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware0;
+                    //detectedSensors[SENSOR_INDEX_GYRO] = gyroHardware1;
+                    // FIXME: Record second gyro data
+                }
+            }
+#endif
+            break;
     }
 
+    // Fail early
+    if (!gyro.initialized) {
+        return true;
+    }
+
+    sensorsSet(SENSOR_GYRO);
+
     gyroInitFilters();
+
 #ifdef USE_DYNAMIC_FILTERS
     dynamicGyroNotchFiltersInit(&dynamicGyroNotchState);
     gyroDataAnalyseStateInit(
@@ -325,7 +377,13 @@ void gyroStartCalibration(void)
         return;
     }
 
-    zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, gyroConfig()->gyroMovementCalibrationThreshold, false);
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        zeroCalibrationStartV(&gyroInstance[i].gyroCal, CALIBRATING_GYRO_TIME_MS, gyroConfig()->gyroMovementCalibrationThreshold, false);
+    }
 }
 
 bool gyroIsCalibrationComplete(void)
@@ -334,7 +392,18 @@ bool gyroIsCalibrationComplete(void)
         return true;
     }
 
-    return zeroCalibrationIsCompleteV(&gyroCalibration[0]) && zeroCalibrationIsSuccessfulV(&gyroCalibration[0]);
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        const bool isDone = zeroCalibrationIsCompleteV(&gyroInstance[i].gyroCal) && zeroCalibrationIsSuccessfulV(&gyroInstance[i].gyroCal);
+        if (!isDone) {
+            return false;
+        }
+    }
+
+    return true;
 }
 
 STATIC_UNIT_TESTED void performGyroCalibration(gyroDev_t *dev, zeroCalibrationVector_t *gyroCalibration)
@@ -419,10 +488,38 @@ void FAST_CODE NOINLINE gyroUpdate()
         return;
     }
 
-    if (!gyroUpdateAndCalibrate(&gyroDev[0], &gyroCalibration[0], gyro.gyroADCf)) {
+    // Update and calibrate all gyros
+    int activeGyros = 0;
+    gyro.gyroADCf[X] = 0;
+    gyro.gyroADCf[Y] = 0;
+    gyro.gyroADCf[Z] = 0;
+
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        float gyroADCTmpf[XYZ_AXIS_COUNT];
+
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        gyroUpdateAndCalibrate(&gyroInstance[i].gyroDev, &gyroInstance[i].gyroCal, gyroADCTmpf);
+
+        gyro.gyroADCf[X] += gyroADCTmpf[X];
+        gyro.gyroADCf[Y] += gyroADCTmpf[Y];
+        gyro.gyroADCf[Z] += gyroADCTmpf[Z];
+        activeGyros++;
+    }
+
+    // Fail early
+    if (activeGyros == 0) {
         return;
     }
 
+    // Average all active gyros
+    gyro.gyroADCf[X] /= activeGyros;
+    gyro.gyroADCf[Y] /= activeGyros;
+    gyro.gyroADCf[Z] /= activeGyros;
+
+
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         // At this point gyro.gyroADCf contains unfiltered gyro value [deg/s]
         float gyroADCf = gyro.gyroADCf[axis];
@@ -473,11 +570,23 @@ bool gyroReadTemperature(void)
     }
 
     // Read gyro sensor temperature. temperatureFn returns temperature in [degC * 10]
-    if (gyroDev[0].temperatureFn) {
-        return gyroDev[0].temperatureFn(&gyroDev[0], &gyroTemperature[0]);
+    // TODO: [degC * 10] is a bug in Finland. Negative temperature...
+
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        if (!gyroInstance[i].gyroDev.temperatureFn) {
+            return false;
+        }
+
+        if (!gyroInstance[i].gyroDev.temperatureFn(&gyroInstance[i].gyroDev, &gyroInstance[i].gyroTemp)) {
+            return false;
+        }
     }
 
-    return false;
+    return true;
 }
 
 int16_t gyroGetTemperature(void)
@@ -486,7 +595,16 @@ int16_t gyroGetTemperature(void)
         return 0;
     }
 
-    return gyroTemperature[0];
+    int16_t maxTemp = -32768;
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        maxTemp = MAX(maxTemp, gyroInstance[i].gyroTemp);
+    }
+
+    return maxTemp;
 }
 
 int16_t gyroRateDps(int axis)
@@ -504,9 +622,35 @@ bool gyroSyncCheckUpdate(void)
         return false;
     }
 
-    if (!gyroDev[0].intStatusFn) {
-        return false;
+    // This is tricky. A call to intStatusFn will reset the flag. We need to make a flag sticky locally
+
+    // Pass one - poll and cache gyroDev
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (!gyroInstance[i].available) {
+            continue;
+        }
+
+        // If one of the gyros is incapable of gyro sync - fail early
+        if (!gyroInstance[i].gyroDev.intStatusFn) {
+            return false;
+        }
+
+        if (gyroInstance[i].gyroDev.intStatusFn(&gyroInstance[i].gyroDev)) {
+            gyroInstance[i].syncUpdate = true;
+        }
+    }
+
+    // Pass two - succeed only if all available gyros are synced
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        if (gyroInstance[i].available && !gyroInstance[i].syncUpdate) {
+            return false;
+        }
     }
 
-    return gyroDev[0].intStatusFn(&gyroDev[0]);
+    // Pass three - at this point all gyros are synced. Reset flags
+    for (int i = 0; i < MAX_GYRO_COUNT; i++) {
+        gyroInstance[i].syncUpdate = false;
+    }
+
+    return true;
 }
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index b709294b553..2abb68d16fa 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -45,6 +45,12 @@ typedef enum {
     DYN_NOTCH_RANGE_LOW
 } dynamicFilterRange_e;
 
+typedef enum {
+    IMU_TO_USE_FIRST = 0,
+    IMU_TO_USE_SECOND = 1,
+    IMU_TO_USE_BOTH = 2
+} imuToUse_e;
+
 #define DYN_NOTCH_RANGE_HZ_HIGH 2000
 #define DYN_NOTCH_RANGE_HZ_MEDIUM 1333
 #define DYN_NOTCH_RANGE_HZ_LOW 1000
@@ -58,11 +64,11 @@ typedef struct gyro_s {
 extern gyro_t gyro;
 
 typedef struct gyroConfig_s {
-    sensor_align_e 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.
-    uint8_t  gyroSync;                      // Enable interrupt based loop
-    uint16_t looptime;                      // imu loop time in us
-    uint8_t  gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
+    sensor_align_e gyro_align[2];               // 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.
+    uint8_t  gyroSync;                          // Enable interrupt based loop
+    uint16_t looptime;                          // imu loop time in us
+    uint8_t  gyro_lpf;                          // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.
     uint8_t  gyro_soft_lpf_hz;
     uint8_t  gyro_soft_lpf_type;
     uint8_t  gyro_to_use;
diff --git a/src/main/target/IFLIGHTF7_TWING/target.c b/src/main/target/IFLIGHTF7_TWING/target.c
index 83090b5c94d..1ccdd057209 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.c
+++ b/src/main/target/IFLIGHTF7_TWING/target.c
@@ -37,11 +37,11 @@ const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
     DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
 
-    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), 
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_SERVO | TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_SERVO | TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),
 
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_SERVO | TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_SERVO | TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),
 
     DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED,                         0, 0),
 };
diff --git a/src/main/target/IFLIGHTF7_TWING/target.h b/src/main/target/IFLIGHTF7_TWING/target.h
index a6a9e63de23..cf6cd309c7f 100644
--- a/src/main/target/IFLIGHTF7_TWING/target.h
+++ b/src/main/target/IFLIGHTF7_TWING/target.h
@@ -36,7 +36,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_DUAL_GYRO
+#define USE_MULTI_GYRO
 
 #define USE_IMU_MPU6500
 #define IMU_0_ALIGN       CW90_DEG
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 32b6e3531a8..f21f762bc2b 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -39,6 +39,10 @@
     #define USE_RPM_FILTER
 #endif
 
+#ifdef USE_MULTI_GYRO
+    #define USE_DUAL_GYRO
+#endif
+
 #ifdef USE_ITCM_RAM
 #define FAST_CODE                   __attribute__((section(".tcm_code")))
 #define NOINLINE                    __NOINLINE